{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,17]],"date-time":"2026-07-17T15:50:48Z","timestamp":1784303448492,"version":"3.55.0"},"reference-count":32,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2023,6,10]],"date-time":"2023-06-10T00:00:00Z","timestamp":1686355200000},"content-version":"vor","delay-in-days":160,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004242","name":"Princess Nourah Bint Abdulrahman University","doi-asserted-by":"publisher","award":["PNURSP2023TR140"],"award-info":[{"award-number":["PNURSP2023TR140"]}],"id":[{"id":"10.13039\/501100004242","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["International Journal of Intelligent Systems"],"published-print":{"date-parts":[[2023,1]]},"abstract":"<jats:p>The technology of visual servoing, with the digital twin as its driving force, holds great promise and advantages for enhancing the flexibility and efficiency of smart manufacturing assembly and dispensing applications. The effective deployment of visual servoing is contingent upon the robust and accurate estimation of the vision\u2010motion correlation. Network\u2010based methodologies are frequently employed in visual servoing to approximate the mapping between 2D image feature errors and 3D velocities, offering promising avenues for improving the accuracy and reliability of visual servoing systems. These developments have the potential to fully leverage the capabilities of digital twin technology in the realm of smart manufacturing. However, obtaining sufficient training data for these methods is challenging, and thus improving model generalization to reduce data requirements is imperative. To address this issue, we offer a learning\u2010based approach for estimating Jacobian matrices of visual servoing that organically combines an extreme learning machine (ELM) and a differential evolutionary algorithm (DE). In the first stage, the pseudoinverse of the image Jacobian matrix is approximated using the ELM, which solves the problems associated with traditional visual servoing and is resistant to outside influences such as image noise and mistakes in camera calibration. In the second stage, differential evolution is utilized to select input weights and hidden layer bias and to determine ELM\u2019s output weights. Experimental results conducted on a digital twin operating platform for 4\u2010DOF robot with an eye\u2010in\u2010hand configuration demonstrate better performance than classical visual servoing and traditional ELM\u2010based visual servoing in various cases.<\/jats:p>","DOI":"10.1155\/2023\/6639963","type":"journal-article","created":{"date-parts":[[2023,6,10]],"date-time":"2023-06-10T14:20:07Z","timestamp":1686406807000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["A Digital Twin\u2010Based Visual Servoing with Extreme Learning Machine and Differential Evolution"],"prefix":"10.1155","volume":"2023","author":[{"given":"Minghao","family":"Cheng","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4243-0845","authenticated-orcid":false,"given":"Hao","family":"Tang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1261-0418","authenticated-orcid":false,"given":"Asad","family":"Khan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7085-9767","authenticated-orcid":false,"given":"Syam","family":"Melethil Sethumadhavan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Muhammad","family":"Assam","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Di","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7121-495X","authenticated-orcid":false,"given":"Yazeed Yasin","family":"Ghadi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0443-1049","authenticated-orcid":false,"given":"Heba G.","family":"Mohamed","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8743-2783","authenticated-orcid":false,"given":"Uzair Aslam","family":"Bhatti","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2023,6,10]]},"reference":[{"key":"e_1_2_9_1_2","article-title":"Eye-in-Hand visual servoing control of robot manipulators based on an input mapping method","volume":"31","author":"He S.","year":"2022","journal-title":"IEEE Transactions on Control Systems Technology"},{"key":"e_1_2_9_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cogr.2021.06.002"},{"key":"e_1_2_9_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2019.2891407"},{"key":"e_1_2_9_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.autcon.2021.104043"},{"key":"e_1_2_9_5_2","doi-asserted-by":"crossref","unstructured":"ZhangZ. WangC. ZhangQ. LiY. FengX. andWangY. Research on autonomous grasping control of underwater manipulator based on visual servo Proceedings of the 2019 Chinese Automation Congress (CAC) November 2019 Hangzhou China 2904\u20132910.","DOI":"10.1109\/CAC48633.2019.8996434"},{"key":"e_1_2_9_6_2","doi-asserted-by":"crossref","unstructured":"ZhouY. ZhangY. GaoJ. andAnX. Visual servo control of underwater vehicles based on image moments Proceedings of the 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) July 2021 Chongqing China 899\u2013904.","DOI":"10.1109\/ICARM52023.2021.9536071"},{"key":"e_1_2_9_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2021.3129486"},{"key":"e_1_2_9_8_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.4041431"},{"key":"e_1_2_9_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2924838"},{"key":"e_1_2_9_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2965863"},{"key":"e_1_2_9_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.538974"},{"key":"e_1_2_9_12_2","unstructured":"ThuilotB. MartinetP. CordessesL. GalliceJ. andPascalB. Position based visual servoing: keeping the object in the field of vision Proceedings of the 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) May 2002 Washington DC USA."},{"key":"e_1_2_9_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88086"},{"key":"e_1_2_9_14_2","article-title":"Dynamic sensor-based control of robots with visual feedback","volume":"5","author":"Weiss L.","year":"1987","journal-title":"IEEE Journal of Robotics and Automation"},{"key":"e_1_2_9_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.895067"},{"key":"e_1_2_9_16_2","doi-asserted-by":"crossref","unstructured":"CorkeP. I.andHutchinsonS. A. A new hybrid image-based visual servo control scheme 3 Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No. 00CH37187) December 2000 Sydney NSW Australia 2521\u20132526.","DOI":"10.1109\/CDC.2000.914182"},{"key":"e_1_2_9_17_2","doi-asserted-by":"publisher","DOI":"10.1142\/9789814503709_0007"},{"key":"e_1_2_9_18_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-20144-8"},{"key":"e_1_2_9_19_2","doi-asserted-by":"crossref","unstructured":"PiepmeierJ. A. McMurrayG. V. andLipkinH. A dynamic jacobian estimation method for uncalibrated visual servoing Proceedings of the 1999 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No. 99TH8399) September 1999 Atlanta GA USA 944\u2013949.","DOI":"10.1109\/AIM.1999.803299"},{"key":"e_1_2_9_20_2","first-page":"789","article-title":"Virtual visual servoing for multicamera pose estimation","volume":"20","author":"Assa A.","year":"2014","journal-title":"IEEE"},{"key":"e_1_2_9_21_2","doi-asserted-by":"publisher","DOI":"10.1016\/0262-8856(96)89022-6"},{"key":"e_1_2_9_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ins.2018.03.057"},{"key":"e_1_2_9_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2011.2168604"},{"key":"e_1_2_9_24_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12559-015-9333-0"},{"key":"e_1_2_9_25_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2016.10.048"},{"key":"e_1_2_9_26_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2020.03.049"},{"key":"e_1_2_9_27_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2005.03.028"},{"key":"e_1_2_9_28_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-003-0369-9"},{"key":"e_1_2_9_29_2","doi-asserted-by":"crossref","unstructured":"HuangG. B. ZhuQ. Y. andSiewC.-K. Extreme learning machine: a new learning scheme of feedforward neural networks 2 Proceedings of the 2004 IEEE International Joint Conference on Neural Networks (IEEE Cat. No.04CH37541) July 2004 Budapest Hungary 985\u2013990 https:\/\/doi.org\/10.1109\/IJCNN.2004.1380068 2-s2.0-10944272650.","DOI":"10.1109\/IJCNN.2004.1380068"},{"key":"e_1_2_9_30_2","doi-asserted-by":"crossref","unstructured":"OlsonE. AprilTag: a robust and flexible visual fiducial system Proceedings of the 2011 IEEE International Conference on Robotics and Automation May 2011 Shanghai China 3400\u20133407 https:\/\/doi.org\/10.1109\/ICRA.2011.5979561 2-s2.0-84871690913.","DOI":"10.1109\/ICRA.2011.5979561"},{"key":"e_1_2_9_31_2","doi-asserted-by":"crossref","unstructured":"WangJ.andOlsonE. AprilTag 2: efficient and robust fiducial detection Proceedings of the 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) October 2016 Daejeon South Korea 4193\u20134198 https:\/\/doi.org\/10.1109\/IROS.2016.7759617 2-s2.0-85006483739.","DOI":"10.1109\/IROS.2016.7759617"},{"key":"e_1_2_9_32_2","article-title":"Differential evolution \u2013 a simple and efficient heuristic for global optimization over continuous spaces","volume":"11","author":"Storn R.","year":"1997","journal-title":"DIFFERENTIAL EVOLUTION"}],"container-title":["International Journal of Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/ijis\/2023\/6639963.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/ijis\/2023\/6639963.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2023\/6639963","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,12,31]],"date-time":"2024-12-31T05:40:01Z","timestamp":1735623601000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2023\/6639963"}},"subtitle":[],"editor":[{"given":"Subrata Kumar","family":"Sarker","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"editor"}]}],"short-title":[],"issued":{"date-parts":[[2023,1]]},"references-count":32,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2023,1]]}},"alternative-id":["10.1155\/2023\/6639963"],"URL":"https:\/\/doi.org\/10.1155\/2023\/6639963","archive":["Portico"],"relation":{},"ISSN":["0884-8173","1098-111X"],"issn-type":[{"value":"0884-8173","type":"print"},{"value":"1098-111X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,1]]},"assertion":[{"value":"2023-03-25","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-05-27","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-06-10","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"6639963"}}