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Relevant bibliographies by topics / Parallel robots. Robots Parallel robots

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Academic literature on the topic 'Parallel robots. Robots Parallel robots'

Author: Grafiati

Published: 4 June 2021

Last updated: 3 February 2022

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Journal articles on the topic "Parallel robots. Robots Parallel robots"

1

SYAFITRI, NIKEN. "Strategi Self-Assembly Paralel pada Swarm Robot." ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika 7, no. 1 (2019): 138. http://dx.doi.org/10.26760/elkomika.v7i1.138.

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ABSTRAKDari banyaknya strategi yang diusulkan untuk proses self-assembly pada swarm robotics, hanya beberapa grup riset berkonsentrasi di bidang ini yang mengusulkan proses paralel pada penggabungan antar robot. Tetapi, strategi ini hanya digunakan ketika sebuah robot memerlukan tumpuan dari dua robot atau lebih pada satu waktu. Berdasar pada kebutuhan untuk menyebarkan ratusan hingga ribuan robot pada satu swarm, strategi penggabungan antar robot satu-demi-satu memerlukan waktu yang sangat lama untuk diselesaikan. Di artikel ini, strategi self-assembly antar robot pada suatu swarm secara para

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Yuan, Han, Qiong Wu, and Lili Zhou. "Concept Design and Load Capacity Analysis of a Novel Serial-Parallel Robot for the Automatic Charging of Electric Vehicles." Electronics 9, no. 6 (2020): 956. http://dx.doi.org/10.3390/electronics9060956.

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The automatic charging of electric vehicles is an important but challenging problem. Recently, various charging robots are proposed for electric vehicles. Most previous researches do not pay enough attention to the robots’ load capacities. Actually, providing the charging connector with adequate pushing and/or pulling forces is vital to guarantee a reliable electrical connection, which is a key issue for charging robot design. In this paper, we present a novel serial-parallel robot for the automatic charging of electric vehicles. This robot is based on the 3 universal-prismatic-universal (3UPU

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Khoi, Phan Bui, and Nguyen Van Toan. "APPLICATION OF FUZZY LOGIC FOR CONTROLLING MECHANISM OF RELATIVE MANIPULATION ROBOT (MRM ROBOT)." Vietnam Journal of Science and Technology 54, no. 3 (2016): 386. http://dx.doi.org/10.15625/0866-708x/54/3/7333.

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In robot control, mathematical equations describing dynamic behaviors of robots are usually complicated. Additionally, the components such as inertial and friction parameters appearing in these equations are very difficult to determine exactly. With robots having complex structure such as parallel robots, MRM robots etc., the derivation of dynamic equations becomes more difficult and sometimes cannot obtain analytically. In those cases, controlling robot based on its equations of motion is quite hard. Applying fuzzy logic for robot control can overcome the mentioned drawbacks. This is because

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Briot, Sébastien, and Ilian A. Bonev. "ARE PARALLEL ROBOTS MORE ACCURATE THAN SERIAL ROBOTS?" Transactions of the Canadian Society for Mechanical Engineering 31, no. 4 (2007): 445–55. http://dx.doi.org/10.1139/tcsme-2007-0032.

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It is widely claimed that parallel robots are intrinsically more accurate than serial robots because their errors are averaged instead of added cumulatively, an assertion which has not been properly addressed in the literature. This paper addresses this void by comparing the kinematic accuracy of two pairs of serial-parallel 2-DOF planar robots. Only input errors are considered and all robots are optimized for accuracy, the only constraint being that they cover a given desired workspace. The results of this comparison seem to confirm that parallel robots are less sensitive to input errors than

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Rat, Nadia Ramona, Mircea Neagoe, and Sergiu Dan Stan. "Comparative Dynamic Analysis of Two Parallel Robots." Solid State Phenomena 166-167 (September 2010): 345–56. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.345.

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The paper presents a comparative dynamic modeling and VR (virtual reality) simulation for two 3 DOF medical parallel robots: a three coupled motions structure (Orthoglide robot) versus two coupled motion parallel structure (robot of type 1PRRR+2PRPaR). Kinematical and dynamical models, followed by a VR application with control aspects are presented for these two parallel robots. The innovative user interface for high-level control of the two parallel robots, presented in the paper, was developed in MATLAB - Simulink and SimMechanics environment, while the closed form dynamic models were obtain

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Schütz, Daniel, Annika Raatz, and Jürgen Hesselbach. "Adapted task configuration of a reconfigurable binary parallel robot with PRRRP structure." Robotica 31, no. 2 (2012): 285–93. http://dx.doi.org/10.1017/s0263574712000240.

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SUMMARYBinary-actuated robots offer a discrete workspace with the advantage that no feedback control is needed, as their actuators have two mechanical end-positions. This contribution focuses on a planar parallel robot with a PRRRP structure and driven by rodless pneumatic cylinders. Thus, the robot's workspace only features four destination points, which can be reached quickly and with high repeatability. Because of the fact that there is no possibility to reach in discrete points, an adapted task configuration is essential. The objective of this work is to establish and validate a synthesis

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Glozman, Daniel, and Moshe Shoham. "Novel 6-DOF parallel manipulator with large workspace." Robotica 27, no. 6 (2009): 891–95. http://dx.doi.org/10.1017/s0263574708005286.

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SUMMARYThe workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace—larger than the size of the robot itself—which is not common in parallel robots. The inverse and forward kinematics of the robots are presented. The workspaces of the robots are compared to similar and well-known structur

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Feng, Maria Q., Takashi Kawamura, and Takayuki Tanaka. "Parallel Bicycles and Their Applications." Journal of Robotics and Mechatronics 26, no. 1 (2014): 9–14. http://dx.doi.org/10.20965/jrm.2014.p0009.

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This paper describes the successful research and development (R&D) of parallel bicycles (PB robots) including six prototypes created by the authors and their applications to personal vehicles. The first, developed in 1986, consists of a pair of coaxial wheels and an inverted pendulum on the wheel axis. Since then, the authors have carried out fundamental and practical studies on static/dynamic posture stabilization control, dynamic movement, and slope and stair ascent/descent. The PB robot control mechanism has recently been applied to educational robots, mobile humanoid robots, and person

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Lin, Deng, Giovanni Mottola, Marco Carricato, and Xiaoling Jiang. "Modeling and Control of a Cable-Suspended Sling-Like Parallel Robot for Throwing Operations." Applied Sciences 10, no. 24 (2020): 9067. http://dx.doi.org/10.3390/app10249067.

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Cable-driven parallel robots can provide interesting advantages over conventional robots with rigid links; in particular, robots with a cable-suspended architecture can have very large workspaces. Recent research has shown that dynamic trajectories allow the robot to further increase its workspace by taking advantage of inertial effects. In our work, we consider a three-degrees-of-freedom parallel robot suspended by three cables, with a point-mass end-effector. This model was considered in previous works to analyze the conditions for dynamical feasibility of a trajectory. Here, we enhance the

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Srinath, A., G. Yedukondalu, and K. V. Ramana. "100568 SYNTHESIS OF PARALLEL ROBOTS FOR MEDICAL APPLICATIONS(Robotics and Mechatronics)." Proceedings of the Asian Conference on Multibody Dynamics 2010.5 (2010): _100568–1_—_100568–11. http://dx.doi.org/10.1299/jsmeacmd.2010.5._100568-1_.

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Dissertations / Theses on the topic "Parallel robots. Robots Parallel robots"

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Yang, Yawei. "Kinematics, singularity and design of parallel robots." Laramie, Wyo. : University of Wyoming, 2008. http://proquest.umi.com/pqdweb?did=1597619111&sid=1&Fmt=2&clientId=18949&RQT=309&VName=PQD.

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Anderson, Eric William. "Design of a low cost, high speed robot for poultry processing." Thesis, Available online, Georgia Institute of Technology, 2004:, 2004. http://etd.gatech.edu/theses/available/etd-06092004-082016/unrestricted/anderson%5eric%5w%5200408%5ms.pdf.

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Thesis (M.S.)--School of Mechanical Engineering, Georgia Institute of Technology, 2005. Directed by Harvey Lipkin.<br>Imme Ebert-Uphoff, Committee Member ; Wayne Book, Committee Member ; Harvey Lipkin, Committee Chair. Includes bibliographical references.

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Rasheed, Tahir. "Collaborative Mobile Cable-Driven Parallel Robots." Thesis, Ecole centrale de Nantes, 2019. http://www.theses.fr/2019ECDN0055.

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Cette thèse présente un nouveau concept de robots parallèles à câble mobile (RPCM) comme un nouveau système robotique. RPCM est composé d'un robot parallèle à câble (RPC) classique monté sur plusieurs bases mobiles. Les RPCMs combinent l'autonomie des robots mobiles avec les avantages des RPCs, à savoir un grand espace de travail, un rapport charge utile/poids élevé, une faible inertie de l'effecteur final, une capacité de déploiement et une reconfigurabilité. De plus, les RPCMs présentent une nouvelle innovation technique qui pourrait contribuer à apporter plus de flexibilité et de polyvalenc

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Lessanibahri, Saman. "Cable-Driven Parallel Robots with Large Translation and Orientation Workspaces." Thesis, Ecole centrale de Nantes, 2020. https://tel.archives-ouvertes.fr/tel-03174262.

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Les Robots Parallèles à Câbles (RPC) sont considérés comme des manipulateurs parallèles avec des câbles flexibles au lieu de liens rigides. Un RPC se compose d'un bâti, d'une plate-forme mobile et de câbles les reliant l'un à l'autre. Les RPC sont réputés pour leurs performances avantageuses par rapport aux robots parallèles classiques en termes d’espace de travail en translation, de reconfigurabilité, de capacité de charge utile importante et de performances dynamiques élevées. Cependant, l'amplitude de rotation de la plateforme mobile des RPC est généralement limitée en raison des collisions

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Pusey, Jason L. "Cable suspended parallel robots design, workspace, and control /." Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file 3.60 Mb., 350 p, 2006. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&res_dat=xri:pqdiss&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&rft_dat=xri:pqdiss:1435861.

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Cheung, Wing-fung Jacob. "Kinematics, dynamics and control of high precision parallel manipulators." Click to view the E-thesis via HKUTO, 2007. http://sunzi.lib.hku.hk/hkuto/record/B37907116.

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Weber, Xavier. "Commande modale de robots parallèles à câbles flexibles." Thesis, Strasbourg, 2016. http://www.theses.fr/2016STRAD026/document.

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Les Robots Parallèles à Câbles sont des robots possédant un effecteur relié à une base uniquement à l’aide de câbles, dont il est possible de modifier la longueur. Ils sont ainsi légers, capables de grandes dynamiques et peuvent présenter un énorme espace de travail.Mais ils sont sujets à des vibrations de grande amplitude et basse fréquence à cause de leur rigidité très faible. Cette thèse propose une approche originale d'amortissement actif pour atténuer efficacement ces vibrations. Le modèle dynamique du robot à câbles embarquant des roues à inertie est calculé, linéarisé autour d'un point

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Xu, Qing Song. "Kinematics, dynamics and control of parallel robots." Thesis, University of Macau, 2004. http://umaclib3.umac.mo/record=b1446180.

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Zaccaria, Federico. "Geometrico-static modelling of continuum parallel robots." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.

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In this thesis, we explore three methods for the geometrico-static modelling of continuum parallel robots. Inspired by biological trunks, tentacles and snakes, continuum robot designs can reach confined spaces, manipulate objects in complex environments and conform to curvilinear paths in space. In addition, parallel continuum manipulators have the potential to inherit some of the compactness and compliance of continuum robots while retaining some of the precision, stability and strength of rigid-links parallel robots. Subsequently, the foundation of our work is performed on slender beam

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Klimchik, Alexandr. "Enhanced stiffness modelling of serial and parallel manipulators for robotic-based processing of high performance materials." Ecole centrale de Nantes, 2011. http://www.theses.fr/2011ECDN0034.

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Les travaux présentés dans cette thèse portent sur l’amélioration des modèles de raideur pour les robots sériels etparallèles possédant des articulations passives. Contrairement aux travaux précédents, la raideur du robot est évaluée en présence de chargement en vérifiant les équations d’équilibre du système. Cette modélisation prend en compte les chargements externes ainsi que les pré-charges internes et des charges distribuées comme les forces dues à la gravité. Il est ainsi possible d’écrire la relation entre la charge et le déplacement de l’effecteur en tout point de l’espace de travail et

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Books on the topic "Parallel robots. Robots Parallel robots"

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Parallel robots. 2nd ed. Kluwer Academic Publishers, 2006.

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Merlet, Jean-Pierre. Parallel Robots. Springer Netherlands, 2000. http://dx.doi.org/10.1007/978-94-010-9587-7.

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Wu, Guanglei, and Huiping Shen. Parallel PnP Robots. Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-6671-4.

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Bruckmann, Tobias, and Andreas Pott, eds. Cable-Driven Parallel Robots. Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-31988-4.

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Pott, Andreas, and Tobias Bruckmann, eds. Cable-Driven Parallel Robots. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-20751-9.

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Gosselin, Clément, Philippe Cardou, Tobias Bruckmann, and Andreas Pott, eds. Cable-Driven Parallel Robots. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-61431-1.

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Staicu, Stefan. Dynamics of Parallel Robots. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-319-99522-9.

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Briot, Sébastien, and Wisama Khalil. Dynamics of Parallel Robots. Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-19788-3.

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Pott, Andreas. Cable-Driven Parallel Robots. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-76138-1.

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Pott, Andreas, and Tobias Bruckmann, eds. Cable-Driven Parallel Robots. Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-09489-2.

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Book chapters on the topic "Parallel robots. Robots Parallel robots"

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Park, Frank C. "Parallel Robots." In Encyclopedia of Systems and Control. Springer London, 2015. http://dx.doi.org/10.1007/978-1-4471-5058-9_174.

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Park, Frank C. "Parallel Robots." In Encyclopedia of Systems and Control. Springer London, 2014. http://dx.doi.org/10.1007/978-1-4471-5102-9_174-1.

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Jin, Yan, Hélène Chanal, and Flavien Paccot. "Parallel Robots." In Handbook of Manufacturing Engineering and Technology. Springer London, 2014. http://dx.doi.org/10.1007/978-1-4471-4670-4_99.

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Mihelj, Matjaž, Tadej Bajd, Aleš Ude, et al. "Parallel Robots." In Robotics. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-72911-4_6.

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Park, Frank C. "Parallel Robots." In Encyclopedia of Systems and Control. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-44184-5_174.

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Staicu, Stefan. "Planar Parallel Robots." In Parallel Robots: Theory and Applications. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-99522-9_8.

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Staicu, Stefan. "Spatial Parallel Robots." In Parallel Robots: Theory and Applications. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-99522-9_9.

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Wu, Guanglei, and Huiping Shen. "Robot Elastodynamics." In Parallel PnP Robots. Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-6671-4_7.

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Wu, Guanglei, and Huiping Shen. "Introduction." In Parallel PnP Robots. Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-6671-4_1.

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Wu, Guanglei, and Huiping Shen. "Kinematic Geometry of the PnP Robots." In Parallel PnP Robots. Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-6671-4_2.

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Conference papers on the topic "Parallel robots. Robots Parallel robots"

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Aloi, Vincent, Caroline Black, and Caleb Rucker. "Stiffness Control of Parallel Continuum Robots." In ASME 2018 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dscc2018-9112.

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Parallel continuum robots can provide compact, compliant manipulation of tools in robotic surgery and larger-scale human robot interaction. In this paper we address stiffness control of parallel continuum robots using a general nonlinear kinetostatic modeling framework based on Cosserat rods. We use a model formulation that estimates the applied end-effector force and pose using actuator force measurements. An integral control approach then modifies the commanded target position based on the desired stiffness behavior and the estimated force and position. We then use low-level position control

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Garcia, Martin, Amir Ali Amiri Moghadam, Ayse Tekes, and Randy Emert. "Development of a 3D Printed Soft Parallel Robot." In ASME 2020 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/imece2020-23138.

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Abstract This paper reports on design, fabrication, and kinematics modeling of a 3D printed soft parallel robot equipped with soft pneumatic actuators. Soft robotics is an emerging field of research which facilitates safe human machine interface. Soft elastomeric actuators made through molding process are one of the key elements of soft robotic systems. However, molding process is tedious and time consuming making the fabrication process undesirable. Recently reported 3D printed soft pneumatic actuators pave the way for manufacturing of novel soft actuators and robots with complex geometries.

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Raatz, Annika, Frank Trauden, and Ju¨rgen Hesselbach. "Modeling Compliant Parallel Robots." In ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2006. http://dx.doi.org/10.1115/detc2006-99190.

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Since long time flexure hinges have been used in high precision devices instead of conventional bearings, e.g. ball or sliding bearings. Due to the natural lack of backlash, friction and slip-stick effects in flexure hinges, the accuracy of positioning or measurement devices can be highly increased. Recent applications for flexure hinges are seen in parallel robots. The integration of flexure hinges in parallel structures is quite simple because all joints, except for the drives, are passive. Since flexure hinges gain their mobility from an elastic and plastic deformation of matter, their kine

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Kumar, Shivesh, and Andreas Mueller. "An Analytical and Modular Software Workbench for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97115.

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Abstract Parallel mechanisms are increasingly being used as modular subsystem units in various robots and man-machine interfaces for their superior stiffness, payload-to-weight ratio and dynamic properties. This leads to series-parallel hybrid robotic systems which are difficult to model and control due to the presence of various closed loops. Most model based kinematic and dynamic modeling tools resolve loop closure constraints numerically and hence suffer from inefficiency and accuracy issues. Also, they do not exploit the modularity in robot design. In this paper, we present a modular and a

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Wang, Shih-Liang. "On Force and Motion Control of Serial-Parallel Robots." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/mech-1151.

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Abstract A serial-parallel robot has the high stiffness and accuracy of a parallel robot, and a large workspace and compact structure of a serial robot. In this paper, the resolved force control algorithm is derived for serial-parallel robots, including a 3-articulated-arm platform robot, a linkage robot, and two cooperating serial robots. A S matrix is derived to relate joint torque to the external load. Using the principle of virtual work, S is used in resolved rate control algorithm to relate the tool velocity to joint rate. S can be easily expanded to the control of redundant actuation, an

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Nelson, Carl A., and Raymond J. Cipra. "An Algorithm for Efficient Self-Reconfiguration of Chain-Type Unit-Modular Robots." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57488.

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The problem of self-reconfiguration of modular robots is discussed, and an algorithm for efficient parallel self-reconfiguration is presented. While much of the previous work has been focused on the lattice-type modular robots, this paper addresses the self-reconfiguration of chain-type robots. Relatively little attention has heretofore been given to this sub-problem, and of the existing work, none incorporates the kinematic limitations of real-life robots into the reconfiguration algorithm itself. The method presented here is based on understanding a robot’s physical “composition” using a gra

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Saidi, Kamel S., and Alan M. Lytle. "Parallel Robots in Construction." In 22nd International Symposium on Automation and Robotics in Construction. International Association for Automation and Robotics in Construction (IAARC), 2005. http://dx.doi.org/10.22260/isarc2005/0007.

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Ren, Ping, and Yunlong Sun. "Sliding Mode Set Point Control of a Six-DOF Cable-Suspended Parallel Robot With Tension Constraints and Uncertain Disturbances." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85742.

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This paper presents the design of a robust sliding mode controller for a six-degree-of-freedom cable-suspended parallel robot under uncertain disturbances. The control of cable-suspended parallel robots is quite challenging due to the unidirectional constraint of cable tensions. With the aid of interval analysis, a set of algebraic inequalities is obtained to establish the relationship between the cables’ tension constraints and the controller parameters. The sufficient conditions of the controller parameters satisfying the constraints are obtained for the set point motion within the robot’s s

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Yang, Hai, Se´bastien Krut, Franc¸ois Pierrot, and Ce´dric Baradat. "On the Design of Mobile Parallel Robots for Large Workspace Applications." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48101.

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In this paper, several considerations for designing industry oriented robots which combine the mobility of legged robots and advantages of parallel mechanisms are outlined. For designing such optimized robots in terms of simplicity and performance, a topology study is done based on the mobility analysis. Applying some design constraints, potential topologies of such robots are identified. One architecture is chosen for designing a tripod robot. Both inverse and forward kinematic problems of this robot are derived in order to simulate its gait motion. The analysis and simulations show that: int

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Trujano, Miguel A., and Ruben Garrido. "Robust Visual PID Control of Planar Parallel Robots Under Constant Disturbances." In ASME 2013 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/imece2013-63329.

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This work presents an image-based visual servoing scheme applied to planar parallel robots. A PID algorithm regulates the robot end-effector position, and rejects constant disturbances perturbing the active robot joints. Instead using the La Salle invariance theorem, the stability analysis provided here relies on a strict Lyapunov function. Experiments on a redundant planar parallel robot validate the proposed control scheme.

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Reports on the topic "Parallel robots. Robots Parallel robots"

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Bader, Brett William, Roger Patrick Pawlowski, and Tamara Gibson Kolda. Robust large-scale parallel nonlinear solvers for simulations. Office of Scientific and Technical Information (OSTI), 2005. http://dx.doi.org/10.2172/876345.

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Saad, Yousef. Robust parallel iterative solvers for linear and least-squares problems, Final Technical Report. Office of Scientific and Technical Information (OSTI), 2014. http://dx.doi.org/10.2172/1114834.

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Pebay, Philippe Pierre. Formulas for robust, one-pass parallel computation of covariances and arbitrary-order statistical moments. Office of Scientific and Technical Information (OSTI), 2008. http://dx.doi.org/10.2172/1028931.

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Pebay, Philippe Pierre, Timothy Terriberry, Hemanth Kolla, and Janine Camille Bennett. Formulas for robust, parallel computation of arbitrary-order, arbitrary-variate, statistical moments with arbitrary weights and compounding. Office of Scientific and Technical Information (OSTI), 2015. http://dx.doi.org/10.2172/1504207.

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