{"id":"https://openalex.org/W3207965867","doi":"https://doi.org/10.1109/icra48506.2021.9561905","title":"A Parallelized Iterative Algorithm for Real-Time Simulation of Long Flexible Cable Manipulation","display_name":"A Parallelized Iterative Algorithm for Real-Time Simulation of Long Flexible Cable Manipulation","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207965867","doi":"https://doi.org/10.1109/icra48506.2021.9561905","mag":"3207965867"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561905","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100708513","display_name":"Jeong Min Lee","orcid":"https://orcid.org/0000-0003-0561-8777"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"funder","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeongmin Lee","raw_affiliation_strings":["Department of Mechanical & Aerospace Engineering and IAMD, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical & Aerospace Engineering and IAMD, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100747575","display_name":"Minji Lee","orcid":"https://orcid.org/0000-0003-2957-4457"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"funder","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minji Lee","raw_affiliation_strings":["Department of Mechanical & Aerospace Engineering and IAMD, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical & Aerospace Engineering and IAMD, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059448072","display_name":"Jaemin Yoon","orcid":"https://orcid.org/0000-0001-8911-7536"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"funder","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaemin Yoon","raw_affiliation_strings":["Department of Mechanical & Aerospace Engineering and IAMD, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical & Aerospace Engineering and IAMD, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100626026","display_name":"Dongjun Lee","orcid":"https://orcid.org/0000-0003-2108-3960"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"funder","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongjun Lee","raw_affiliation_strings":["Department of Mechanical & Aerospace Engineering and IAMD, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical & Aerospace Engineering and IAMD, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.132,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.635506,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":71,"max":75},"biblio":{"volume":null,"issue":null,"first_page":"12040","last_page":"12046"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9968,"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"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9968,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9942,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9806,"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":[],"concepts":[{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.7944443},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.69599426},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6030683},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.59383816},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.58930165},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.56050754},{"id":"https://openalex.org/C42812","wikidata":"https://www.wikidata.org/wiki/Q1082910","display_name":"Partition (number theory)","level":2,"score":0.557123},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4330154},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.41308796},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38503206},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.3595877},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16500387},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13329077},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.084171414},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561905","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[{"funder":"https://openalex.org/F4320337495","funder_display_name":"Technology Development","award_id":null}],"datasets":[],"versions":[],"referenced_works_count":31,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1964359378","https://openalex.org/W1975943935","https://openalex.org/W1979444033","https://openalex.org/W2025159422","https://openalex.org/W2056406147","https://openalex.org/W2082076917","https://openalex.org/W2087366393","https://openalex.org/W2127794343","https://openalex.org/W2155823170","https://openalex.org/W2157805404","https://openalex.org/W2530006557","https://openalex.org/W2766690711","https://openalex.org/W2779458783","https://openalex.org/W2798909945","https://openalex.org/W2808405904","https://openalex.org/W2808844346","https://openalex.org/W2884288731","https://openalex.org/W2910744956","https://openalex.org/W2942096073","https://openalex.org/W2981241579","https://openalex.org/W2990747716","https://openalex.org/W3038415847","https://openalex.org/W3048841492","https://openalex.org/W3091544428","https://openalex.org/W3109203373","https://openalex.org/W3130466728","https://openalex.org/W3192021195","https://openalex.org/W4297686387","https://openalex.org/W4312258136","https://openalex.org/W564286975"],"related_works":["https://openalex.org/W946352265","https://openalex.org/W3020787026","https://openalex.org/W2611003898","https://openalex.org/W2364741597","https://openalex.org/W2334479858","https://openalex.org/W2230808081","https://openalex.org/W2006251942","https://openalex.org/W1864774435","https://openalex.org/W1510768092","https://openalex.org/W1492103595"],"abstract_inverted_index":{"We":[0,12,48],"propose":[1],"a":[2,36,43,56],"novel":[3,99],"real-time":[4],"physically-accurate":[5],"simulator":[6],"for":[7],"long":[8],"flexible":[9],"cable":[10,16,34],"manipulation.":[11],"first":[13],"discretize":[14],"the":[15,33,51,61,65,76,90,93,96,109,118],"into":[17,35],"multiple":[18],"rigid":[19],"link":[20],"segments,":[21],"each":[22,40,70],"with":[23,42,75,80],"complementarity-based":[24],"contact":[25,66,77],"model":[26,78],"and":[27,31,64,68,92],"inter-segment":[28],"compliant":[29],"coupling;":[30],"partition":[32],"number":[37,44],"of":[38,45,95],"subsystems,":[39],"composed":[41],"consecutive":[46],"links.":[47],"then":[49],"formulate":[50],"inter-subsystem":[52,62],"consistency":[53,82],"constraint":[54],"as":[55],"certain":[57],"analytical":[58],"condition":[59,83],"among":[60],"coupling":[63],"impulses;":[67],"solve":[69],"subsystem":[71],"dynamics":[72],"in":[73,84],"parallel":[74],"together":[79],"this":[81],"an":[85],"iterative":[86],"manner,":[87],"achieving":[88],"both":[89],"speed":[91,107],"accuracy":[94],"simulation.":[97,110],"A":[98],"post-regulation":[100],"scheme":[101],"is":[102],"also":[103,114],"proposed":[104],"to":[105,116],"further":[106],"up":[108],"Experimental":[111],"validation/demonstration":[112],"are":[113],"performed":[115],"show":[117],"theory.":[119]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3207965867","counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-04-17T03:01:27.591646","created_date":"2021-10-25"}