{"id":"https://openalex.org/W4411134645","doi":"https://doi.org/10.1007/s10015-025-01032-2","title":"Experiments on resolved acceleration control of a 3-link dual-arm underwater robot with model error compensator","display_name":"Experiments on resolved acceleration control of a 3-link dual-arm underwater robot with model error compensator","publication_year":2025,"publication_date":"2025-06-09","ids":{"openalex":"https://openalex.org/W4411134645","doi":"https://doi.org/10.1007/s10015-025-01032-2"},"language":"en","primary_location":{"id":"doi:10.1007/s10015-025-01032-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10015-025-01032-2","pdf_url":null,"source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1007/s10015-025-01032-2","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111117859","display_name":"Reo Nishio","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Reo Nishio","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui, Tobata, Kitakyushu, 804-8550, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui, Tobata, Kitakyushu, 804-8550, Japan","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079068685","display_name":"Yuta Hanazawa","orcid":"https://orcid.org/0000-0002-1161-1101"},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuta Hanazawa","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui, Tobata, Kitakyushu, 804-8550, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui, Tobata, Kitakyushu, 804-8550, Japan","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009471006","display_name":"Shinichi Sagara","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinichi Sagara","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui, Tobata, Kitakyushu, 804-8550, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui, Tobata, Kitakyushu, 804-8550, Japan","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016793398","display_name":"Radzi Ambar","orcid":"https://orcid.org/0000-0003-0922-7685"},"institutions":[{"id":"https://openalex.org/I930072361","display_name":"Tun Hussein Onn University of Malaysia","ror":"https://ror.org/01c5wha71","country_code":"MY","type":"education","lineage":["https://openalex.org/I930072361"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Radzi Bin Ambar","raw_affiliation_strings":["Department of Electronic Engineering, Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400, Parit Raja, Batu Pahat, Johor, Malaysia"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 86400, Parit Raja, Batu Pahat, Johor, Malaysia","institution_ids":["https://openalex.org/I930072361"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5111117859"],"corresponding_institution_ids":["https://openalex.org/I207014233"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19297119,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"30","issue":"3","first_page":"512","last_page":"522"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9919999837875366,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.781722903251648},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.7008702158927917},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6960116028785706},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.69074547290802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6819884777069092},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6446197628974915},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5347294807434082},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45991650223731995},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.41453680396080017},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3309018015861511},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29801589250564575},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1662486493587494},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11725673079490662},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06492197513580322}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.781722903251648},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.7008702158927917},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6960116028785706},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.69074547290802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6819884777069092},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6446197628974915},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5347294807434082},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45991650223731995},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41453680396080017},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3309018015861511},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29801589250564575},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1662486493587494},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11725673079490662},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06492197513580322},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"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/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10015-025-01032-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10015-025-01032-2","pdf_url":null,"source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10015-025-01032-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10015-025-01032-2","pdf_url":null,"source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1985075481","https://openalex.org/W2006769437","https://openalex.org/W2016770250","https://openalex.org/W2017352881","https://openalex.org/W2026162525","https://openalex.org/W2053905718","https://openalex.org/W2101474901","https://openalex.org/W2110754506","https://openalex.org/W2125289779","https://openalex.org/W2150752534","https://openalex.org/W2163182383","https://openalex.org/W2320043814","https://openalex.org/W2572562208","https://openalex.org/W2609814547","https://openalex.org/W2964339170","https://openalex.org/W3010686334","https://openalex.org/W4235131321","https://openalex.org/W4246761291","https://openalex.org/W4323313544","https://openalex.org/W4386457343"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1518185400","https://openalex.org/W3200586296","https://openalex.org/W1999583034","https://openalex.org/W4230332972","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2658949566","https://openalex.org/W4231546630","https://openalex.org/W4256180858"],"abstract_inverted_index":{"Abstract":[0],"Underwater":[1,21],"environments":[2],"provide":[3],"significant":[4],"challenges":[5],"for":[6,55,84,98,130],"humans,":[7],"thus":[8],"researchers":[9],"have":[10,77],"focused":[11],"on":[12,65,74,111],"controlling":[13],"underwater":[14,27],"robots":[15],"equipped":[16],"with":[17],"manipulators":[18],"known":[19],"as":[20,80],"Vehicle-Manipulator":[22],"System":[23],"(UVMS)":[24],"that":[25,62,100,151],"perform":[26],"tasks":[28],"instead":[29],"of":[30,36,138,144,155,170,182,195],"humans.":[31],"To":[32],"achieve":[33,125],"high-precision":[34],"control":[35,56,71,108,129,168,184],"UVMS,":[37],"an":[38],"accurate":[39],"mathematical":[40],"model":[41,53,118],"must":[42],"be":[43],"developed.":[44],"However,":[45],"there":[46],"are":[47],"modeling":[48,87,137,187],"errors":[49,188],"between":[50],"the":[51,59,66,134,142,153,163,180,183,193,196],"UVMS":[52,99,131],"used":[54,79],"system":[57,185],"and":[58,141,189],"fluid":[60,139],"forces":[61,140],"actually":[63],"act":[64],"robot.":[67],"In":[68],"conventional":[69],"studies,":[70],"methods":[72,157],"based":[73,110],"joint":[75],"space":[76],"been":[78],"a":[81,92,102,107,171],"compensation":[82],"controller":[83],"disturbances,":[85,191],"including":[86],"errors.":[88,119],"This":[89],"paper":[90],"proposes":[91],"Resolved":[93],"Acceleration":[94],"Control":[95],"(RAC)":[96],"method":[97,109,122,165],"incorporates":[101],"Model":[103],"Error":[104],"Compensator":[105],"(MEC),":[106],"task":[112],"space,":[113],"designed":[114],"to":[115,124],"minimize":[116],"these":[117],"The":[120,176],"proposed":[121,164,197],"aims":[123],"robust":[126],"trajectory":[127],"tracking":[128],"by":[132],"suppressing":[133],"uncertainties":[135],"in":[136],"effects":[143],"disturbances.":[145,175],"Furthermore,":[146],"unlike":[147],"many":[148],"prior":[149],"studies":[150],"demonstrate":[152],"effectiveness":[154],"their":[156],"through":[158,166],"simulations,":[159],"this":[160],"study":[161],"validates":[162],"position":[167],"experiments":[169],"robot":[172],"under":[173],"wave":[174,190],"experimental":[177],"results":[178],"confirm":[179],"robustness":[181],"against":[186],"demonstrating":[192],"usefulness":[194],"method.":[198]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
