{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T17:50:15Z","timestamp":1773683415348,"version":"3.50.1"},"reference-count":32,"publisher":"Springer Science and Business Media LLC","issue":"10","license":[{"start":{"date-parts":[[2025,7,8]],"date-time":"2025-07-08T00:00:00Z","timestamp":1751932800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,7,8]],"date-time":"2025-07-08T00:00:00Z","timestamp":1751932800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"UK India Education and Research Initiative (UKIERI) and British Council"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["SIViP"],"published-print":{"date-parts":[[2025,10]]},"DOI":"10.1007\/s11760-025-04134-3","type":"journal-article","created":{"date-parts":[[2025,7,8]],"date-time":"2025-07-08T10:00:34Z","timestamp":1751968834000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["DTMA: visual object inspection and mechanism for digital twin with robotic arm"],"prefix":"10.1007","volume":"19","author":[{"given":"Hrishikesh","family":"Venkataraman","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jaswanth","family":"Nidamanuri","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aditya","family":"Dittakavi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Y","family":"Raja Vara Prasad","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ramona","family":"Trestian","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huan","family":"Nguyen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,7,8]]},"reference":[{"key":"4134_CR1","unstructured":"M.-H. Hung, Y.-C. Lin, H.-C. Hsiao, C.-C. Chen, K.-C. Lai, Y.-M. Hsieh, H."},{"key":"4134_CR2","unstructured":"Tieng, T.-H. Tsai, H.-C. Huang, H.-C. Yang, and F.-T. Cheng, \u201cA Novel Imple- mentation Framework of Digital Twins for Intelligent Manufacturing Based on Container Technology and Cloud Manufacturing Services,\u201d IEEE Transactions on Automation Science and Engineering, pp. 1\u201317, 2022."},{"issue":"2","key":"4134_CR3","doi-asserted-by":"publisher","first-page":"10","DOI":"10.1109\/MCOM.001.2000343","volume":"59","author":"Trestian","year":"2021","unstructured":"Trestian, et al.: Digital Twin for 5G and Beyond. IEEE Communication Magazine 59(2), 10\u201315 (2021)","journal-title":"IEEE Communication Magazine"},{"key":"4134_CR4","doi-asserted-by":"publisher","unstructured":"S. C. Mukhopadhyay, S. K. S. Tyagi, N. K. Suryadevara, V. Piuri, F. Scotti and S. Zeadally, \u201dArtificial Intelligence-Based Sensors for Next Generation IoT Applications: A Review,\u201d in IEEE Sensors Journal, vol. 21, no. 22, pp. 24920- 24932, 15 Nov.15, 2021, https:\/\/doi.org\/10.1109\/JSEN.2021.3055618.","DOI":"10.1109\/JSEN.2021.3055618"},{"key":"4134_CR5","unstructured":"S. Mihai et. al., \u201dA Digital Twin Framework for Predictive Maintenance in Industry 4.0.\u201d (2021)."},{"key":"4134_CR6","doi-asserted-by":"crossref","unstructured":"K. Renuka, N. Bhuvanesh, and J. Reena Catherine. \u201dKinematic and Dynamic Modelling and PID Control of Three Degree-of-Freedom Robotic Arm,\u201d Advances in Materials Research. Springer, Singapore, 2021. 867\u2013882.","DOI":"10.1007\/978-981-15-8319-3_87"},{"key":"4134_CR7","doi-asserted-by":"publisher","first-page":"4459","DOI":"10.1109\/IECON43393.2020.9254588","volume":"2020","author":"C Shayamunda","year":"2020","unstructured":"Shayamunda, C., Ramotsoela, T.D., Hancke, G.P., \u201dBiometric Authentication System for Industrial Applications using Speaker Recognition\u201d, IECON,: The 46th Annual Conference of the IEEE Industrial Electronics Society. Singapore 2020, 4459\u20134464 (2020). https:\/\/doi.org\/10.1109\/IECON43393.2020.9254588","journal-title":"Singapore"},{"key":"4134_CR8","doi-asserted-by":"publisher","unstructured":"S. Mihai et al., \u201dDigital Twins: A Survey on Enabling Technologies, Challenges, Trends and Future Prospects,\u201d in IEEE Communications Sur- veys & Tutorials, vol. 24, no. 4, pp. 2255\u20132291, Fourthquarter 2022, https:\/\/doi.org\/10.1109\/COMST.2022.3208773.","DOI":"10.1109\/COMST.2022.3208773"},{"key":"4134_CR9","doi-asserted-by":"publisher","unstructured":"D. Lehner, S. Sint, M. Vierhauser, W. Narzt and M. Wimmer, \u201dAML4DT: A Model-Driven Framework for Developing and Maintaining Digital Twins with AutomationML,\u201d 2021 26th IEEE International Conference on Emerg- ing Technologies and Factory Automation (ETFA ), 2021, pp. 1\u20138, https:\/\/doi.org\/10.1109\/ETFA45728.2021.9613376.","DOI":"10.1109\/ETFA45728.2021.9613376"},{"key":"4134_CR10","doi-asserted-by":"publisher","unstructured":"D. Shetve, I. Raju, R. V. Prasad, R. Trestian, H. Nguyen and H. Venkatara- man, \u201dAdaptive N-Step Technique for Real-Time Anomaly Detection in Smart Manufacturing,\u201d 2022 IEEE 5th International Conference on Industrial Cyber- Physical Systems (ICPS), Coventry, United Kingdom, 2022, pp. 01\u201306, https:\/\/doi.org\/10.1109\/ICPS51978.2022.9816882.","DOI":"10.1109\/ICPS51978.2022.9816882"},{"key":"4134_CR11","doi-asserted-by":"crossref","unstructured":"M. Grieves and J. Vickers, \u201cDigital twin: Mitigating unpredictable, undesirable emergent behavior in complex systems,\u201d in Transdisciplinary perspectives on complex systems, pp. 85\u2013113, Springer, 2017.","DOI":"10.1007\/978-3-319-38756-7_4"},{"issue":"10","key":"4134_CR12","doi-asserted-by":"publisher","first-page":"1785","DOI":"10.1109\/JPROC.2020.2998530","volume":"108","author":"R Minerva","year":"2020","unstructured":"Minerva, R., Lee, G.M., Crespi, N.: Digital twin in the IoT context: a survey on technical features, scenarios, and architectural models. Proc. IEEE 108(10), 1785\u20131824 (2020)","journal-title":"Proc. IEEE"},{"key":"4134_CR13","doi-asserted-by":"publisher","DOI":"10.1016\/j.aei.2020.101225","volume":"47","author":"S Aheleroff","year":"2021","unstructured":"Aheleroff, S., Xu, X., Zhong, R.Y., Lu, Y.: Digital twin as a service (dtaas) in industry 4.0: an architecture reference model. Adv. Eng. Inform. 47, 101225 (2021)","journal-title":"Adv. Eng. Inform."},{"key":"4134_CR14","doi-asserted-by":"crossref","unstructured":"E. Y. Song, M. Burns, A. Pandey, and T. Roth, \u201cIeee 1451 smart sensor dig- ital twin federation for iot\/cps research,\u201d in 2019 IEEE Sensors Applications Symposium (SAS), pp. 1\u20136, IEEE, 2019.","DOI":"10.1109\/SAS.2019.8706111"},{"key":"4134_CR15","doi-asserted-by":"publisher","first-page":"106","DOI":"10.1016\/j.cag.2021.01.011","volume":"95","author":"M Matulis","year":"2021","unstructured":"Matulis, M., Harvey, C.: A robot arm digital twin utilising reinforcement learning. Comput. Graph. 95, 106\u2013114 (2021)","journal-title":"Comput. Graph."},{"key":"4134_CR16","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2020.102074","volume":"68","author":"H Wang","year":"2021","unstructured":"Wang, H., Li, H., Wen, X., Luo, G.: Unified modeling for digital twin of a knowledge-based system design. Robotics and Computer Integrated Manufac- turing 68, 102074 (2021)","journal-title":"Robotics and Computer Integrated Manufac- turing"},{"key":"4134_CR17","doi-asserted-by":"crossref","unstructured":"S. Bratchikov, A. Abdullin, G. L. Demidova and D. V. Lukichev, \u201dDevelopment of Digital Twin for Robotic Arm,\u201d 2021 IEEE 19th International Power Electronics and Motion Control Conference (PEMC), 2021, pp. 717\u2013723, Apr. 2021, Gliwice,","DOI":"10.1109\/PEMC48073.2021.9432535"},{"key":"4134_CR18","doi-asserted-by":"crossref","unstructured":"S. Khrueangsakun, S. Nuratch and P. Boon Pramuk, \u201dDesign and Development of System for Real-Time Web-based Visualization and Control of Robot Arm,\u201d 2020 5th International Conference on Control and Robotics Engineering (ICCRE), 2020, pp. 11\u201314, Apr. 2020, Osaka, Japan.","DOI":"10.1109\/ICCRE49379.2020.9096464"},{"key":"4134_CR19","doi-asserted-by":"crossref","unstructured":"Z. Huang et al., \u201dA Survey on AI-Driven Digital Twins in Industry 4.0: Smart Manufacturing and Advanced Robotics.\u201d Sensors 21.19 (2021): 6340.","DOI":"10.3390\/s21196340"},{"key":"4134_CR20","doi-asserted-by":"publisher","first-page":"641","DOI":"10.1007\/s11424-022-2045-0","volume":"35","author":"H Sun","year":"2022","unstructured":"Sun, H., Huang, L., He, L.: Research on the Trajectory Tracking Control of a 6- DOF Manipulator Based on Fully-Actuated System Models. J. Syst. Sci. Complex. 35, 641\u2013659 (2022). https:\/\/doi.org\/10.1007\/s11424-022-2045-0","journal-title":"J. Syst. Sci. Complex."},{"key":"4134_CR21","doi-asserted-by":"publisher","first-page":"305","DOI":"10.4028\/www.scientific.net\/amm.762.305","volume":"762","author":"M Crenganis","year":"2015","unstructured":"Crenganis, M., Bologa, O.: Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm. Appl. Mech. Mater. 762, 305\u2013311 (2015). https:\/\/doi.org\/10.4028\/www.scientific.net\/amm.762.305","journal-title":"Appl. Mech. Mater."},{"key":"4134_CR22","unstructured":"D. V. Adithya, N. Jaswanth, Y. Raja Vara Prasad, H. Venkataraman, (2021). \u201dIdentification of Process Anomalies using Robotic Arm with Digital Twin and Method Thereof\u201d, Patent No. 202141037371, Indian Patent Office."},{"key":"4134_CR23","unstructured":"https:\/\/www.coppeliarobotics.com\/ (Last Accessed on 25 May 2022)"},{"issue":"2","key":"4134_CR24","doi-asserted-by":"publisher","first-page":"1176","DOI":"10.1109\/TII.2021.3139897","volume":"19","author":"Z Lv","year":"2023","unstructured":"Lv, Z., Guo, J., Lv, H.: Safety Poka Yoke in Zero-Defect Manufacturing Based on Digital Twins. IEEE Trans. Industr. Inf. 19(2), 1176\u20131184 (2023). https:\/\/doi.org\/10.1109\/TII.2021.3139897","journal-title":"IEEE Trans. Industr. Inf."},{"key":"4134_CR25","doi-asserted-by":"crossref","unstructured":"X. Zhu, et. al. \u201c3D Printing Promotes the Development of Drugs\u201d, Biomedicine & Pharmacotherapy, vol. 131, page: 110644\u2013110649, Nov. 2020.","DOI":"10.1016\/j.biopha.2020.110644"},{"issue":"11","key":"4134_CR26","doi-asserted-by":"publisher","first-page":"2217","DOI":"10.1002\/jbm.a.36979","volume":"108","author":"H Li","year":"2020","unstructured":"Li, H., Fan, W., Zhu, X.: Three-dimensional printing: The potential technology widely used in medical fields. J. Biomed. Mater. Res., Part A 108(11), 2217\u20132229 (2020). https:\/\/doi.org\/10.1002\/jbm.a.36979","journal-title":"J. Biomed. Mater. Res., Part A"},{"key":"4134_CR27","doi-asserted-by":"publisher","unstructured":"Y. Tai et al., \u201dDigital Twin-enabled IoMT System for Surgical Sim- ulation using rAC-GAN,\u201d in IEEE Internet of Things Journal, https:\/\/doi.org\/10.1109\/JIOT.2022.3176300.","DOI":"10.1109\/JIOT.2022.3176300"},{"issue":"2","key":"4134_CR28","doi-asserted-by":"publisher","first-page":"1377","DOI":"10.1109\/TII.2021.3061419","volume":"18","author":"X Zhou","year":"2022","unstructured":"Zhou, X., et al.: Intelligent Small Object Detection for Digital Twin in Smart Manufacturing With Industrial Cyber-Physical Systems. IEEE Transac- tions on Industrial Informatics 18(2), 1377\u20131386 (2022). https:\/\/doi.org\/10.1109\/TII.2021.3061419","journal-title":"IEEE Transac- tions on Industrial Informatics"},{"key":"4134_CR29","doi-asserted-by":"publisher","unstructured":"Stan, L., Nicolescu, A.F., Pup\u02d8az\u02d8a, C. et al. Digital Twin and web services for robotic deburring in intelligent manufacturing. J Intell Manuf 34, 2765\u20132781 (2023). https:\/\/doi.org\/10.1007\/s10845-022-01928-x","DOI":"10.1007\/s10845-022-01928-x"},{"key":"4134_CR30","unstructured":"Kaushik, T. S., et al. \u201dAnomaly detection in pharmaceutical pills using image processing.\u201d (2021), IJARIIT, ISSN: 2454\u2013132X, Volume 7, Issue 4 - V7I4\u20131717, 2021."},{"issue":"1","key":"4134_CR31","doi-asserted-by":"publisher","first-page":"4","DOI":"10.3390\/chemosensors10010004","volume":"10","author":"H-J Kwon","year":"2021","unstructured":"Kwon, H.-J., Kim, H.-G., Lee, S.-H.: Pill detection model for medicine inspection based on deep learning. Chemosensors 10(1), 4 (2021)","journal-title":"Chemosensors"},{"key":"4134_CR32","doi-asserted-by":"publisher","unstructured":"Mac, T.T. (2023). Pill Defect Detection Using an Improved Convolutional Neural Network. In: Conte, G., Sename, O. (eds) Proceedings of 10th International Con- ference on Mechatronics and Control Engineering . ICMCE 2021. Lecture Notes in Mechanical Engineering. Springer, Singapore. https:\/\/doi.org\/10.1007\/978-981- 19\u20131540\u20136 7","DOI":"10.1007\/978-981"}],"container-title":["Signal, Image and Video Processing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11760-025-04134-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11760-025-04134-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11760-025-04134-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,7]],"date-time":"2025-09-07T01:29:51Z","timestamp":1757208591000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11760-025-04134-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,7,8]]},"references-count":32,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2025,10]]}},"alternative-id":["4134"],"URL":"https:\/\/doi.org\/10.1007\/s11760-025-04134-3","relation":{"has-preprint":[{"id-type":"doi","id":"10.21203\/rs.3.rs-3888588\/v1","asserted-by":"object"}]},"ISSN":["1863-1703","1863-1711"],"issn-type":[{"value":"1863-1703","type":"print"},{"value":"1863-1711","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,7,8]]},"assertion":[{"value":"22 January 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 May 2024","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 March 2025","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"8 July 2025","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}},{"value":"Not applicable as the research does not consider any human factors into account. The authors confirm that the research is carried out ethically.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval and consent to participate"}},{"value":"The authors confirm that this work has not been published on any platform earlier before and also wish to provide any permissions and consents for publication as applicable and suggested.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}],"article-number":"852"}}