{"id":"https://openalex.org/W3207055613","doi":"https://doi.org/10.1080/01691864.2021.1985606","title":"Motion control of deep sea vehicle \u2018OTOHIME\u2019: modeling with neural network","display_name":"Motion control of deep sea vehicle \u2018OTOHIME\u2019: modeling with neural network","publication_year":2021,"publication_date":"2021-10-13","ids":{"openalex":"https://openalex.org/W3207055613","doi":"https://doi.org/10.1080/01691864.2021.1985606","mag":"3207055613"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2021.1985606","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1985606","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5014495781","display_name":"Shun Fujii","orcid":null},"institutions":[{"id":"https://openalex.org/I48840829","display_name":"Tokyo University of Marine Science and Technology","ror":"https://ror.org/048nxq511","country_code":"JP","type":"education","lineage":["https://openalex.org/I48840829"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"S. Fujii","raw_affiliation_strings":["Graduate School of Marine Science and Technology, Tokyo University of Marine Science and Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Marine Science and Technology, Tokyo University of Marine Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I48840829"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109522177","display_name":"J. Tahara","orcid":null},"institutions":[{"id":"https://openalex.org/I48840829","display_name":"Tokyo University of Marine Science and Technology","ror":"https://ror.org/048nxq511","country_code":"JP","type":"education","lineage":["https://openalex.org/I48840829"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Tahara","raw_affiliation_strings":["Department of Marine Electronics and Mechanical Engineering, Tokyo University of Marine Science and Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Marine Electronics and Mechanical Engineering, Tokyo University of Marine Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I48840829"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031458937","display_name":"F. Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I48840829","display_name":"Tokyo University of Marine Science and Technology","ror":"https://ror.org/048nxq511","country_code":"JP","type":"education","lineage":["https://openalex.org/I48840829"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"F. Zhang","raw_affiliation_strings":["Department of Marine Electronics and Mechanical Engineering, Tokyo University of Marine Science and Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Marine Electronics and Mechanical Engineering, Tokyo University of Marine Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I48840829"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007625745","display_name":"Masakazu Koike","orcid":"https://orcid.org/0000-0001-9434-2535"},"institutions":[{"id":"https://openalex.org/I48840829","display_name":"Tokyo University of Marine Science and Technology","ror":"https://ror.org/048nxq511","country_code":"JP","type":"education","lineage":["https://openalex.org/I48840829"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Koike","raw_affiliation_strings":["Department of Marine Electronics and Mechanical Engineering, Tokyo University of Marine Science and Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Marine Electronics and Mechanical Engineering, Tokyo University of Marine Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I48840829"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003748042","display_name":"Yoshihiro Ohta","orcid":"https://orcid.org/0009-0005-8334-4208"},"institutions":[{"id":"https://openalex.org/I1315852903","display_name":"Japan Agency for Marine-Earth Science and Technology","ror":"https://ror.org/059qg2m13","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1315852903"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Ohta","raw_affiliation_strings":["Marine Technology and Engineering Center, Japan Agency for Marine-Earth Science and Technology, Yokosuka, Japan"],"affiliations":[{"raw_affiliation_string":"Marine Technology and Engineering Center, Japan Agency for Marine-Earth Science and Technology, Yokosuka, Japan","institution_ids":["https://openalex.org/I1315852903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008726503","display_name":"Yoshito Watanabe","orcid":"https://orcid.org/0000-0002-0112-916X"},"institutions":[{"id":"https://openalex.org/I1315852903","display_name":"Japan Agency for Marine-Earth Science and Technology","ror":"https://ror.org/059qg2m13","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1315852903"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Watanabe","raw_affiliation_strings":["Marine Technology and Engineering Center, Japan Agency for Marine-Earth Science and Technology, Yokosuka, Japan"],"affiliations":[{"raw_affiliation_string":"Marine Technology and Engineering Center, Japan Agency for Marine-Earth Science and Technology, Yokosuka, Japan","institution_ids":["https://openalex.org/I1315852903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5014495781"],"corresponding_institution_ids":["https://openalex.org/I48840829"],"apc_list":null,"apc_paid":null,"fwci":0.6867,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.69889187,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"35","issue":"24","first_page":"1500","last_page":"1512"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.995199978351593,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.995199978351593,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9939000010490417,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9830999970436096,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.7233175039291382},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5836870670318604},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5377094745635986},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5028538107872009},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.48925185203552246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4629550576210022},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4563402235507965},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.45593589544296265},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.41309839487075806},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40051692724227905},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3557954430580139},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13623109459877014},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09123855829238892}],"concepts":[{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.7233175039291382},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5836870670318604},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5377094745635986},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5028538107872009},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.48925185203552246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4629550576210022},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4563402235507965},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.45593589544296265},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41309839487075806},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40051692724227905},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3557954430580139},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13623109459877014},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09123855829238892},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2021.1985606","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1985606","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8500000238418579,"display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334896","display_name":"Japan Agency for Marine-Earth Science and Technology","ror":"https://ror.org/059qg2m13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W624457567","https://openalex.org/W1590684588","https://openalex.org/W2053005176","https://openalex.org/W2064675550","https://openalex.org/W2081385390","https://openalex.org/W2136848157","https://openalex.org/W2146947549","https://openalex.org/W2155482699","https://openalex.org/W2314771612","https://openalex.org/W2325205515","https://openalex.org/W2492811885","https://openalex.org/W2562704499","https://openalex.org/W2725661304","https://openalex.org/W2738625055","https://openalex.org/W2795009778","https://openalex.org/W2811038404","https://openalex.org/W2896197558","https://openalex.org/W2899326547","https://openalex.org/W2964121744","https://openalex.org/W2990656464","https://openalex.org/W3022946009"],"related_works":["https://openalex.org/W2366107444","https://openalex.org/W4388145910","https://openalex.org/W2381570729","https://openalex.org/W2044900919","https://openalex.org/W2887125121","https://openalex.org/W2145590848","https://openalex.org/W2755887994","https://openalex.org/W2369699286","https://openalex.org/W3149490355","https://openalex.org/W2374143010"],"abstract_inverted_index":{"Deep":[0],"sea":[1],"survey":[2],"vehicle":[3,10,27],"\u2018OTOHIME\u2019":[4],"is":[5,19],"one":[6],"of":[7,46],"the":[8,24,61,68,74,78],"underwater":[9],"owned":[11],"in":[12],"JAMSTEC":[13],"and":[14,43,50],"its":[15],"automatic":[16],"navigation":[17],"system":[18,76],"developing":[20],"now.":[21],"To":[22],"construct":[23],"control":[25,75],"system,":[26],"motion":[28],"should":[29],"be":[30],"modeled":[31],"at":[32],"first.":[33],"In":[34],"this":[35],"study,":[36],"we":[37,64],"treated":[38],"a":[39],"dynamic":[40],"equation":[41],"model":[42,71],"two":[44],"types":[45],"neural":[47,69],"network":[48,70],"models":[49],"compared":[51],"their":[52],"performance.":[53],"The":[54],"latter":[55],"showed":[56],"rather":[57],"better":[58],"results":[59],"than":[60],"former.":[62],"Then":[63],"decide":[65],"to":[66,72],"use":[67],"design":[73],"as":[77],"next":[79],"step.":[80]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
