{"id":"https://openalex.org/W1542251722","doi":"https://doi.org/10.1109/acc.2015.7171157","title":"GUPPIE, underwater 3D printed robot a game changer in control design education","display_name":"GUPPIE, underwater 3D printed robot a game changer in control design education","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1542251722","doi":"https://doi.org/10.1109/acc.2015.7171157","mag":"1542251722"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2015.7171157","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2015.7171157","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 American Control Conference (ACC)","raw_type":"proceedings-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/A5033763232","display_name":"Saeedeh Ziaeefard","orcid":"https://orcid.org/0000-0003-3511-0907"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Saeedeh Ziaeefard","raw_affiliation_strings":["Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI, USA","Department of Mechanical Engineering - Engineering Mechanics, Michigan Technological University, Houghton, 49931 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]},{"raw_affiliation_string":"Department of Mechanical Engineering - Engineering Mechanics, Michigan Technological University, Houghton, 49931 USA","institution_ids":["https://openalex.org/I11957088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077214214","display_name":"Guilherme A. Ribeiro","orcid":"https://orcid.org/0000-0003-3573-5878"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guilherme Aramizo Ribeiro","raw_affiliation_strings":["Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI, USA","Department of Mechanical Engineering - Engineering Mechanics, Michigan Technological University, Houghton, 49931 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]},{"raw_affiliation_string":"Department of Mechanical Engineering - Engineering Mechanics, Michigan Technological University, Houghton, 49931 USA","institution_ids":["https://openalex.org/I11957088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063519076","display_name":"Nina Mahmoudian","orcid":"https://orcid.org/0000-0002-3285-8234"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nina Mahmoudian","raw_affiliation_strings":["Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI, USA","Department of Mechanical Engineering - Engineering Mechanics, Michigan Technological University, Houghton, 49931 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]},{"raw_affiliation_string":"Department of Mechanical Engineering - Engineering Mechanics, Michigan Technological University, Houghton, 49931 USA","institution_ids":["https://openalex.org/I11957088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033763232"],"corresponding_institution_ids":["https://openalex.org/I11957088"],"apc_list":null,"apc_paid":null,"fwci":4.6372,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.94515975,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2789","last_page":"2794"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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/T13682","display_name":"Engineering Education and Pedagogy","score":0.9790999889373779,"subfield":{"id":"https://openalex.org/subfields/2216","display_name":"Architecture"},"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/T11283","display_name":"Experimental Learning in Engineering","score":0.9778000116348267,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/modular-design","display_name":"Modular design","score":0.7045023441314697},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5829348564147949},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5827674865722656},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5423169732093811},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5076314210891724},{"id":"https://openalex.org/keywords/educational-robotics","display_name":"Educational robotics","score":0.4714297652244568},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47124820947647095},{"id":"https://openalex.org/keywords/engineering-design-process","display_name":"Engineering design process","score":0.468432754278183},{"id":"https://openalex.org/keywords/engineering-education","display_name":"Engineering education","score":0.449466735124588},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.44902288913726807},{"id":"https://openalex.org/keywords/design-process","display_name":"Design process","score":0.4160170257091522},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3811887800693512},{"id":"https://openalex.org/keywords/engineering-management","display_name":"Engineering management","score":0.3633556365966797},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3246837854385376},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3048589825630188},{"id":"https://openalex.org/keywords/work-in-process","display_name":"Work in process","score":0.2823928892612457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24127861857414246}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7045023441314697},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5829348564147949},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5827674865722656},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5423169732093811},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5076314210891724},{"id":"https://openalex.org/C183889225","wikidata":"https://www.wikidata.org/wiki/Q5341299","display_name":"Educational robotics","level":4,"score":0.4714297652244568},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47124820947647095},{"id":"https://openalex.org/C34972735","wikidata":"https://www.wikidata.org/wiki/Q2920267","display_name":"Engineering design process","level":2,"score":0.468432754278183},{"id":"https://openalex.org/C5041995","wikidata":"https://www.wikidata.org/wiki/Q853745","display_name":"Engineering education","level":2,"score":0.449466735124588},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.44902288913726807},{"id":"https://openalex.org/C48262172","wikidata":"https://www.wikidata.org/wiki/Q16908765","display_name":"Design process","level":3,"score":0.4160170257091522},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3811887800693512},{"id":"https://openalex.org/C110354214","wikidata":"https://www.wikidata.org/wiki/Q6314146","display_name":"Engineering management","level":1,"score":0.3633556365966797},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3246837854385376},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3048589825630188},{"id":"https://openalex.org/C174998907","wikidata":"https://www.wikidata.org/wiki/Q357662","display_name":"Work in process","level":2,"score":0.2823928892612457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24127861857414246},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2015.7171157","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2015.7171157","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:digitalcommons.mtu.edu:michigantech-p-1794","is_oa":false,"landing_page_url":"https://digitalcommons.mtu.edu/michigantech-p/797","pdf_url":null,"source":{"id":"https://openalex.org/S4377196391","display_name":"Digital Commons - Michigan Tech (Michigan Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11957088","host_organization_name":"Michigan Technological University","host_organization_lineage":["https://openalex.org/I11957088"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Michigan Tech Publications, Part 1","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W276212085","https://openalex.org/W1489137882","https://openalex.org/W1524002627","https://openalex.org/W1556299995","https://openalex.org/W1674970493","https://openalex.org/W2010510558","https://openalex.org/W2021187309","https://openalex.org/W2024095245","https://openalex.org/W2029749238","https://openalex.org/W2031250991","https://openalex.org/W2064970027","https://openalex.org/W2186453867","https://openalex.org/W4252850228","https://openalex.org/W6610203039","https://openalex.org/W6631373889","https://openalex.org/W6633293117","https://openalex.org/W6637061279","https://openalex.org/W6686797631"],"related_works":["https://openalex.org/W3184683492","https://openalex.org/W4244213135","https://openalex.org/W2494230889","https://openalex.org/W2943610907","https://openalex.org/W2548796344","https://openalex.org/W2972718276","https://openalex.org/W4206307518","https://openalex.org/W2889355398","https://openalex.org/W2083091378","https://openalex.org/W4389332462"],"abstract_inverted_index":{"This":[0,108],"paper":[1,109],"presents":[2],"innovative":[3],"strategies":[4,12],"to":[5,88,101,136],"teach":[6],"control":[7,126],"and":[8,25,33,56,69,78,86,94,113,147,163],"robotic":[9],"concepts.":[10,179],"These":[11],"include:":[13],"1)":[14],"a":[15,27,38,64,103,120],"real":[16],"world":[17],"focus":[18],"on":[19],"social/environmental":[20],"contexts":[21],"that":[22,40,166],"are":[23,134],"meaningful":[24,51],"\u201cmake":[26],"difference\u201d;":[28],"2)":[29],"continuous":[30],"design":[31,42],"potential":[32],"engagement":[34],"through":[35,151,177],"use":[36],"of":[37,71,105,140,157],"platform":[39,77,122,174],"integrates":[41],"with":[43,90,171],"engineering;":[44],"3)":[45],"mission-based":[46],"versus":[47],"application-based":[48],"approaches,":[49],"where":[50],"application":[52],"justifies":[53],"the":[54,138,164,167,172,178],"process;":[55],"4)":[57],"hands-on,":[58],"inquiry-based":[59],"problem-solving.":[60],"For":[61],"this":[62,158],"purpose":[63],"Glider":[65],"for":[66,123,128],"Underwater":[67],"Problem-solving":[68],"Promotion":[70],"Interest":[72],"in":[73],"Engineering":[74],"or":[75],"\u201cGUPPIE\u201d":[76],"its":[79,114],"simulator":[80],"were":[81],"utilized.":[82],"GUPPIE":[83,112],"is":[84,98,160],"easy":[85],"inexpensive":[87],"manufacture,":[89],"readily":[91],"available":[92],"lightweight":[93],"durable":[95],"components.":[96],"It":[97],"also":[99],"modular":[100],"accommodate":[102],"variety":[104],"learning":[106,162],"activities.":[107],"describes":[110],"how":[111],"interdisciplinary":[115],"nature":[116],"was":[117],"used":[118],"as":[119,142,144],"pedagogical":[121],"teaching":[124],"core":[125],"concepts":[127],"different":[129],"age":[130],"groups.":[131],"The":[132,153],"activities":[133],"designed":[135],"attract":[137],"interest":[139,150],"students":[141,168],"early":[143],"middle":[145],"school":[146],"sustain":[148],"their":[149],"college.":[152],"game":[154],"changing":[155],"aspect":[156],"approach":[159],"scaffolded":[161],"fact":[165],"will":[169],"work":[170],"same":[173],"while":[175],"progressing":[176]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
