{"id":"https://openalex.org/W2934712073","doi":"https://doi.org/10.1109/access.2019.2907193","title":"Modeling and Control of Underwater Mine Explorer Robot UX-1","display_name":"Modeling and Control of Underwater Mine Explorer Robot UX-1","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2934712073","doi":"https://doi.org/10.1109/access.2019.2907193","mag":"2934712073"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2907193","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08673742.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"journal-article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08673742.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102853583","display_name":"Ram\u00f3n A. Su\u00e1rez Fern\u00e1ndez","orcid":"https://orcid.org/0000-0003-4102-5899"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ramon A. Suarez Fernandez","raw_affiliation_strings":["Centre for Automation and Robotics, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044550979","display_name":"Davide Grande","orcid":"https://orcid.org/0000-0002-4936-6797"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Davide Grande","raw_affiliation_strings":["Dipartimento di Elettronica, Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031719998","display_name":"Alfredo Martins","orcid":"https://orcid.org/0000-0003-3195-5638"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Alfredo Martins","raw_affiliation_strings":["INESC Technology and Science, INESC-TEC, Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"INESC Technology and Science, INESC-TEC, Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089088404","display_name":"Luca Bascetta","orcid":"https://orcid.org/0000-0002-5029-1083"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Bascetta","raw_affiliation_strings":["Dipartimento di Elettronica, Politecnico di Milano, Milan, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059685905","display_name":"Sergio Dom\u00ednguez","orcid":"https://orcid.org/0000-0002-9498-5407"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Sergio Dominguez","raw_affiliation_strings":["Centre for Automation and Robotics, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I88060688"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020853308","display_name":"Cl\u00e1udio Rossi","orcid":"https://orcid.org/0000-0002-8740-2453"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Claudio Rossi","raw_affiliation_strings":["Centre for Automation and Robotics, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I88060688"]}]}],"institution_assertions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850,"provenance":"doaj"},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850,"provenance":"doaj"},"fwci":3.403,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":24,"citation_normalized_percentile":{"value":0.999921,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":94},"biblio":{"volume":"7","issue":null,"first_page":"39432","last_page":"39447"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Acoustic Sensor Networks and Communication","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Acoustic Sensor Networks and Communication","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10586","display_name":"Sampling-Based Motion Planning Algorithms","score":0.9983,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Robotic Control and Stabilization Techniques","score":0.9954,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6378732},{"id":"https://openalex.org/keywords/underwater-robotics","display_name":"Underwater Robotics","score":0.579729},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.55893177},{"id":"https://openalex.org/keywords/robot-navigation","display_name":"Robot Navigation","score":0.532104},{"id":"https://openalex.org/keywords/autonomous-underwater-vehicles","display_name":"Autonomous Underwater Vehicles","score":0.507579},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.46834108}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7716263},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.7332159},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6378732},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.55893177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.53882086},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.52315056},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.48181835},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.46834108},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44482312},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.43102443},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33335316},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14191246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12430248},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2907193","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08673742.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},{"is_oa":false,"landing_page_url":"https://doaj.org/article/f68e7ef2cc284ab7b816c01dac5f2f86","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1085502","pdf_url":"https://re.public.polimi.it/bitstream/11311/1085502/1/IEEE-Access2019.pdf","source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":["University of Castilla-La Mancha"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/215835","pdf_url":"https://digital.csic.es/bitstream/10261/215835/1/Explorer_robot_UX-1.pdf","source":{"id":"https://openalex.org/S4306401639","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":["Consejo Superior de Investigaciones Cient\u00edficas"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2907193","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08673742.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[{"score":0.82,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"grants":[{"funder":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid","award_id":"S2018/NMT-4331"},{"funder":"https://openalex.org/F4320337664","funder_display_name":"H2020 Societal Challenges","award_id":"690008"}],"datasets":[],"versions":[],"referenced_works_count":25,"referenced_works":["https://openalex.org/W1520160054","https://openalex.org/W1544853044","https://openalex.org/W163720408","https://openalex.org/W1875197013","https://openalex.org/W1985917017","https://openalex.org/W2037705681","https://openalex.org/W2038754967","https://openalex.org/W2040697853","https://openalex.org/W2097827220","https://openalex.org/W2121005855","https://openalex.org/W2121678687","https://openalex.org/W2130153609","https://openalex.org/W2138429052","https://openalex.org/W2140944303","https://openalex.org/W2153393700","https://openalex.org/W2492811885","https://openalex.org/W2547962612","https://openalex.org/W2565714998","https://openalex.org/W2608797128","https://openalex.org/W2781506773","https://openalex.org/W2909565044","https://openalex.org/W2909755025","https://openalex.org/W2909809422","https://openalex.org/W2910311500","https://openalex.org/W4229783971"],"related_works":["https://openalex.org/W4300511988","https://openalex.org/W2964841342","https://openalex.org/W2899783744","https://openalex.org/W2349527210","https://openalex.org/W2317650444","https://openalex.org/W2165424018","https://openalex.org/W2131265573","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W130230158"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,9,13,37,42,55,61,75,109,113,117,141,145,151,157,170],"design":[4,39],"and":[5,27,70,82,148,166],"experimental":[6,96,138],"assessment":[7],"of":[8,41,54,77,95,112,143,164,178],"control":[10,65],"system":[11,56],"for":[12,21],"UX-1":[14],"robot,":[15],"a":[16,47,86,103],"novel":[17],"spherical":[18],"underwater":[19,125],"vehicle":[20],"flooded":[22],"mine":[23,134],"tunnel":[24,135],"exploration.":[25],"Propulsion":[26],"maneuvering":[28],"are":[29,44],"based":[30,73,84],"on":[31,60,74,85],"an":[32],"innovative":[33],"manifold":[34],"system.":[35],"First,":[36],"overall":[38],"concepts":[40],"robot":[43],"presented.":[45],"Then,":[46],"theoretical":[48],"six":[49],"degree-of-freedom":[50],"(DOF)":[51],"dynamic":[52,62,114],"model":[53],"is":[57],"derived.":[58],"Based":[59],"model,":[63],"two":[64,118],"systems":[66],"have":[67,98,121],"been":[68,99,122],"developed":[69],"tested,":[71],"one":[72],"principle":[76],"nonlinear":[78],"state":[79,152],"feedback":[80,153],"linearization":[81,154],"another":[83],"finite":[87,158],"horizon":[88,159],"linear":[89],"quadratic":[90],"regulator":[91],"(LQR).":[92],"A":[93],"series":[94],"tests":[97],"carried":[100],"out":[101],"in":[102,124,133,162,176],"controlled":[104],"environment":[105],"to":[106,130,173],"experimentally":[107],"identify":[108],"complex":[110],"parameters":[111],"model.":[115],"Furthermore,":[116],"proposed":[119,146],"controllers":[120,147],"tested":[123],"path":[126],"tracking":[127],"experiments":[128],"designed":[129],"simulate":[131],"navigation":[132],"environments.":[136],"The":[137],"results":[139],"demonstrated":[140],"effectiveness":[142],"both":[144],"showed":[149],"that":[150],"controller":[155,161],"outperforms":[156],"LQR":[160,171],"terms":[163,177],"robustness":[165],"response":[167],"time,":[168],"while":[169],"appears":[172],"be":[174],"superior":[175],"fall":[179],"time.":[180]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2934712073","counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3}],"updated_date":"2024-10-19T01:17:15.230023","created_date":"2019-04-11"}
