{"id":"https://openalex.org/W1482916814","doi":"https://doi.org/10.1023/a:1008896121662","title":"A Prototype Study of an Autonomous Robot Platform for Sewerage System Maintenance","display_name":"A Prototype Study of an Autonomous Robot Platform for Sewerage System Maintenance","publication_year":1997,"publication_date":"1997-10-01","ids":{"openalex":"https://openalex.org/W1482916814","doi":"https://doi.org/10.1023/a:1008896121662","mag":"1482916814"},"language":"en","primary_location":{"id":"doi:10.1023/a:1008896121662","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1008896121662","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","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/A5016436943","display_name":"Frank Kirchner","orcid":"https://orcid.org/0000-0002-1713-9784"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Frank Kirchner","raw_affiliation_strings":["GMD\u2014German National Research Center, Information Technology, Schlo\u00df Birlinghoven, 53754, Sankt Augustin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GMD\u2014German National Research Center, Information Technology, Schlo\u00df Birlinghoven, 53754, Sankt Augustin, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020594579","display_name":"Joachim Hertzberg","orcid":"https://orcid.org/0000-0002-6371-9624"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joachim Hertzberg","raw_affiliation_strings":["GMD\u2014German National Research Center, Information Technology, Schlo\u00df Birlinghoven, 53754, Sankt Augustin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GMD\u2014German National Research Center, Information Technology, Schlo\u00df Birlinghoven, 53754, Sankt Augustin, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":4.0419,"has_fulltext":false,"cited_by_count":72,"citation_normalized_percentile":{"value":0.9175524,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"4","issue":"4","first_page":"319","last_page":"331"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9876000285148621,"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"}},{"id":"https://openalex.org/T12546","display_name":"Smart Parking Systems Research","score":0.9836000204086304,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/computer-science","display_name":"Computer science","score":0.8370809555053711},{"id":"https://openalex.org/keywords/inclinometer","display_name":"Inclinometer","score":0.7049928903579712},{"id":"https://openalex.org/keywords/sewerage","display_name":"Sewerage","score":0.68253093957901},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6348059773445129},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5421406626701355},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5132772922515869},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.38536858558654785},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36571967601776123},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36112070083618164},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23900732398033142},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.14118584990501404},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09878459572792053}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8370809555053711},{"id":"https://openalex.org/C158105764","wikidata":"https://www.wikidata.org/wiki/Q827664","display_name":"Inclinometer","level":2,"score":0.7049928903579712},{"id":"https://openalex.org/C165895018","wikidata":"https://www.wikidata.org/wiki/Q156849","display_name":"Sewerage","level":2,"score":0.68253093957901},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6348059773445129},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5421406626701355},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5132772922515869},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.38536858558654785},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36571967601776123},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36112070083618164},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23900732398033142},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.14118584990501404},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09878459572792053},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1023/a:1008896121662","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1008896121662","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:fraunhofer.de:N-69645","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-69645.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer AIS","raw_type":"Journal Article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/191949","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/191949","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"display_name":"Clean water and sanitation","id":"https://metadata.un.org/sdg/6"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W73143588","https://openalex.org/W1534114040","https://openalex.org/W2045908891","https://openalex.org/W2054115913","https://openalex.org/W2118991775","https://openalex.org/W2122695052","https://openalex.org/W2131157226","https://openalex.org/W4300402905","https://openalex.org/W6677922933","https://openalex.org/W7000131953","https://openalex.org/W7001114766"],"related_works":["https://openalex.org/W2021352207","https://openalex.org/W2371524298","https://openalex.org/W2897535180","https://openalex.org/W2513006910","https://openalex.org/W132013206","https://openalex.org/W3170650354","https://openalex.org/W2059227848","https://openalex.org/W2103980537","https://openalex.org/W2368113103","https://openalex.org/W4294351455"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2016-06-24T00:00:00"}