乐胖代购免代理版

{"id":"https://openalex.org/W4385256800","doi":"https://doi.org/10.1109/access.2023.3298570","title":"Parameter Identification of Heavy-Duty Manipulator Using Stochastic Gradient Hamilton Monte Carlo Method","display_name":"Parameter Identification of Heavy-Duty Manipulator Using Stochastic Gradient Hamilton Monte Carlo Method","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4385256800","doi":"https://doi.org/10.1109/access.2023.3298570"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3298570","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10192907.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10192907.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101566065","display_name":"Wang Qi","orcid":"https://orcid.org/0000-0002-6242-7451"},"institutions":[{"id":"https://openalex.org/I4210114698","display_name":"Institute of Plasma Physics","ror":"https://ror.org/033cbzv42","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210114698"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I63548447","display_name":"Lappeenranta-Lahti University of Technology","ror":"https://ror.org/0208vgz68","country_code":"FI","type":"funder","lineage":["https://openalex.org/I63548447"]}],"countries":["CN","FI"],"is_corresponding":false,"raw_author_name":"Qi Wang","raw_affiliation_strings":["Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","Institute of Plasma Physics, Hefei, China","School of Energy Systems, Lappeenranta University of Technology, Lappeenranta, Finland"],"affiliations":[{"raw_affiliation_string":"Institute of Plasma Physics, Hefei, China","institution_ids":["https://openalex.org/I4210114698"]},{"raw_affiliation_string":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Energy Systems, Lappeenranta University of Technology, Lappeenranta, Finland","institution_ids":["https://openalex.org/I63548447"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059655735","display_name":"Huapeng Wu","orcid":"https://orcid.org/0000-0001-6759-6038"},"institutions":[{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huapeng Wu","raw_affiliation_strings":["Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071038974","display_name":"Yuntao Song","orcid":"https://orcid.org/0000-0002-8784-7153"},"institutions":[{"id":"https://openalex.org/I4210114698","display_name":"Institute of Plasma Physics","ror":"https://ror.org/033cbzv42","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210114698"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuntao Song","raw_affiliation_strings":["Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","Institute of Plasma Physics, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Institute of Plasma Physics, Hefei, China","institution_ids":["https://openalex.org/I4210114698"]},{"raw_affiliation_string":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082620134","display_name":"Heikki Handroos","orcid":"https://orcid.org/0000-0002-9479-0968"},"institutions":[{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Heikki Handroos","raw_affiliation_strings":["Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100674551","display_name":"Yong Cheng","orcid":"https://orcid.org/0000-0002-6465-3022"},"institutions":[{"id":"https://openalex.org/I4210114698","display_name":"Institute of Plasma Physics","ror":"https://ror.org/033cbzv42","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210114698"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Cheng","raw_affiliation_strings":["Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","Institute of Plasma Physics, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Institute of Plasma Physics, Hefei, China","institution_ids":["https://openalex.org/I4210114698"]},{"raw_affiliation_string":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010765861","display_name":"Guodong Qin","orcid":"https://orcid.org/0000-0001-5497-3623"},"institutions":[{"id":"https://openalex.org/I4210114698","display_name":"Institute of Plasma Physics","ror":"https://ror.org/033cbzv42","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210114698"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guodong Qin","raw_affiliation_strings":["Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","Institute of Plasma Physics, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Institute of Plasma Physics, Hefei, China","institution_ids":["https://openalex.org/I4210114698"]},{"raw_affiliation_string":"Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I19820366"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.27,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":1,"citation_normalized_percentile":{"value":0.434135,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":65,"max":76},"biblio":{"volume":"11","issue":null,"first_page":"78561","last_page":"78583"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11201","display_name":"Metallurgy and Material Forming","score":0.8561,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11201","display_name":"Metallurgy and Material Forming","score":0.8561,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.8065,"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"}},{"id":"https://openalex.org/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.8021,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.74318004},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.7244324},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6785791},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.6692008},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.517022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45046988},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27391967},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27078727},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15428191},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14258069},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13424331},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3298570","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10192907.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3298570","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10192907.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":49,"referenced_works":["https://openalex.org/W1567512734","https://openalex.org/W1959608418","https://openalex.org/W1964511224","https://openalex.org/W1966775465","https://openalex.org/W1971493524","https://openalex.org/W2003445468","https://openalex.org/W2024219400","https://openalex.org/W2026645785","https://openalex.org/W2030913535","https://openalex.org/W2040871222","https://openalex.org/W2042951395","https://openalex.org/W2089657469","https://openalex.org/W2115384033","https://openalex.org/W2116336719","https://openalex.org/W2134117233","https://openalex.org/W2140171944","https://openalex.org/W2142819099","https://openalex.org/W2144193737","https://openalex.org/W2160192576","https://openalex.org/W2167433878","https://openalex.org/W2468924780","https://openalex.org/W2478416728","https://openalex.org/W2485022645","https://openalex.org/W2586476486","https://openalex.org/W2622091505","https://openalex.org/W2669655952","https://openalex.org/W2775361682","https://openalex.org/W2906146416","https://openalex.org/W2936414072","https://openalex.org/W2954040150","https://openalex.org/W2963977107","https://openalex.org/W3010970314","https://openalex.org/W3098161245","https://openalex.org/W3099151572","https://openalex.org/W3099523296","https://openalex.org/W3102014803","https://openalex.org/W3133287521","https://openalex.org/W3136350505","https://openalex.org/W3204992131","https://openalex.org/W4200227000","https://openalex.org/W4247690662","https://openalex.org/W4281737186","https://openalex.org/W4287602792","https://openalex.org/W4297730691","https://openalex.org/W4310359139","https://openalex.org/W4312802836","https://openalex.org/W4327736363","https://openalex.org/W621546036","https://openalex.org/W981898836"],"related_works":["https://openalex.org/W4284894156","https://openalex.org/W2787857227","https://openalex.org/W2393870460","https://openalex.org/W2161803855","https://openalex.org/W2160609742","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W1983548084","https://openalex.org/W1982160337","https://openalex.org/W1971380437"],"abstract_inverted_index":{"This":[0],"study":[1,180],"focuses":[2],"on":[3,41,158,215],"the":[4,13,17,27,33,50,55,73,76,80,92,100,108,113,134,141,146,155,159,169,190,203,210],"parameter":[5,116,187,218],"identification":[6,117],"of":[7,16,26,32,35,75,83,99,115,123,130,140,148,171,189,205],"a":[8,65,120,127,182,194],"heavy-duty":[9,102,195],"manipulator":[10],"used":[11],"in":[12,126,133,193],"remote":[14],"maintenance":[15],"China":[18],"Fusion":[19],"Engineering":[20],"Test":[21],"Reactor":[22],"(CFETR).":[23],"Accurate":[24],"modeling":[25,185],"manipulator\u2019s":[28],"dynamics":[29],"needs":[30],"investigation":[31],"effects":[34],"hysteresis,":[36],"velocity,":[37],"and":[38,79,97,150,173,186,208,217],"other":[39],"variables":[40],"output":[42,78,93,142,160,191],"torque":[43,192],"independently.":[44],"For":[45],"this":[46,179],"reason,":[47],"we":[48],"estimate":[49],"undetermined":[51],"model":[52],"parameters":[53,157,172],"using":[54],"Stochastic":[56],"Gradient":[57],"Hamiltonian":[58],"Monte":[59],"Carlo":[60],"(SGHMC)":[61],"method.":[62],"In":[63,144],"addition,":[64,145],"global":[66],"sensitivity":[67,152,163],"analysis":[68,147,164],"is":[69],"performed":[70],"to":[71,90,202],"assess":[72],"precision":[74],"model\u2019s":[77],"relative":[81],"significance":[82,170],"its":[84],"input":[85],"variables.":[86],"Experiments":[87],"are":[88],"conducted":[89],"determine":[91],"torque,":[94],"hysteresis":[95,177],"displacement":[96],"velocity":[98],"CFETR\u2019s":[101],"manipulator.":[103],"Our":[104],"findings":[105],"indicate":[106],"that":[107],"SGHMC":[109,216],"method":[110,183,200],"significantly":[111],"improves":[112],"efficacy":[114],"while":[118],"maintaining":[119],"high":[121],"level":[122],"accuracy,":[124],"resulting":[125],"significant":[128],"reduction":[129],"approximately":[131],"8%":[132],"root":[135],"mean":[136],"square":[137],"error":[138],"(RMSE)":[139],"torque.":[143,161],"first-order":[149],"total-effect":[151],"indices":[153],"reveals":[154],"influential":[156],"The":[162,198],"offers":[165],"valuable":[166],"insights":[167],"into":[168],"system":[174],"optimization.":[175],"Considering":[176],"deformation,":[178],"presents":[181],"for":[184,212],"estimation":[188,219],"robotic":[196],"arm.":[197],"developed":[199],"contributes":[201],"solution":[204],"practical":[206],"problems":[207],"provides":[209],"groundwork":[211],"future":[213],"research":[214],"algorithms.":[220]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4385256800","counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-04-19T11:22:26.502043","created_date":"2023-07-26"}