{"id":"https://openalex.org/W3083948693","doi":"https://doi.org/10.1017/s0263574720000739","title":"Design, Construction, and Control for an Underwater Vehicle Type Sepiida","display_name":"Design, Construction, and Control for an Underwater Vehicle Type Sepiida","publication_year":2020,"publication_date":"2020-09-08","ids":{"openalex":"https://openalex.org/W3083948693","doi":"https://doi.org/10.1017/s0263574720000739","mag":"3083948693"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574720000739","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000739","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-02947823","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011380769","display_name":"M. A. Garc\u0131\u0300a","orcid":"https://orcid.org/0000-0001-9972-2182"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"M. Garcia","raw_affiliation_strings":["CINVESTAV - IPN, LAFMIA UMI CNRS 3175, Mexico City, Mexico. E-mails:","Laboratoire Franco-Mexicain d'Informatique et d'Automatique"],"affiliations":[{"raw_affiliation_string":"CINVESTAV - IPN, LAFMIA UMI CNRS 3175, Mexico City, Mexico. E-mails:","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Laboratoire Franco-Mexicain d'Informatique et d'Automatique","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101627181","display_name":"P. Castillo","orcid":"https://orcid.org/0000-0001-8324-8762"},"institutions":[{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"P. Castillo","raw_affiliation_strings":["Universit\u00e9 de technologie de Compi\u00e8gne, CNRS, Heudiasyc (Heuristique et Diagnostic des Syst\u00e8mes Complexes), CS 60 319 - 60 203 Compi\u00e8gne Cedex, France. E-mail:","Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne]"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9 de technologie de Compi\u00e8gne, CNRS, Heudiasyc (Heuristique et Diagnostic des Syst\u00e8mes Complexes), CS 60 319 - 60 203 Compi\u00e8gne Cedex, France. E-mail:","institution_ids":["https://openalex.org/I4210088387","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne]","institution_ids":["https://openalex.org/I4210088387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025697590","display_name":"Eduardo Campos\u2010Mercado","orcid":"https://orcid.org/0000-0003-3852-1859"},"institutions":[{"id":"https://openalex.org/I4210163111","display_name":"Consejo Nacional de Humanidades, Ciencias y Tecnolog\u00edas","ror":"https://ror.org/059ex5q34","country_code":"MX","type":"funder","lineage":["https://openalex.org/I4210163111"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"E. Campos","raw_affiliation_strings":["CONACYT-Universidad del Istmo, Tehuantepec, Oaxaca, Mexico. E-mail:","Universidad del Istmo [Mexico]"],"affiliations":[{"raw_affiliation_string":"CONACYT-Universidad del Istmo, Tehuantepec, Oaxaca, Mexico. E-mail:","institution_ids":["https://openalex.org/I4210163111"]},{"raw_affiliation_string":"Universidad del Istmo [Mexico]","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110892983","display_name":"R. Lozano","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]},{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]}],"countries":["FR","MX"],"is_corresponding":false,"raw_author_name":"R. Lozano","raw_affiliation_strings":["CINVESTAV - IPN, LAFMIA UMI CNRS 3175, Mexico City, Mexico. E-mails:","Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne]","Laboratoire Franco-Mexicain d'Informatique et d'Automatique"],"affiliations":[{"raw_affiliation_string":"CINVESTAV - IPN, LAFMIA UMI CNRS 3175, Mexico City, Mexico. E-mails:","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne]","institution_ids":["https://openalex.org/I4210088387"]},{"raw_affiliation_string":"Laboratoire Franco-Mexicain d'Informatique et d'Automatique","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101627181"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210088387"],"apc_list":null,"apc_paid":null,"fwci":0.3531,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.60536776,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"39","issue":"5","first_page":"798","last_page":"815"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.982699990272522,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9811000227928162,"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/euler-angles","display_name":"Euler angles","score":0.6252157688140869},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6244187951087952},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5904789566993713},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5773084759712219},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5725936889648438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.523699164390564},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5132536888122559},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4444373846054077},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.43943628668785095},{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.43439194560050964},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32436227798461914},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28944915533065796},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28019189834594727},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16858184337615967},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1313316822052002}],"concepts":[{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.6252157688140869},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6244187951087952},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5904789566993713},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5773084759712219},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5725936889648438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.523699164390564},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5132536888122559},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4444373846054077},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.43943628668785095},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.43439194560050964},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32436227798461914},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28944915533065796},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28019189834594727},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16858184337615967},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1313316822052002},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574720000739","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000739","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-02947823v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02947823","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":"Robotica, 2021, 39 (5), pp.798-815. ⟨10.1017/s0263574720000739⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02947823v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02947823","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":"Robotica, 2021, 39 (5), pp.798-815. ⟨10.1017/s0263574720000739⟩","raw_type":"Journal articles"},"sustainable_development_goals":[{"score":0.7900000214576721,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1501815610","https://openalex.org/W1544853044","https://openalex.org/W1979483959","https://openalex.org/W1985303632","https://openalex.org/W1993913827","https://openalex.org/W1997184982","https://openalex.org/W2001273311","https://openalex.org/W2003904373","https://openalex.org/W2015621384","https://openalex.org/W2033237147","https://openalex.org/W2055385926","https://openalex.org/W2098154439","https://openalex.org/W2120975466","https://openalex.org/W2122133076","https://openalex.org/W2422636186","https://openalex.org/W2429196105","https://openalex.org/W2567086736","https://openalex.org/W2612848726","https://openalex.org/W2757528092","https://openalex.org/W2766913824","https://openalex.org/W2783142649","https://openalex.org/W2790921955","https://openalex.org/W2800363748","https://openalex.org/W2900531948","https://openalex.org/W2904182501","https://openalex.org/W2908629588","https://openalex.org/W2921761592","https://openalex.org/W2938102902","https://openalex.org/W2944614027","https://openalex.org/W2950111548","https://openalex.org/W3008104342","https://openalex.org/W4229783971","https://openalex.org/W4229972052","https://openalex.org/W4240467769","https://openalex.org/W6761624252"],"related_works":["https://openalex.org/W1523456869","https://openalex.org/W783238290","https://openalex.org/W4320037841","https://openalex.org/W2515556373","https://openalex.org/W2781934155","https://openalex.org/W2132647211","https://openalex.org/W2162655700","https://openalex.org/W1994374557","https://openalex.org/W2140465842","https://openalex.org/W2608886215"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1,47,64],"novel":[2],"underwater":[3],"vehicle":[4,29],"configuration":[5],"with":[6,77],"an":[7],"operating":[8],"principle":[9],"as":[10],"the":[11,25,28,33,39,60,74,78,83,90],"Sepiida":[12],"animal":[13],"is":[14,42,70,93],"presented":[15],"and":[16,49,58],"developed":[17,54],"in":[18],"this":[19],"paper.":[20],"The":[21],"mathematical":[22,62],"equations":[23],"describing":[24],"movements":[26],"of":[27,38,67,80,82,89],"are":[30,53],"obtained":[31],"using":[32,95],"Newton\u2013Euler":[34],"approach.":[35],"An":[36],"analysis":[37],"dynamic":[40],"model":[41],"done":[43,71,94],"for":[44,55],"control":[45],"purposes.":[46],"prototype":[48],"its":[50],"embedded":[51],"system":[52,92],"validating":[56],"analytically":[57],"experimentally":[59],"proposed":[61],"representation.":[63],"real-time":[65],"characterization":[66],"one":[68],"mass":[69],"to":[72],"relate":[73],"pitch":[75],"angle":[76],"radio":[79],"displacement":[81],"mass.":[84],"In":[85],"addition,":[86],"first":[87],"validation":[88],"closed-loop":[91],"a":[96],"linear":[97],"controller.":[98]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2020-09-14T00:00:00"}