{"id":"https://openalex.org/W7159887935","doi":"https://doi.org/10.3390/robotics15050085","title":"Multi-Stage Parameter Search for Robot Path Planning in Bottom-Up Vat 3D Printing","display_name":"Multi-Stage Parameter Search for Robot Path Planning in Bottom-Up Vat 3D Printing","publication_year":2026,"publication_date":"2026-04-26","ids":{"openalex":"https://openalex.org/W7159887935","doi":"https://doi.org/10.3390/robotics15050085"},"language":"en","primary_location":{"id":"doi:10.3390/robotics15050085","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15050085","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/robotics15050085","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5121191657","display_name":"Evan Rolland","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Evan Rolland","raw_affiliation_strings":["Department of Systems Engineering, \u00c9cole de Technologie Sup\u00e9rieure, 1100 Notre-Dame Street West, Montreal, QC H3C 1K3, Canada"],"raw_orcid":"https://orcid.org/0009-0002-6854-2749","affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, \u00c9cole de Technologie Sup\u00e9rieure, 1100 Notre-Dame Street West, Montreal, QC H3C 1K3, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041347819","display_name":"Ilian A. Bonev","orcid":"https://orcid.org/0000-0002-9663-2496"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Ilian A. Bonev","raw_affiliation_strings":["Department of Systems Engineering, \u00c9cole de Technologie Sup\u00e9rieure, 1100 Notre-Dame Street West, Montreal, QC H3C 1K3, Canada"],"raw_orcid":"https://orcid.org/0000-0002-9663-2496","affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, \u00c9cole de Technologie Sup\u00e9rieure, 1100 Notre-Dame Street West, Montreal, QC H3C 1K3, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135011619","display_name":"Evan Jones","orcid":"https://orcid.org/0009-0009-9047-2338"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evan Jones","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA"],"raw_orcid":"https://orcid.org/0009-0009-9047-2338","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135039405","display_name":"Pengpeng Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pengpeng Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135008952","display_name":"Cheng Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cheng Sun","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084470640","display_name":"Nanzhu Zhao","orcid":"https://orcid.org/0000-0002-7191-1528"},"institutions":[{"id":"https://openalex.org/I4210101861","display_name":"Nissan (United States)","ror":"https://ror.org/016ykaq31","country_code":"US","type":"company","lineage":["https://openalex.org/I4210101861","https://openalex.org/I4210110524"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nanzhu Zhao","raw_affiliation_strings":["Nissan Technical Center North America, 39001 Sunrise Dr., Farmington Hills, MI 48331, USA"],"raw_orcid":"https://orcid.org/0000-0002-7191-1528","affiliations":[{"raw_affiliation_string":"Nissan Technical Center North America, 39001 Sunrise Dr., Farmington Hills, MI 48331, USA","institution_ids":["https://openalex.org/I4210101861"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5041347819"],"corresponding_institution_ids":["https://openalex.org/I9736820"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.54197719,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"15","issue":"5","first_page":"85","last_page":"85"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.2962999939918518,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.2962999939918518,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.2847999930381775,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.12219999730587006,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.680899977684021},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5672000050544739},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5188000202178955},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5044999718666077},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4964999854564667},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4918000102043152},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4902999997138977},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.45500001311302185},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4275999963283539}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.680899977684021},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.576200008392334},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5672000050544739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5188000202178955},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5044999718666077},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4964999854564667},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4918000102043152},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4902999997138977},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.45500001311302185},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4357999861240387},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4275999963283539},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4259999990463257},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.41190001368522644},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4034000039100647},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.3772999942302704},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35409998893737793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3490000069141388},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3481000065803528},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.3422999978065491},{"id":"https://openalex.org/C2781411174","wikidata":"https://www.wikidata.org/wiki/Q8034662","display_name":"Workcell","level":3,"score":0.3352999985218048},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.335099995136261},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.3174999952316284},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.30410000681877136},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.3027999997138977},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.26350000500679016},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.26100000739097595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26100000739097595},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.26080000400543213},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.2547000050544739},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2533999979496002},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.25130000710487366}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics15050085","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15050085","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:8098c5da324f4d83a23cd083fccda89e","is_oa":true,"landing_page_url":"https://doaj.org/article/8098c5da324f4d83a23cd083fccda89e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 15, Iss 5, p 85 (2026)","raw_type":"article"},{"id":"pmh:oai:espace2.etsmtl.ca:33853","is_oa":false,"landing_page_url":"https://espace2.etsmtl.ca/id/eprint/33853/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402392","display_name":"Espace \u00c9TS (ETS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1341030882","host_organization_name":"Educational Testing Service","host_organization_lineage":["https://openalex.org/I1341030882"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article publi\u00e9 dans une revue, r\u00e9vis\u00e9 par les pairs"}],"best_oa_location":{"id":"doi:10.3390/robotics15050085","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15050085","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6035292148590088,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G3968102642","display_name":null,"funder_award_id":"IT35308","funder_id":"https://openalex.org/F4320322675","funder_display_name":"Mitacs"}],"funders":[{"id":"https://openalex.org/F4320322675","display_name":"Mitacs","ror":"https://ror.org/00cjrc276"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1712772804","https://openalex.org/W1977655452","https://openalex.org/W1991803036","https://openalex.org/W2002869412","https://openalex.org/W2008499862","https://openalex.org/W2017001763","https://openalex.org/W2049410986","https://openalex.org/W2049617391","https://openalex.org/W2058544403","https://openalex.org/W2087070363","https://openalex.org/W2126105956","https://openalex.org/W2151992157","https://openalex.org/W2157357823","https://openalex.org/W2160487166","https://openalex.org/W2205340216","https://openalex.org/W2256578114","https://openalex.org/W2293883387","https://openalex.org/W2565849930","https://openalex.org/W2967969632","https://openalex.org/W2990172563","https://openalex.org/W3129122001","https://openalex.org/W4240172577","https://openalex.org/W4242811155","https://openalex.org/W4313281824","https://openalex.org/W4317820126","https://openalex.org/W4388971168","https://openalex.org/W4390734970","https://openalex.org/W4391876898","https://openalex.org/W4396766747","https://openalex.org/W4404850099","https://openalex.org/W4411017395"],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"an":[3],"approach":[4],"to":[5,48,60,73,91],"extend":[6],"the":[7,50,54,61,68,74,89,168,173],"capabilities":[8],"of":[9,30,52,80,94,132,167],"vat":[10],"photopolymerization":[11],"(VPP)":[12],"3D":[13],"printing":[14,163],"using":[15,112],"a":[16,20,31,38,125,145,177],"robotic":[17,27],"arm,":[18],"with":[19,138],"focus":[21],"on":[22,37,144],"robust":[23],"path":[24],"planning.":[25],"The":[26,43,122,154],"cell":[28],"consists":[29],"Mecademic":[32],"Meca500":[33],"six-axis":[34],"robot":[35],"mounted":[36],"Zaber":[39],"X-LRQ300AP":[40],"linear":[41],"guide.":[42],"kinematic":[44],"chain":[45],"is":[46,58,71,86],"inverted":[47],"reflect":[49],"logic":[51],"VPP:":[53],"world":[55],"reference":[56],"frame":[57,70],"fixed":[59],"robot\u2019s":[62],"tool":[63,69],"(the":[64],"build":[65],"plate),":[66],"while":[67,172],"attached":[72],"polymerization":[75],"zone.":[76],"A":[77],"virtual":[78],"degree":[79],"freedom":[81],"for":[82,165],"screen":[83],"image":[84],"rotation":[85],"introduced,":[87],"bringing":[88],"system":[90],"eight":[92],"degrees":[93],"freedom.":[95],"Inverse":[96],"kinematics":[97],"are":[98],"solved":[99],"under":[100],"constraints":[101],"(pose":[102],"tolerance,":[103],"joint":[104],"limits,":[105],"collision":[106],"avoidance,":[107],"and":[108,110,119,151,160],"continuity)":[109],"evaluated":[111],"multi-criteria":[113,152],"metrics:":[114],"manipulability,":[115],"normalized":[116],"joint-limit":[117],"margin,":[118],"positional/angular":[120],"sensitivity.":[121],"algorithm":[123],"follows":[124],"deterministic":[126],"coarse-to-fine":[127],"search":[128],"procedure:":[129],"discrete":[130],"sweeping":[131],"global":[133],"part":[134],"orientations,":[135],"initial":[136],"sampling":[137],"Halton":[139],"sequences,":[140],"abd":[141],"feasibility":[142],"filtering":[143],"sparsified":[146],"trajectory,":[147],"followed":[148],"by":[149],"refinement":[150],"ranking.":[153],"pipeline":[155],"successfully":[156],"discarded":[157],"infeasible":[158],"orientations":[159],"identified":[161],"feasible":[162],"trajectories":[164],"six":[166],"seven":[169],"benchmark":[170],"parts,":[171],"remaining":[174],"case":[175],"highlights":[176],"limitation":[178],"that":[179],"may":[180],"be":[181],"addressed":[182],"in":[183],"future":[184],"improvements.":[185]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2026-05-03T00:00:00"}
