{"id":17,"date":"2015-07-10T13:15:21","date_gmt":"2015-07-10T20:15:21","guid":{"rendered":"http:\/\/labs.wsu.edu\/m3robotics\/?page_id=17"},"modified":"2020-11-02T14:27:16","modified_gmt":"2020-11-02T22:27:16","slug":"publications","status":"publish","type":"page","link":"https:\/\/labs.wsu.edu\/m3robotics\/publications\/","title":{"rendered":"Publications"},"content":{"rendered":"<br \/>\n<section id=\"builder-section-1436559208928\" class=\"row single gutter pad-top\">\n<div style=\"\" class=\"column one \">\n<header>\n<h2>PUBLICATIONS<\/h2>\n<\/header>\n<div class=\"page\" title=\"Page 2\">\n<div class=\"layoutArea\">\n<div class=\"column\">\n<h5>Journal Articles<\/h5>\n<ul>\n<li>Babaiasl, M., Boccelli, S., Chen, Y.\u00a0<i>et al.<\/i>\u00a0<a href=\"https:\/\/link.springer.com\/article\/10.1007%2Fs11517-020-02182-0\" target=\"_blank\" rel=\"noopener noreferrer\">Predictive mechanics-based model for depth of cut (DOC) of waterjet in soft tissue for waterjet-assisted medical applications<\/a>.\u00a0<i>Med Biol Eng Comput<\/i>\u00a0(2020). https:\/\/doi.org\/10.1007\/s11517-020-02182-0<\/li>\n<li>Yang F, Babaiasl M, Swensen JP. <a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2020\/05\/Fracture-Directed_Steerable_Needles.pdf\" target=\"_blank\" rel=\"noopener noreferrer\">Fracture-directed steerable needles<\/a>. Journal of Medical Robotics Research. 2019 Mar 11;4(01):1842002.<\/li>\n<li>E. A. Allen, L. D. Taylor, and J. P. Swensen, \u201c<a href=\"https:\/\/doi.org\/10.1088\/1361-665X\/ab1ec9\" target=\"_blank\" rel=\"noopener noreferrer\">Smart material composites for discrete stiffness\u00a0 materials,<\/a>\u201d <em>Smart Materials and Structures, <\/em>vol. 28, no. 7, p. 074007, Jun. 2019.<\/li>\n<li>E. A. Allen\u00a0 and\u00a0 J.\u00a0 P.\u00a0 Swensen,\u00a0 \u201c<a href=\"http:\/\/dx.doi.org\/10.3390\/act7040080\" target=\"_blank\" rel=\"noopener noreferrer\">Directional\u00a0 stiffness\u00a0 control\u00a0 through geometric\u00a0 patterning\u00a0 and\u00a0 localized\u00a0 heating\u00a0 of\u00a0 fields\u00a0 metal\u00a0 lattice\u00a0 embedded in silicone<\/a>,\u201d <em>Actuators, <\/em>vol. 7, no. 4, p. 80, Nov. 2018.<\/li>\n<li>J. P. Swensen, L. U. Odhner, B. Araki, and A. M. Dollar. <a href=\"http:\/\/dx.doi.org\/10.1115\/1.4029435\">Printing 3D electrical traces in additive manufactured parts for injection of low melting temperature metals<\/a>. ASME Journal of Mechanisms and Robotics, 2014.<\/li>\n<li>J. P. Swensen, A. I. Nawroj, P. E. I. Pounds, and A. M. Dollar. <a href=\"http:\/\/dx.doi.org\/10.1088\/0964-1726\/23\/10\/104003\">Active cells for redundant and configurable articulated structures<\/a>. Smart Materials and Structures 23(10):104003, 2014.<\/li>\n<li>J. P. Swensen, M. Lin, A. Okamura, and N. Cowan. <a href=\"http:\/\/dx.doi.org\/10.1109\/tbme.2014.2326161\">Torsional dynamics of steerable needles: Modeling and fluoroscopic guidance<\/a>. Biomedical Engineering, IEEE Transactions on PP(99):1\u20131, 2014.<\/li>\n<li>A. I. Nawroj, J. P. Swensen, and A. M. Dollar. <a href=\"http:\/\/dx.doi.org\/10.1371\/journal.pone.0082260\">Electrically conductive bulk composites through a contact-connected aggregate<\/a>. PLoS ONE 8(12):e82260, 12 2013.<\/li>\n<li>J. P. Swensen and A. M. Dollar. <a href=\"http:\/\/dx.doi.org\/10.1371\/journal.pone.0051695\">The connectedness of packed circles and spheres with application to conductive cellular material<\/a>s. PLoS ONE 7(12):e51695, 12 2012.<\/li>\n<\/ul>\n<h5>Journal Articles (in prep)<\/h5>\n<ul>\n<li>J. P. Swensen and A. M. Dollar. Optimization of spring antagonists for nitinol shape memory alloy actuators.<\/li>\n<li>A. I. Nawroj, J. P. Swensen, and A. M. Dollar. Low-order modeling of nitinol coils as a design tool for modular actuated structures.<\/li>\n<li>J. P. Swensen, R. Balasubramanian, and A. M. Dollar. Performance of serial underactuated mechanisms: Number of degrees of freedom and actuators.<\/li>\n<li>V. Kallem, J. P. Swensen, M. Dewan, G. D. Hager, and N. J. Cowan. Encoding self movement via kernel projections.<\/li>\n<li>J. P. Swensen, V. Kallem, and N. J. Cowan. State estimation and control for tip-steerable needles.<\/li>\n<\/ul>\n<h5>Theses<\/h5>\n<ul>\n<li>J. P. Swensen. <a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2015\/07\/SwensenThesisPhD2011.pdf\" target=\"_blank\" rel=\"noopener noreferrer\">Torsional dynamics and rotational estimation of tip-steerable needles<\/a>.\u00a0Doctoral thesis, Johns Hopkins University, 2011.<\/li>\n<li>M. Babaiasl. <a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2020\/08\/mahdieh_babaiasl_thesis_steerable_needles.pdf\" target=\"_blank\" rel=\"noopener noreferrer\">Waterjet Fracture-directed Steerable Needles<\/a>. Doctoral thesis, Washington State University, 2020.<\/li>\n<li>F. Yang. <a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2020\/08\/Fan_s_Dissertation.pdf\" target=\"_blank\" rel=\"noopener noreferrer\">Fracture-directed Steerable Needles.<\/a> Doctoral thesis, Washington State University, 2020.<\/li>\n<li>E. A. Allen. <a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2020\/11\/MastersThesis_EmilyAllen.pdf\">Variable Stiffness Structures Via Mechanics Modification and Antagonistic Actuation in Soft Robotic Materials<\/a>. Master&#8217;s thesis, Washington State University, 2020.<\/li>\n<li>H. Joo. <a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2018\/02\/Tunable-Complaint-Robotics_Heon.pdf\" target=\"_blank\" rel=\"noopener noreferrer\">Design and Experimentation of a Tunably Compliant Robotic Finger Using Low Melting Point Metals<\/a>. Master&#8217;s thesis, Washington State University, 2016<\/li>\n<li>\n<p class=\"p2\">B. D. Laferriere.\u00a0<a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2018\/02\/Bistable-Mechanism_LaFerriere.pdf\" target=\"_blank\" rel=\"noopener noreferrer\">Modeling and Design of a Bi-stable Spring Mechanism.<\/a>\u00a0Master&#8217;s thesis, Washington State University, 2016<\/p>\n<\/li>\n<\/ul>\n<h5>Chapters in Edited Volumes<\/h5>\n<ul>\n<li>J. P. Swensen, V. Kallem, and N. J. Cowan. <a href=\"http:\/\/dx.doi.org\/10.1007\/978-1-84996-089-2_2\">Empirical characterization of convergence properties for kernel-based visual servoing<\/a>. Visual Servoing via Advanced Numerical Methods pp. 23\u201338, 2010.<\/li>\n<li>R. J. Webster III, J. P. Swensen, J. M. Romano, and N. J. Cowan. <a href=\"http:\/\/dx.doi.org\/10.1007\/978-3-642-00196-3_56\">Closed-form differential kinematics for concentric-tube continuum robots with application to visual servoing<\/a>. Experimental Robotics XI, vol. 54, pp. 485\u2013494, 2009.<\/li>\n<\/ul>\n<h5>Refereed Conference Articles<\/h5>\n<ul>\n<li>E. A. Allen and J. P. Swensen, \u201c<a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2020\/11\/IROS2020_Allen_PneuSMA_FinalVersion_PrePrint.pdf\">Design of a Highly-Maneuverable Pneumatic Soft Actuator Driven by Intrinsic SMA Coils (PneuSMA Actuator)<\/a>,\u201d in Proc. <em>IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS2020), <\/em>Las Vegas, NV, (In-press).<\/li>\n<li>Yang, F., Babaiasl, M., Chen, Y., Ding, J.L. And Swensen, J.P., &#8220;<a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2020\/08\/Resultant-Radius-of-Curvature-of-Stylet-and-Tube-Steerable-Needles.pdf\" target=\"_blank\" rel=\"noopener noreferrer\">Resultant Radius of Curvature of Stylet-and-Tube Steerable Needles Based on the Mechanical Properties of the Soft Tissue and the Needle<\/a>&#8220;, In 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE<\/li>\n<li>E. A. Allen and J. P. Swensen, \u201c<a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2020\/11\/SMASIS2020_AllenClampedJamming_Final_PrePrint.pdf\">Controlling the Rotational DOF of Laminar Jamming Structures<\/a>,\u201d in Proc. <em>ASME 2020\u00a0 Conference\u00a0 on Smart\u00a0 Materials,\u00a0 Adaptive\u00a0 Structures\u00a0 and\u00a0 Intelligent\u00a0 Systems\u00a0 (SMASIS2020),<\/em> Irvine, CA, (In-press).<\/li>\n<li>E. A. Allen, B. C. Townsend, and J. P. Swensen, \u201c<a href=\"https:\/\/ieeexplore.ieee.org\/stamp\/stamp.jsp?arnumber=8967659\" target=\"_blank\" rel=\"noopener noreferrer\">Configuration Modeling of a Soft Robotic Element with Selectable Bending Axes,<\/a>\u201d in Proc. <em>IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS2019), <\/em>Macau, China, Nov. 2019.<\/li>\n<li>Babaiasl M, Yang F, Chen Y, Ding JL, Swensen JP. <a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2020\/05\/Predicting_Depth_of_Cut_of_Water-jet_in.pdf\" target=\"_blank\" rel=\"noopener noreferrer\">Predicting Depth of Cut of Water-jet in Soft Tissue Simulants based on Finite Element Analysis with the Application to Fracture-directed Water-jet Steerable Needles<\/a>. In2019 International Symposium on Medical Robotics (ISMR) 2019 Apr 3 (pp. 1-7). IEEE.<\/li>\n<li>E. A. Allen, L. D. Taylor, and J. P. Swensen, \u201cSmart material composites for discrete stiffness\u00a0 materials,\u201d\u00a0 in Proc.\u00a0 ASME\u00a0 2018\u00a0 Conference\u00a0 on Smart\u00a0 Materials,\u00a0 Adaptive\u00a0 Structures\u00a0 and\u00a0 Intelligent\u00a0 Systems\u00a0 (SMASIS2018), San Antonio, TX, 2018, p. V002T06A015.<\/li>\n<li>\n<div id=\"gs_citt\">\n<table>\n<tbody>\n<tr>\n<td>\n<div class=\"gs_citr\" tabindex=\"0\">Babaiasl M, Yang F, Swensen JP.<a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2020\/05\/Towards_Water-jet_Steerable_Needles.pdf\" target=\"_blank\" rel=\"noopener noreferrer\"> Towards water-jet steerable needles<\/a>. In2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) 2018 Aug 26 (pp. 601-608). IEEE.<\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<\/li>\n<li>E. A. Allen and J. P. Swensen, \u201c<a href=\"http:\/\/dx.doi.org\/10.1115\/smasis2019-5561\" target=\"_blank\" rel=\"noopener noreferrer\">Versatile Layering Approach to Pneumatic Soft Actuator Fabrication<\/a>,\u201d in Proc. <em>ASME 2019 Conference\u00a0 on Smart\u00a0 Materials,\u00a0 Adaptive\u00a0 Structures\u00a0 and\u00a0 Intelligent\u00a0 Systems\u00a0 (SMASIS2019),<\/em> Louisville, KY, 2019, p. V001T01A001.<\/li>\n<li>H. Joo and J.P. Swensen. <a href=\"http:\/\/proceedings.asmedigitalcollection.asme.org\/proceeding.aspx?articleid=2589296\">Design and Experimentation of a Tunably-Compliant Robotic Finger Using Low Melting Point Metals.<\/a> In ASME 2016 Conference on Smart Materials, Adaptive Structures and Intelligent Systems (pp. V002T06A011-V002T06A011). American Society of Mechanical Engineers, 2016.<\/li>\n<li>A. Nawroj, J. P. Swensen, A. M. Dollar. Design of Mesoscale Active Cells for Networked, Compliant Robotic Structures, IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. (Accepted)<\/li>\n<li>J. P. Swensen, L. U. Odhner, B. Araki, and A. M. Dollar. <a href=\"http:\/\/dx.doi.org\/10.1109\/icra.2015.7139297\">Injected 3D electrical traces in additive manufactured parts with low melting temperature metals<\/a>. IEEE International Conference on Robotics and Automation (ICRA), 2015.<\/li>\n<li>J. Swensen, A. Nawroj, P. Pounds, and A. Dollar. <a href=\"http:\/\/dx.doi.org\/10.1109\/icra.2014.6907012\">Simple, scalable active cells for articulated robot structures<\/a>. Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp. 1241\u20131246, May 2014.<\/li>\n<li>J. Swensen and A. Dollar. <a href=\"http:\/\/dx.doi.org\/10.1109\/icra.2014.6907795\">Optimization of parallel spring antagonists for nitinol shape memory alloy actuators<\/a>. Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp. 6345\u20136349, May 2014.<\/li>\n<li>J. P. Swensen and N. J. Cowan. <a href=\"http:\/\/dx.doi.org\/10.1109\/acc.2012.6315375\">An almost global estimator on SO(3) with measurement on S2<\/a>. Proc. of AACC American Control Conference (ACC), 2012, pp. 1780\u20131786, 2012.<\/li>\n<li>J. P. Swensen and N. J. Cowan. <a href=\"http:\/\/dx.doi.org\/10.1109\/icra.2012.6225262\">Torsional dynamics compensation enhances robotic control of tip-steerable needles<\/a>. Proc. of IEEE International Conference on Robotics and Automation (ICRA), 2012, pp. 1601\u20131606, 2012.<\/li>\n<li>V. Kallem, M. Dewan, J. P. Swensen, G. D. Hager, and N. J. Cowan. <a href=\"http:\/\/dx.doi.org\/10.1109\/iros.2007.4399546\">Kernel-based visual servoing<\/a>. Proc. IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1975\u20131980, Oct. 2007.<\/li>\n<li>D. S. Acton, T. Towell, J. Schwenker, J. Swensen, D. Shields, E. Sabatke, L. Klingemann, A. R. Contos, B. Bauer, K. Hansen, P. D. Atcheson, D. Redding, F. Shi, S. Basinger, B. Dean, and<br \/>\nL. Burns. <a href=\"http:\/\/dx.doi.org\/10.1117\/12.672133\">Demonstration of the james webb space telescope commissioning on the JWST testbed telescope<\/a>. Proc. SPIE 6265, Space Telescopes and Instrumentation I: Optical, Infrared, and Millimeter, vol. 6265, p. 21, 2006.<\/li>\n<\/ul>\n<h5>Contributed Articles Abstracts and Posters<\/h5>\n<ul>\n<li>A. I. Nawroj, J. P. Swensen, and A. M. Dollar. <a href=\"http:\/\/dx.doi.org\/10.1115\/smasis2014-7448\">Development of Active-Cells for Macroscopically Deformable Structure<\/a>s. Proc. ASME Conference on Smart Materials, Adaptive Structures, and Intelligent Systems (SMASIS), 2014.<\/li>\n<li>J. P. Swensen and A. M. Dollar. <a href=\"http:\/\/dx.doi.org\/10.1115\/smasis2013-3154\">Active-cells for the Construction of Redundant and Configurable Articulated Structures<\/a>. Proc. ASME Conference on Smart Materials, Adaptive Structures, and Intelligent Systems (SMASIS), 2013.<\/li>\n<li>A. I. Nawroj, J. P. Swensen, and A. M. Dollar. <a href=\"http:\/\/dx.doi.org\/10.1115\/smasis2013-3155\">Design of a Bulk Conductive Polymer Using Embedded Macroscopic Copper Cells<\/a>. Proc. ASME Conference on Smart Materials, Adaptive Structures, and Inteligent Systems (SMASIS), 2013.<\/li>\n<li>J. P. Swensen and A. M. Dollar. <a href=\"http:\/\/dx.doi.org\/10.1115\/smasis2012-8069\">Towards hyper-redundant and super-configurable articulated structures<\/a>. Proc. ASME Conference on Smart Materials, Adaptive Structures, and Intelligent System (SMASIS), pp. 3888\u20133895, 2012.<\/li>\n<li>J. P. Swensen and N. J. Cowan. Modeling, estimation, and control of tip-steerable needles with torsional dynamics, Sept 2011. Presented at the Needle Steering Demo Session of 2011 IEEE\/RSJ International Conference on Intelligent Robotics and Systems. [<a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2015\/07\/SwensenPosterIROS2011.pdf\">Poster PDF<\/a>]<\/li>\n<li>J. P. Swensen, R. J. Webster III, and N. J. Cowan. Active cannulas: Applications to needle steering, Sept 2008. Presented at the Needle Steering Workshop at 2008 Medical Image Computing and Computer Assisted Intervention Society conference. [<a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2015\/07\/swensenmiccai2008.pdf\">Poster PDF<\/a>]<\/li>\n<li>J. P. Swensen, R. J. Webster III, and N. J. Cowan. Image guidance of active cannulas, Jan 2009. Presented at the IEEE-RAS\/IFRR Winter School of Robotics Science on Medical Robotics and Computer-Integrated Interventional Systems. [<a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2015\/07\/SwensenERCWinterSchoolPoster.pdf\">Poster PDF<\/a>]<\/li>\n<li>M. Torrie, D. Cripps, and J. Swensen. <a href=\"http:\/\/dx.doi.org\/10.13031\/2013.10033\">Joint architecture for unmanned ground vehicles (JAUGS) applied to autonomous agricultural vehicles<\/a>. Proc: Automation technology for off-road equipment, pp. 1\u201312, 2002.<\/li>\n<\/ul>\n<\/div>\n<\/div>\n<\/div><\/div>\n<\/section>\n","protected":false},"excerpt":{"rendered":"<p> <\/p>\n<h2>PUBLICATIONS<\/h2>\n<h5>Journal Articles<\/h5>\n<p>Babaiasl, M., Boccelli, S., Chen, Y.\u00a0et al.\u00a0<a href=\"https:\/\/link.springer.com\/article\/10.1007%2Fs11517-020-02182-0\" target=\"_blank\" rel=\"noopener noreferrer\">Predictive mechanics-based model for depth of cut (DOC) of waterjet in soft tissue for waterjet-assisted medical applications<\/a>.\u00a0Med Biol Eng Comput\u00a0(2020). https:\/\/doi.org\/10.1007\/s11517-020-02182-0<br \/> Yang F, Babaiasl M, Swensen JP. <a href=\"https:\/\/wpcdn.web.wsu.edu\/wp-labs\/uploads\/sites\/909\/2020\/05\/Fracture-Directed_Steerable_Needles.pdf\" target=\"_blank\" rel=\"noopener noreferrer\">Fracture-directed steerable needles<\/a>. Journal of Medical Robotics Research. 2019 Mar 11;4(01):1842002.<br \/> E. A. Allen, L. D. Taylor, and J. P. Swensen, \u201c<a href=\"https:\/\/doi.org\/10.1088\/1361-665X\/ab1ec9\" target=\"_blank\" rel=\"noopener noreferrer\">Smart material composites for discrete stiffness\u00a0 materials,<\/a>\u201d <em>Smart Materials and Structures, <\/em>vol. 28, no. 7, p. 074007, Jun. 2019.<br \/> E. A. Allen\u00a0 and\u00a0 J.\u00a0 P.\u00a0 Swensen,\u00a0 \u201c<a href=\"http:\/\/dx.doi.org\/10.3390\/act7040080\" target=\"_blank\" rel=\"noopener noreferrer\">Directional\u00a0 &#8230; <\/a><a href=\"https:\/\/labs.wsu.edu\/m3robotics\/publications\/\" class=\"more-link\"><span class=\"more-default\">&raquo; More &#8230;<\/span><\/a><\/p>\n","protected":false},"author":1363,"featured_media":0,"parent":0,"menu_order":3,"comment_status":"closed","ping_status":"closed","template":"template-builder.php","meta":[],"wsuwp_university_location":[],"wsuwp_university_org":[],"_links":{"self":[{"href":"https:\/\/labs.wsu.edu\/m3robotics\/wp-json\/wp\/v2\/pages\/17"}],"collection":[{"href":"https:\/\/labs.wsu.edu\/m3robotics\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/labs.wsu.edu\/m3robotics\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/labs.wsu.edu\/m3robotics\/wp-json\/wp\/v2\/users\/1363"}],"replies":[{"embeddable":true,"href":"https:\/\/labs.wsu.edu\/m3robotics\/wp-json\/wp\/v2\/comments?post=17"}],"version-history":[{"count":37,"href":"https:\/\/labs.wsu.edu\/m3robotics\/wp-json\/wp\/v2\/pages\/17\/revisions"}],"predecessor-version":[{"id":991,"href":"https:\/\/labs.wsu.edu\/m3robotics\/wp-json\/wp\/v2\/pages\/17\/revisions\/991"}],"wp:attachment":[{"href":"https:\/\/labs.wsu.edu\/m3robotics\/wp-json\/wp\/v2\/media?parent=17"}],"wp:term":[{"taxonomy":"wsuwp_university_location","embeddable":true,"href":"https:\/\/labs.wsu.edu\/m3robotics\/wp-json\/wp\/v2\/wsuwp_university_location?post=17"},{"taxonomy":"wsuwp_university_org","embeddable":true,"href":"https:\/\/labs.wsu.edu\/m3robotics\/wp-json\/wp\/v2\/wsuwp_university_org?post=17"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}