{"id":"https://openalex.org/W1491465832","doi":"https://doi.org/10.1007/978-3-540-75404-6_15","title":"Development of a 5 Degree-of-Freedom Towfish and Its Control Strategy","display_name":"Development of a 5 Degree-of-Freedom Towfish and Its Control Strategy","publication_year":2008,"publication_date":"2008-08-20","ids":{"openalex":"https://openalex.org/W1491465832","doi":"https://doi.org/10.1007/978-3-540-75404-6_15","mag":"1491465832"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-540-75404-6_15","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-540-75404-6_15","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/inria-00199712","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033631532","display_name":"Mohammad Aamir Khan","orcid":"https://orcid.org/0000-0003-3156-432X"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Mohammad Aamir Khan","raw_affiliation_strings":["PMAR Robot Design Research Group, University of Genova, Genova, Italy","University of Genova"],"affiliations":[{"raw_affiliation_string":"PMAR Robot Design Research Group, University of Genova, Genova, Italy","institution_ids":[]},{"raw_affiliation_string":"University of Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111424414","display_name":"Aazir Khan","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Aazir Khan","raw_affiliation_strings":["PMAR Robot Design Research Group, University of Genova, Genova, Italy","University of Genova"],"affiliations":[{"raw_affiliation_string":"PMAR Robot Design Research Group, University of Genova, Genova, Italy","institution_ids":[]},{"raw_affiliation_string":"University of Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033367596","display_name":"Matteo Zoppi","orcid":"https://orcid.org/0000-0003-0122-3196"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Zoppi","raw_affiliation_strings":["PMAR Robot Design Research Group, University of Genova, Genova, Italy","University of Genova"],"affiliations":[{"raw_affiliation_string":"PMAR Robot Design Research Group, University of Genova, Genova, Italy","institution_ids":[]},{"raw_affiliation_string":"University of Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091723041","display_name":"Rezia Molfino","orcid":"https://orcid.org/0000-0002-5257-9056"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Rezia Molfino","raw_affiliation_strings":["PMAR Robot Design Research Group, University of Genova, Genova, Italy","University of Genova"],"affiliations":[{"raw_affiliation_string":"PMAR Robot Design Research Group, University of Genova, Genova, Italy","institution_ids":[]},{"raw_affiliation_string":"University of Genova","institution_ids":["https://openalex.org/I83816512"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033631532"],"corresponding_institution_ids":["https://openalex.org/I83816512"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.08490566,"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":"157","last_page":"166"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9983000159263611,"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 Vehicles and Communication Systems","score":0.9983000159263611,"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/T11698","display_name":"Underwater Acoustics Research","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10995","display_name":"Methane Hydrates and Related Phenomena","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2304","display_name":"Environmental Chemistry"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5869964361190796},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5817189812660217},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.5419503450393677},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5322050452232361},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48425957560539246},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.45997926592826843},{"id":"https://openalex.org/keywords/pipeline-transport","display_name":"Pipeline transport","score":0.4508393704891205},{"id":"https://openalex.org/keywords/degree","display_name":"Degree (music)","score":0.4162241816520691},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3983760476112366},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2988569438457489},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.22860991954803467},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10825961828231812},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09813609719276428},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.05353882908821106},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.052971482276916504}],"concepts":[{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5869964361190796},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5817189812660217},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.5419503450393677},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5322050452232361},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48425957560539246},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.45997926592826843},{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.4508393704891205},{"id":"https://openalex.org/C2775997480","wikidata":"https://www.wikidata.org/wiki/Q586277","display_name":"Degree (music)","level":2,"score":0.4162241816520691},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3983760476112366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2988569438457489},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.22860991954803467},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10825961828231812},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09813609719276428},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.05353882908821106},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.052971482276916504},{"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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/978-3-540-75404-6_15","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-540-75404-6_15","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"},{"id":"pmh:oai:HAL:inria-00199712v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00199712","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France","raw_type":"Conference papers"},{"id":"pmh:oai:iris.unige.it:11567/314529","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/314529","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":{"id":"pmh:oai:HAL:inria-00199712v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00199712","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France","raw_type":"Conference papers"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1590684588","https://openalex.org/W1601567518","https://openalex.org/W1982419843","https://openalex.org/W2032178836","https://openalex.org/W2084890123","https://openalex.org/W2086100357","https://openalex.org/W2128564836","https://openalex.org/W2147015975","https://openalex.org/W2154421886","https://openalex.org/W2619164685","https://openalex.org/W2895919297"],"related_works":["https://openalex.org/W2591930867","https://openalex.org/W1999583034","https://openalex.org/W3161230432","https://openalex.org/W2891537746","https://openalex.org/W3168963531","https://openalex.org/W4388412763","https://openalex.org/W2773822314","https://openalex.org/W2953138830","https://openalex.org/W3176162126","https://openalex.org/W3217214504"],"abstract_inverted_index":null,"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
