Get quick answers to your questions about the article from our AI researcher chatbot
{'id': 'https://openalex.org/W2113873545', 'doi': 'https://doi.org/10.1109/icra.2011.5979610', 'title': 'Sliding mode control of a pneumatic haptic teleoperation system with on/off solenoid valves', 'display_name': 'Sliding mode control of a pneumatic haptic teleoperation system with on/off solenoid valves', 'publication_year': 2011, 'publication_date': '2011-05-01', 'ids': {'openalex': 'https://openalex.org/W2113873545', 'doi': 'https://doi.org/10.1109/icra.2011.5979610', 'mag': '2113873545'}, 'language': 'en', 'primary_location': {'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/icra.2011.5979610', 'pdf_url': None, 'source': None, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, 'type': 'preprint', 'type_crossref': 'proceedings-article', 'indexed_in': ['crossref'], 'open_access': {'is_oa': True, 'oa_status': 'green', 'oa_url': 'https://hal.science/hal-00597445/document', 'any_repository_has_fulltext': True}, 'authorships': [{'author_position': 'first', 'author': {'id': 'https://openalex.org/A5044123689', 'display_name': 'Minh-Quyen Lê', 'orcid': 'https://orcid.org/0000-0001-5907-159X'}, 'institutions': [{'id': 'https://openalex.org/I100532134', 'display_name': 'Université Claude Bernard Lyon 1', 'ror': 'https://ror.org/029brtt94', 'country_code': 'FR', 'type': 'education', 'lineage': ['https://openalex.org/I100532134', 'https://openalex.org/I203339264']}, {'id': 'https://openalex.org/I1294671590', 'display_name': 'Centre National de la Recherche Scientifique', 'ror': 'https://ror.org/02feahw73', 'country_code': 'FR', 'type': 'government', 'lineage': ['https://openalex.org/I1294671590']}], 'countries': ['FR'], 'is_corresponding': False, 'raw_author_name': 'M.Q. Le', 'raw_affiliation_strings': ['[Laboratoire Ampère, UMR CNRS 5005, Université de Lyon, INSA-Lyon, France]'], 'affiliations': [{'raw_affiliation_string': '[Laboratoire Ampère, UMR CNRS 5005, Université de Lyon, INSA-Lyon, France]', 'institution_ids': ['https://openalex.org/I100532134', 'https://openalex.org/I1294671590']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5084059847', 'display_name': 'Minh Tu Pham', 'orcid': 'https://orcid.org/0000-0001-6799-5899'}, 'institutions': [{'id': 'https://openalex.org/I1294671590', 'display_name': 'Centre National de la Recherche Scientifique', 'ror': 'https://ror.org/02feahw73', 'country_code': 'FR', 'type': 'government', 'lineage': ['https://openalex.org/I1294671590']}, {'id': 'https://openalex.org/I100532134', 'display_name': 'Université Claude Bernard Lyon 1', 'ror': 'https://ror.org/029brtt94', 'country_code': 'FR', 'type': 'education', 'lineage': ['https://openalex.org/I100532134', 'https://openalex.org/I203339264']}], 'countries': ['FR'], 'is_corresponding': False, 'raw_author_name': 'M.T. Pham', 'raw_affiliation_strings': ['[Laboratoire Ampère, UMR CNRS 5005, Université de Lyon, INSA-Lyon, France]'], 'affiliations': [{'raw_affiliation_string': '[Laboratoire Ampère, UMR CNRS 5005, Université de Lyon, INSA-Lyon, France]', 'institution_ids': ['https://openalex.org/I1294671590', 'https://openalex.org/I100532134']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5018636421', 'display_name': 'Mahdi Tavakoli', 'orcid': 'https://orcid.org/0000-0002-7427-6961'}, 'institutions': [{'id': 'https://openalex.org/I154425047', 'display_name': 'University of Alberta', 'ror': 'https://ror.org/0160cpw27', 'country_code': 'CA', 'type': 'education', 'lineage': ['https://openalex.org/I154425047']}], 'countries': ['CA'], 'is_corresponding': False, 'raw_author_name': 'M. Tavakoli', 'raw_affiliation_strings': ['Department of Electrical & Computer Engineering, University of Alberta, Canada'], 'affiliations': [{'raw_affiliation_string': 'Department of Electrical & Computer Engineering, University of Alberta, Canada', 'institution_ids': ['https://openalex.org/I154425047']}]}, {'author_position': 'last', 'author': {'id': 'https://openalex.org/A5101501194', 'display_name': 'Richard Moreau', 'orcid': 'https://orcid.org/0000-0003-4885-5107'}, 'institutions': [{'id': 'https://openalex.org/I100532134', 'display_name': 'Université Claude Bernard Lyon 1', 'ror': 'https://ror.org/029brtt94', 'country_code': 'FR', 'type': 'education', 'lineage': ['https://openalex.org/I100532134', 'https://openalex.org/I203339264']}, {'id': 'https://openalex.org/I1294671590', 'display_name': 'Centre National de la Recherche Scientifique', 'ror': 'https://ror.org/02feahw73', 'country_code': 'FR', 'type': 'government', 'lineage': ['https://openalex.org/I1294671590']}], 'countries': ['FR'], 'is_corresponding': False, 'raw_author_name': 'R. Moreau', 'raw_affiliation_strings': ['[Laboratoire Ampère, UMR CNRS 5005, Université de Lyon, INSA-Lyon, France]'], 'affiliations': [{'raw_affiliation_string': '[Laboratoire Ampère, UMR CNRS 5005, Université de Lyon, INSA-Lyon, France]', 'institution_ids': ['https://openalex.org/I100532134', 'https://openalex.org/I1294671590']}]}], 'institution_assertions': [], 'countries_distinct_count': 2, 'institutions_distinct_count': 3, 'corresponding_author_ids': [], 'corresponding_institution_ids': [], 'apc_list': None, 'apc_paid': None, 'fwci': None, 'has_fulltext': True, 'fulltext_origin': 'pdf', 'cited_by_count': 31, 'citation_normalized_percentile': {'value': 0.989777, 'is_in_top_1_percent': False, 'is_in_top_10_percent': True}, 'cited_by_percentile_year': {'min': 92, 'max': 93}, 'biblio': {'volume': None, 'issue': None, 'first_page': '874', 'last_page': '879'}, 'is_retracted': False, 'is_paratext': False, 'primary_topic': {'id': 'https://openalex.org/T11687', 'display_name': 'Teleoperation and Haptic Systems', 'score': 0.9999, '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'}}, 'topics': [{'id': 'https://openalex.org/T11687', 'display_name': 'Teleoperation and Haptic Systems', 'score': 0.9999, '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'}}, {'id': 'https://openalex.org/T14011', 'display_name': 'Elevator Systems and Control', 'score': 0.9719, '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/T10868', 'display_name': 'Soft Robotics and Applications', 'score': 0.9701, 'subfield': {'id': 'https://openalex.org/subfields/2204', 'display_name': 'Biomedical 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/teleoperation', 'display_name': 'Teleoperation', 'score': 0.975373}, {'id': 'https://openalex.org/keywords/pneumatic-actuator', 'display_name': 'Pneumatic actuator', 'score': 0.680634}, {'id': 'https://openalex.org/keywords/solenoid', 'display_name': 'Solenoid', 'score': 0.61093754}, {'id': 'https://openalex.org/keywords/position-tracking', 'display_name': 'Position tracking', 'score': 0.54240054}, {'id': 'https://openalex.org/keywords/position', 'display_name': 'Position (finance)', 'score': 0.4415693}, {'id': 'https://openalex.org/keywords/telerobotics', 'display_name': 'Telerobotics', 'score': 0.43067947}], 'concepts': [{'id': 'https://openalex.org/C161759796', 'wikidata': 'https://www.wikidata.org/wiki/Q3982902', 'display_name': 'Teleoperation', 'level': 3, 'score': 0.975373}, {'id': 'https://openalex.org/C170401851', 'wikidata': 'https://www.wikidata.org/wiki/Q1965061', 'display_name': 'Pneumatic actuator', 'level': 3, 'score': 0.680634}, {'id': 'https://openalex.org/C152086174', 'wikidata': 'https://www.wikidata.org/wiki/Q3030571', 'display_name': 'Haptic technology', 'level': 2, 'score': 0.6699673}, {'id': 'https://openalex.org/C192144188', 'wikidata': 'https://www.wikidata.org/wiki/Q245739', 'display_name': 'Solenoid', 'level': 2, 'score': 0.61093754}, {'id': 'https://openalex.org/C47446073', 'wikidata': 'https://www.wikidata.org/wiki/Q5165890', 'display_name': 'Control theory (sociology)', 'level': 3, 'score': 0.5685569}, {'id': 'https://openalex.org/C3017729373', 'wikidata': 'https://www.wikidata.org/wiki/Q30324728', 'display_name': 'Position tracking', 'level': 3, 'score': 0.54240054}, {'id': 'https://openalex.org/C172707124', 'wikidata': 'https://www.wikidata.org/wiki/Q423488', 'display_name': 'Actuator', 'level': 2, 'score': 0.49924445}, {'id': 'https://openalex.org/C198082294', 'wikidata': 'https://www.wikidata.org/wiki/Q3399648', 'display_name': 'Position (finance)', 'level': 2, 'score': 0.4415693}, {'id': 'https://openalex.org/C196467688', 'wikidata': 'https://www.wikidata.org/wiki/Q1851985', 'display_name': 'Telerobotics', 'level': 4, 'score': 0.43067947}, {'id': 'https://openalex.org/C127413603', 'wikidata': 'https://www.wikidata.org/wiki/Q11023', 'display_name': 'Engineering', 'level': 0, 'score': 0.41211814}, {'id': 'https://openalex.org/C41008148', 'wikidata': 'https://www.wikidata.org/wiki/Q21198', 'display_name': 'Computer science', 'level': 0, 'score': 0.40759084}, {'id': 'https://openalex.org/C44154836', 'wikidata': 'https://www.wikidata.org/wiki/Q45045', 'display_name': 'Simulation', 'level': 1, 'score': 0.38643578}, {'id': 'https://openalex.org/C133731056', 'wikidata': 'https://www.wikidata.org/wiki/Q4917288', 'display_name': 'Control engineering', 'level': 1, 'score': 0.35693532}, {'id': 'https://openalex.org/C90509273', 'wikidata': 'https://www.wikidata.org/wiki/Q11012', 'display_name': 'Robot', 'level': 2, 'score': 0.24504569}, {'id': 'https://openalex.org/C2775924081', 'wikidata': 'https://www.wikidata.org/wiki/Q55608371', 'display_name': 'Control (management)', 'level': 2, 'score': 0.16226217}, {'id': 'https://openalex.org/C78519656', 'wikidata': 'https://www.wikidata.org/wiki/Q101333', 'display_name': 'Mechanical engineering', 'level': 1, 'score': 0.12777299}, {'id': 'https://openalex.org/C154945302', 'wikidata': 'https://www.wikidata.org/wiki/Q11660', 'display_name': 'Artificial intelligence', 'level': 1, 'score': 0.08877319}, {'id': 'https://openalex.org/C19966478', 'wikidata': 'https://www.wikidata.org/wiki/Q4810574', 'display_name': 'Mobile robot', 'level': 3, 'score': 0.06819904}, {'id': 'https://openalex.org/C10138342', 'wikidata': 'https://www.wikidata.org/wiki/Q43015', 'display_name': 'Finance', 'level': 1, 'score': 0.0}, {'id': 'https://openalex.org/C162324750', 'wikidata': 'https://www.wikidata.org/wiki/Q8134', 'display_name': 'Economics', 'level': 0, 'score': 0.0}], 'mesh': [], 'locations_count': 6, 'locations': [{'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/icra.2011.5979610', 'pdf_url': None, 'source': None, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, {'is_oa': True, 'landing_page_url': 'https://hal.science/hal-00597445', 'pdf_url': 'https://hal.science/hal-00597445/document', 'source': {'id': 'https://openalex.org/S4306402512', 'display_name': 'HAL (Le Centre pour la Communication Scientifique Directe)', 'issn_l': None, 'issn': None, 'is_oa': True, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I1294671590', 'host_organization_name': 'Centre National de la Recherche Scientifique', 'host_organization_lineage': ['https://openalex.org/I1294671590'], 'host_organization_lineage_names': ['Centre National de la Recherche Scientifique'], 'type': 'repository'}, 'license': 'other-oa', 'license_id': 'https://openalex.org/licenses/other-oa', 'version': 'publishedVersion', 'is_accepted': True, 'is_published': True}, {'is_oa': True, 'landing_page_url': 'https://hal.science/hal-00597445/file/ICRA2011_LE_SlidingModeControl.pdf', 'pdf_url': 'https://hal.science/hal-00597445/file/ICRA2011_LE_SlidingModeControl.pdf', 'source': {'id': 'https://openalex.org/S4306402512', 'display_name': 'HAL (Le Centre pour la Communication Scientifique Directe)', 'issn_l': None, 'issn': None, 'is_oa': True, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I1294671590', 'host_organization_name': 'Centre National de la Recherche Scientifique', 'host_organization_lineage': ['https://openalex.org/I1294671590'], 'host_organization_lineage_names': ['Centre National de la Recherche Scientifique'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'publishedVersion', 'is_accepted': True, 'is_published': True}, {'is_oa': True, 'landing_page_url': 'https://hal.archives-ouvertes.fr/hal-00597445/file/ICRA2011_LE_SlidingModeControl.pdf', 'pdf_url': 'https://hal.archives-ouvertes.fr/hal-00597445/file/ICRA2011_LE_SlidingModeControl.pdf', 'source': {'id': 'https://openalex.org/S4306402512', 'display_name': 'HAL (Le Centre pour la Communication Scientifique Directe)', 'issn_l': None, 'issn': None, 'is_oa': True, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I1294671590', 'host_organization_name': 'Centre National de la Recherche Scientifique', 'host_organization_lineage': ['https://openalex.org/I1294671590'], 'host_organization_lineage_names': ['Centre National de la Recherche Scientifique'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'publishedVersion', 'is_accepted': True, 'is_published': True}, {'is_oa': True, 'landing_page_url': 'https://hal.archives-ouvertes.fr/hal-00597445/document', 'pdf_url': 'https://hal.archives-ouvertes.fr/hal-00597445/document', 'source': {'id': 'https://openalex.org/S4306402512', 'display_name': 'HAL (Le Centre pour la Communication Scientifique Directe)', 'issn_l': None, 'issn': None, 'is_oa': True, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I1294671590', 'host_organization_name': 'Centre National de la Recherche Scientifique', 'host_organization_lineage': ['https://openalex.org/I1294671590'], 'host_organization_lineage_names': ['Centre National de la Recherche Scientifique'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'publishedVersion', 'is_accepted': True, 'is_published': True}, {'is_oa': True, 'landing_page_url': 'http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.417.276', 'pdf_url': 'http://www.ece.ualberta.ca/~tbs/ICRA2011-Quyen.pdf', 'source': {'id': 'https://openalex.org/S4306400349', 'display_name': 'CiteSeer X (The Pennsylvania State University)', 'issn_l': None, 'issn': None, 'is_oa': True, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I130769515', 'host_organization_name': 'Pennsylvania State University', 'host_organization_lineage': ['https://openalex.org/I130769515'], 'host_organization_lineage_names': ['Pennsylvania State University'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'submittedVersion', 'is_accepted': False, 'is_published': False}], 'best_oa_location': {'is_oa': True, 'landing_page_url': 'https://hal.science/hal-00597445', 'pdf_url': 'https://hal.science/hal-00597445/document', 'source': {'id': 'https://openalex.org/S4306402512', 'display_name': 'HAL (Le Centre pour la Communication Scientifique Directe)', 'issn_l': None, 'issn': None, 'is_oa': True, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I1294671590', 'host_organization_name': 'Centre National de la Recherche Scientifique', 'host_organization_lineage': ['https://openalex.org/I1294671590'], 'host_organization_lineage_names': ['Centre National de la Recherche Scientifique'], 'type': 'repository'}, 'license': 'other-oa', 'license_id': 'https://openalex.org/licenses/other-oa', 'version': 'publishedVersion', 'is_accepted': True, 'is_published': True}, 'sustainable_development_goals': [{'id': 'https://metadata.un.org/sdg/16', 'display_name': 'Peace, justice, and strong institutions', 'score': 0.77}], 'grants': [], 'datasets': [], 'versions': [], 'referenced_works_count': 14, 'referenced_works': ['https://openalex.org/W1560373200', 'https://openalex.org/W1938835349', 'https://openalex.org/W1967390389', 'https://openalex.org/W1970338963', 'https://openalex.org/W1986261026', 'https://openalex.org/W1987242616', 'https://openalex.org/W2001473273', 'https://openalex.org/W2092135655', 'https://openalex.org/W2126674548', 'https://openalex.org/W2170931259', 'https://openalex.org/W2600100091', 'https://openalex.org/W341380584', 'https://openalex.org/W4252366120', 'https://openalex.org/W4285719527'], 'related_works': ['https://openalex.org/W817518365', 'https://openalex.org/W4367662652', 'https://openalex.org/W2145960295', 'https://openalex.org/W2145103607', 'https://openalex.org/W2141648055', 'https://openalex.org/W2097059456', 'https://openalex.org/W2078176643', 'https://openalex.org/W2067221866', 'https://openalex.org/W2046710269', 'https://openalex.org/W2013463538'], 'abstract_inverted_index': {'This': [0], 'paper': [1], 'presents': [2], 'a': [3, 27, 59], 'novel': [4], 'bilateral': [5, 29], 'control': [6, 23, 54], 'scheme': [7], 'for': [8], 'pneumatic': [9, 61], 'teleoperation': [10, 30, 47, 62, 84], 'systems': [11], 'that': [12], 'are': [13], 'actuated': [14], 'by': [15], 'low': [16], 'cost': [17], 'solenoid': [18, 67], 'valves.': [19, 68], 'A': [20], 'sliding': [21], 'mode': [22], 'is': [24, 49, 56], 'incorporated': [25], 'into': [26], 'two-channel,': [28], 'architecture': [31], 'involving': [32], 'position-position,': [33], 'force-force,': [34], 'or': [35], 'force-position': [36], 'schemes.': [37], 'An': [38], 'analysis': [39], 'of': [40, 44, 77], 'stability': [41], 'and': [42, 79], 'transparency': [43], 'the': [45, 83], 'closed-loop': [46], 'system': [48, 63], 'carried': [50], 'out.': [51], 'The': [52], 'proposed': [53], 'design': [55], 'verified': [57], 'on': [58], 'single-degree-of-freedom': [60], 'with': [64], 'four': [65], 'on/off': [66], 'Moreover,': [69], 'simulation': [70], 'results': [71], 'demonstrate': [72], 'high': [73], 'accuracies': [74], 'in': [75, 82], 'terms': [76], 'position': [78], 'force': [80], 'tracking': [81], 'system.': [85]}, 'cited_by_api_url': 'https://api.openalex.org/works?filter=cites:W2113873545', 'counts_by_year': [{'year': 2024, 'cited_by_count': 2}, {'year': 2020, 'cited_by_count': 1}, {'year': 2018, 'cited_by_count': 2}, {'year': 2017, 'cited_by_count': 4}, {'year': 2016, 'cited_by_count': 5}, {'year': 2015, 'cited_by_count': 2}, {'year': 2014, 'cited_by_count': 4}, {'year': 2013, 'cited_by_count': 2}, {'year': 2012, 'cited_by_count': 4}], 'updated_date': '2024-12-14T15:11:02.314472', 'created_date': '2016-06-24'}