{"id":"https://openalex.org/W2998159231","doi":"https://doi.org/10.2514/6.2020-0065","title":"Multidisciplinary Design and Control Optimization of a Spherical Robot for Planetary Exploration","display_name":"Multidisciplinary Design and Control Optimization of a Spherical Robot for Planetary Exploration","publication_year":2020,"publication_date":"2020-01-05","ids":{"openalex":"https://openalex.org/W2998159231","doi":"https://doi.org/10.2514/6.2020-0065","mag":"2998159231"},"language":"en","primary_location":{"id":"doi:10.2514/6.2020-0065","doi":"https://doi.org/10.2514/6.2020-0065","is_oa":false,"landing_page_url":"https://doi.org/10.2514/6.2020-0065","pdf_url":null,"source":{"id":"https://openalex.org/S4363604158","display_name":"AIAA SciTech Forum","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"AIAA Scitech 2020 Forum","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/A5074500515","display_name":"Himangshu Kalita","orcid":"https://orcid.org/0000-0002-9620-0052","observed_orcids":["https://orcid.org/0000-0002-9620-0052"]},"institutions":[{"id":"https://openalex.org/I138006243","display_name":"University of Arizona","ror":"https://ror.org/03m2x1q45","country_code":"US","type":"education","lineage":["https://openalex.org/I138006243"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Himangshu Kalita","raw_affiliation_strings":["University of Arizona, Tucson"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Arizona, Tucson","institution_ids":["https://openalex.org/I138006243"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5074500515"],"corresponding_institution_ids":["https://openalex.org/I138006243"],"apc_list":null,"apc_paid":null,"fwci":0.2691,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.35909502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.38350000977516174,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.38350000977516174,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T12449","display_name":"Spacecraft Design and Technology","score":0.15639999508857727,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.04969999939203262,"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/spherical-robot","display_name":"spherical robot","score":0.8479999899864197},{"id":"https://openalex.org/keywords/planetary-exploration","display_name":"planetary exploration","score":0.8399999737739563},{"id":"https://openalex.org/keywords/multidisciplinary-design-optimization","display_name":"multidisciplinary design optimization","score":0.8370000123977661},{"id":"https://openalex.org/keywords/control-optimization","display_name":"control optimization","score":0.6800000071525574},{"id":"https://openalex.org/keywords/evolutionary-algorithms","display_name":"evolutionary algorithms","score":0.6740000247955322},{"id":"https://openalex.org/keywords/gradient-based-optimization","display_name":"gradient-based optimization","score":0.8429999947547913},{"id":"https://openalex.org/keywords/pareto-optimal-solutions","display_name":"Pareto optimal solutions","score":0.8069999814033508},{"id":"https://openalex.org/keywords/multi-objective-optimization","display_name":"multi-objective optimization","score":0.7329999804496765},{"id":"https://openalex.org/keywords/extreme-environments","display_name":"extreme environments","score":0.45399999618530273},{"id":"https://openalex.org/keywords/power-system-design","display_name":"power system design","score":0.5329999923706055},{"id":"https://openalex.org/keywords/thermal-system-design","display_name":"thermal system design","score":0.8259999752044678},{"id":"https://openalex.org/keywords/shielding","display_name":"shielding","score":0.39399999380111694},{"id":"https://openalex.org/keywords/communication-systems","display_name":"communication systems","score":0.6549999713897705},{"id":"https://openalex.org/keywords/avionics","display_name":"avionics","score":0.859000027179718},{"id":"https://openalex.org/keywords/shell-design","display_name":"shell design","score":0.4659999907016754},{"id":"https://openalex.org/keywords/mobility-systems","display_name":"mobility systems","score":0.5519999861717224}],"concepts":[{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.7228110432624817},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.613385796546936},{"id":"https://openalex.org/C28442783","wikidata":"https://www.wikidata.org/wiki/Q3354474","display_name":"Multidisciplinary design optimization","level":3,"score":0.5523939728736877},{"id":"https://openalex.org/C137635306","wikidata":"https://www.wikidata.org/wiki/Q182667","display_name":"Pareto principle","level":2,"score":0.5297984480857849},{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.5268356204032898},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.5090588927268982},{"id":"https://openalex.org/C34972735","wikidata":"https://www.wikidata.org/wiki/Q2920267","display_name":"Engineering design process","level":2,"score":0.5050631165504456},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.5006093978881836},{"id":"https://openalex.org/C68702407","wikidata":"https://www.wikidata.org/wiki/Q716774","display_name":"Exploration of Mars","level":3,"score":0.500441312789917},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.43669265508651733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4286425709724426},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.42782503366470337},{"id":"https://openalex.org/C22467394","wikidata":"https://www.wikidata.org/wiki/Q849359","display_name":"Multidisciplinary approach","level":2,"score":0.4250667691230774},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3526079058647156},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.2256961464881897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2239971160888672},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2178187072277069},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13917556405067444},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10473978519439697},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.2514/6.2020-0065","doi":"https://doi.org/10.2514/6.2020-0065","is_oa":false,"landing_page_url":"https://doi.org/10.2514/6.2020-0065","pdf_url":null,"source":{"id":"https://openalex.org/S4363604158","display_name":"AIAA SciTech Forum","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"AIAA Scitech 2020 Forum","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W208700004","https://openalex.org/W407250330","https://openalex.org/W1512907071","https://openalex.org/W1565902586","https://openalex.org/W1595498733","https://openalex.org/W1613002005","https://openalex.org/W1663378456","https://openalex.org/W1849225460","https://openalex.org/W1970633910","https://openalex.org/W1990910870","https://openalex.org/W1994847293","https://openalex.org/W1997540940","https://openalex.org/W2019985676","https://openalex.org/W2030392173","https://openalex.org/W2048178326","https://openalex.org/W2072057251","https://openalex.org/W2082026440","https://openalex.org/W2094834794","https://openalex.org/W2100678965","https://openalex.org/W2123898833","https://openalex.org/W2132572516","https://openalex.org/W2142183404","https://openalex.org/W2147292438","https://openalex.org/W2149416133","https://openalex.org/W2319126845","https://openalex.org/W2319800004","https://openalex.org/W2325535142","https://openalex.org/W2325726694","https://openalex.org/W2396652328","https://openalex.org/W2518166024","https://openalex.org/W2618292675","https://openalex.org/W2791257286","https://openalex.org/W2887900586","https://openalex.org/W3013186745","https://openalex.org/W3041059728","https://openalex.org/W3080713463","https://openalex.org/W3080956397","https://openalex.org/W4212923100","https://openalex.org/W4301173492"],"related_works":["https://openalex.org/W2979344202","https://openalex.org/W3080713463","https://openalex.org/W2582806259","https://openalex.org/W4399088332","https://openalex.org/W4365152174","https://openalex.org/W7219494948","https://openalex.org/W3201182333","https://openalex.org/W4211161699","https://openalex.org/W3156387212","https://openalex.org/W4362712888"],"abstract_inverted_index":{"Missions":[0],"targeting":[1],"extreme":[2,109],"and":[3,11,18,43,52,58,79,83,87,127,141,158,182,189,195,223,279],"rugged":[4],"environments":[5],"such":[6],"as":[7],"caves,":[8],"canyons,":[9],"cliffs":[10],"crater":[12],"rims":[13],"of":[14,37,66,113,124,154,168,178,180,192,209,296],"the":[15,22,35,186,207,220,244,250,261],"Moon,":[16],"Mars":[17],"icy":[19],"moons":[20],"are":[21,48,60,92,256,268],"next":[23],"frontiers":[24],"in":[25,72,134,152,185,206],"solar":[26],"system":[27,245],"exploration.":[28,301],"Exploring":[29],"these":[30,64,108,200],"sites":[31],"will":[32],"help":[33],"ascertain":[34],"range":[36,191],"conditions":[38],"that":[39,47,119],"can":[40],"support":[41],"life":[42],"identify":[44],"planetary":[45,297],"processes":[46],"responsible":[49],"for":[50,77,106,160,162,170,228,299],"generating":[51],"sustaining":[53],"habitable":[54],"worlds.":[55],"Current":[56],"landers":[57],"rovers":[59],"unable":[61],"to":[62,70,146,217,248,258,288,291],"access":[63],"areas":[65],"high":[67],"interest":[68],"due":[69],"limitations":[71],"precision":[73],"landing":[74],"techniques,":[75],"need":[76],"large":[78,122],"sophisticated":[80],"science":[81],"instruments":[82],"a":[84,116,121,174,229,239],"mission":[85,164,231],"assurance":[86],"operations":[88],"culture":[89],"where":[90],"risks":[91],"minimized":[93],"at":[94,243,260],"all":[95],"costs.":[96],"This":[97],"research":[98],"proposes":[99],"using":[100,203,238],"multiple":[101,128],"spherical":[102],"robots":[103,298],"called":[104],"SphereX":[105,114,161,171],"exploring":[107],"environments.":[110],"The":[111,131,166,233,265],"design":[112,125,150,172,187,221,234,295],"is":[115,173,236,285],"complex":[117,175],"task":[118],"involves":[120],"number":[123],"variables":[126],"engineering":[129],"disciplines.":[130],"methodology":[132],"developed":[133],"this":[135,282],"work":[136],"uses":[137],"Automated":[138],"Multidisciplinary":[139],"Design":[140],"Control":[142],"Optimization":[143],"(AMDCO)":[144],"techniques":[145,216,255],"find":[147,224,249],"near":[148],"optimal":[149,226],"solutions":[151,227],"terms":[153],"mass,":[155],"volume,":[156],"power":[157,271],"control":[159],"different":[163],"scenarios.":[165],"implementation":[167],"AMDCO":[169],"process":[176],"because":[177],"complexity":[179],"modelling":[181],"implementation,":[183],"discontinuities":[184],"space,":[188],"wide":[190],"time":[193],"scales":[194],"exploration":[196],"objectives.":[197],"We":[198],"address":[199],"issues":[201],"by":[202],"machine":[204],"learning":[205],"form":[208],"Evolutionary":[210],"Algorithms":[211],"integrated":[212],"with":[213],"gradient-based":[214,254],"optimization":[215],"search":[218,259],"through":[219],"space":[222,235],"pareto":[225],"given":[230],"task.":[232],"searched":[237],"GA":[240],"multi-objective":[241],"optimizer":[242],"(global)":[246],"level":[247],"Pareto-optimal":[251],"results":[252],"while":[253],"used":[257],"discipline":[262],"(local)":[263],"level.":[264],"modeled":[266],"disciplines":[267],"mobility":[269],"system,":[270,272,274,277],"thermal":[273],"shielding,":[275],"communication":[276],"avionics":[278],"shell.":[280],"Using":[281],"technology,":[283],"it":[284],"now":[286],"possible":[287],"perform":[289],"end":[290,292],"automated":[293],"preliminary":[294],"surface":[300]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-10-14T16:39:01.820549","created_date":"2020-01-10T00:00:00"}
