{"id":"https://openalex.org/W1571369252","doi":"https://doi.org/10.1109/icra.2015.7139007","title":"Design investigation of a coreless tubular linear generator for a Moball: A spherical exploration robot with wind-energy harvesting capability","display_name":"Design investigation of a coreless tubular linear generator for a Moball: A spherical exploration robot with wind-energy harvesting capability","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1571369252","doi":"https://doi.org/10.1109/icra.2015.7139007","mag":"1571369252"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139007","doi":"https://doi.org/10.1109/icra.2015.7139007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139007","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090947758","display_name":"Junichi Asama","orcid":"https://orcid.org/0000-0002-8963-4995","observed_orcids":["https://orcid.org/0000-0002-8963-4995"]},"institutions":[{"id":"https://openalex.org/I1298590031","display_name":"Shizuoka University","ror":"https://ror.org/01w6wtk13","country_code":"JP","type":"education","lineage":["https://openalex.org/I1298590031"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Junichi Asama","raw_affiliation_strings":["Department of Mechanical Engineering, Shizuoka University, Hamamatsu, Shizuoka, Japan","Department of Mechanical Engineering,#N#Shizuoka University, Hamamatsu 432-8561, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Shizuoka University, Hamamatsu, Shizuoka, Japan","institution_ids":["https://openalex.org/I1298590031"]},{"raw_affiliation_string":"Department of Mechanical Engineering,#N#Shizuoka University, Hamamatsu 432-8561, Japan","institution_ids":["https://openalex.org/I1298590031"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030355869","display_name":"Matthew R. Burkhardt","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew R. Burkhardt","raw_affiliation_strings":["Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA","Department of Mechanical Engineering, California Institute of Technology, Pasadena, 91125 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Mechanical Engineering, California Institute of Technology, Pasadena, 91125 USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004199137","display_name":"Faranak Davoodi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Faranak Davoodi","raw_affiliation_strings":["Department of Computer Science, University of Southern California, Los Angeles, CA, USA","Department of Computer Science, University of Southern California, Los Angeles, 90089. USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Department of Computer Science, University of Southern California, Los Angeles, 90089. USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002930599","display_name":"Joel W. Burdick","orcid":"https://orcid.org/0000-0002-3091-540X","observed_orcids":["https://orcid.org/0000-0002-3091-540X"]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joel W. Burdick","raw_affiliation_strings":["Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA","Department of Mechanical Engineering, California Institute of Technology, Pasadena, 91125 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Mechanical Engineering, California Institute of Technology, Pasadena, 91125 USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3031,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.9258722,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"36","issue":null,"first_page":"244","last_page":"251"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10278","display_name":"Electric Motor Design and Analysis","score":0.8773999810218811,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10278","display_name":"Electric Motor Design and Analysis","score":0.8773999810218811,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11230","display_name":"Innovative Energy Harvesting Technologies","score":0.1096000000834465,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.002300000051036477,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/spherical-robot","display_name":"spherical robot","score":0.7760000228881836},{"id":"https://openalex.org/keywords/wind-energy-harvesting","display_name":"wind energy harvesting","score":0.9559999704360962},{"id":"https://openalex.org/keywords/energy-harvesting","display_name":"energy harvesting","score":0.7039999961853027}],"concepts":[{"id":"https://openalex.org/C78600449","wikidata":"https://www.wikidata.org/wiki/Q43302","display_name":"Wind power","level":2,"score":0.5942822694778442},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.49622851610183716},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4670711159706116},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.43718865513801575},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.407698392868042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38796746730804443},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35723090171813965},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.351754367351532},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35126805305480957},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2225448191165924},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17458972334861755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139007","doi":"https://doi.org/10.1109/icra.2015.7139007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139007","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.878000020980835},{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.4943999946117401}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W760884624","https://openalex.org/W1972860492","https://openalex.org/W1985661619","https://openalex.org/W2008722644","https://openalex.org/W2015562655","https://openalex.org/W2021446769","https://openalex.org/W2025566069","https://openalex.org/W2032185670","https://openalex.org/W2044550243","https://openalex.org/W2106106765","https://openalex.org/W2111338039","https://openalex.org/W2117728510","https://openalex.org/W2118679978","https://openalex.org/W2119175727","https://openalex.org/W2123234393","https://openalex.org/W2133400907","https://openalex.org/W2134177266","https://openalex.org/W2157403586","https://openalex.org/W2157905518","https://openalex.org/W2166136766","https://openalex.org/W2328153080","https://openalex.org/W2344423067","https://openalex.org/W2730892013","https://openalex.org/W6740614175"],"related_works":["https://openalex.org/W7055991018","https://openalex.org/W2290041983","https://openalex.org/W2602314844","https://openalex.org/W4407756595","https://openalex.org/W2047084619","https://openalex.org/W2521068610","https://openalex.org/W2620863811","https://openalex.org/W2045644840","https://openalex.org/W2542097176","https://openalex.org/W3035845815"],"abstract_inverted_index":{"Moball":[0,30,79,201],"is":[1],"a":[2,59,73,115,123,134,139,216],"wind-driven":[3,56],"spherical":[4],"robot":[5],"equipped":[6],"with":[7,90,106,138,159,188,195],"sensors":[8],"for":[9,48,78,218,225],"in-situ":[10],"observation":[11],"of":[12,36,61,72,98,102,109,133,141,198,221],"scientifically":[13],"important":[14],"and":[15,24,86,119,127,146,149,203],"windy":[16],"environments,":[17],"e.g.,":[18],"the":[19,70,91,107,156,167,177,199],"Earth's":[20],"polar":[21],"regions,":[22],"Mars,":[23],"Saturn's":[25],"moon":[26],"Titan.":[27],"More":[28],"importantly,":[29],"incorporates":[31],"an":[32,196],"internal":[33],"triaxial":[34],"set":[35],"linear":[37,76,136],"electromagnetic":[38],"generators":[39],"which":[40],"can":[41,213],"be":[42],"used":[43],"to":[44,53,68,82,154],"harvest":[45],"wind":[46],"energy":[47,84,222],"long-duration":[49],"self-sustained":[50],"operation,":[51],"or":[52],"bias":[54],"its'":[55,120],"motions":[57],"as":[58,81,215],"form":[60],"steering.":[62],"This":[63],"paper":[64,193,212],"describes":[65],"our":[66,189],"process":[67,208],"optimize":[69],"design":[71,207,220],"coreless":[74],"tubular":[75],"generator":[77,94,137],"so":[80],"improve":[83],"generation":[85],"motion":[87],"control":[88],"capabilities":[89],"minimal":[92],"moving":[93],"mass.":[95],"The":[96,162,183,192,206],"performance":[97],"three":[99],"different":[100],"types":[101],"movers":[103],"was":[104,144,170,180],"analyzed":[105],"help":[108],"finite":[110],"element":[111],"analysis.":[112],"We":[113],"determined":[114],"final":[116],"optimized":[117],"structure":[118],"dimensions":[121],"involving":[122],"single":[124],"dipole":[125],"PM":[126],"novel":[128],"slope-shaped":[129],"back-irons.":[130],"A":[131],"prototype":[132,202],"single-axis":[135],"length":[140],"0.8":[142],"m":[143],"fabricated":[145],"assembled.":[147],"Drop":[148],"rotating":[150,168],"tests":[151],"were":[152],"performed":[153],"measure":[155],"generated":[157,164],"power":[158,165],"this":[160,211],"machine.":[161],"maximum":[163],"in":[166,210],"test":[169],"1.05":[171],"W":[172],"at":[173],"19":[174],"rpm":[175],"when":[176],"load":[178],"resistance":[179],"40":[181],"\u03a9.":[182],"experimental":[184],"results":[185],"agreed":[186],"well":[187],"model":[190],"predictions.":[191],"concludes":[194],"overview":[197],"current":[200],"ongoing":[204],"work.":[205],"developed":[209],"serve":[214],"guideline":[217],"future":[219],"scavenging":[223],"systems":[224],"robots.":[226]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2016-06-24T00:00:00"}