{"id":"https://openalex.org/W4293056255","doi":"https://doi.org/10.1109/aim52237.2022.9863388","title":"Design and Analysis of a Gravitic Tether-Based Grappler for Aerial Payload Deployment","display_name":"Design and Analysis of a Gravitic Tether-Based Grappler for Aerial Payload Deployment","publication_year":2022,"publication_date":"2022-07-11","ids":{"openalex":"https://openalex.org/W4293056255","doi":"https://doi.org/10.1109/aim52237.2022.9863388"},"language":"en","primary_location":{"id":"doi:10.1109/aim52237.2022.9863388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim52237.2022.9863388","pdf_url":null,"source":{"id":"https://openalex.org/S4363608109","display_name":"2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","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/A5035430755","display_name":"Ryan Lim","orcid":"https://orcid.org/0000-0003-2145-8056"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ryan Lim","raw_affiliation_strings":["Singapore University of Technology and Design,Engineering Product Development pillar,Singapore,487372"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development pillar,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077774528","display_name":"Kristabel Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kristabel Lim","raw_affiliation_strings":["Singapore University of Technology and Design,Engineering Product Development pillar,Singapore,487372"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development pillar,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021980751","display_name":"Shaohui Foong","orcid":"https://orcid.org/0000-0002-9724-6159"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shaohui Foong","raw_affiliation_strings":["Singapore University of Technology and Design,Engineering Product Development pillar,Singapore,487372"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development pillar,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I152815399"],"apc_list":null,"apc_paid":null,"fwci":0.118,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.40092264,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9959999918937683,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9959999918937683,"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/payload","display_name":"Payload (computing)","score":0.8924412727355957},{"id":"https://openalex.org/keywords/counterweight","display_name":"Counterweight","score":0.8448618054389954},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.7055661678314209},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.5688429474830627},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5277091860771179},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4723430871963501},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4477795660495758},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40457913279533386},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3888213038444519},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23892614245414734}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8924412727355957},{"id":"https://openalex.org/C2779585191","wikidata":"https://www.wikidata.org/wiki/Q1324102","display_name":"Counterweight","level":2,"score":0.8448618054389954},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7055661678314209},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.5688429474830627},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5277091860771179},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4723430871963501},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4477795660495758},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40457913279533386},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3888213038444519},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23892614245414734},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim52237.2022.9863388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim52237.2022.9863388","pdf_url":null,"source":{"id":"https://openalex.org/S4363608109","display_name":"2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2019896740","https://openalex.org/W2101488099","https://openalex.org/W2739397999","https://openalex.org/W2766910195","https://openalex.org/W2783345620","https://openalex.org/W2788319054","https://openalex.org/W2796891126","https://openalex.org/W2802644971","https://openalex.org/W2809971797","https://openalex.org/W2898206653","https://openalex.org/W2979356185","https://openalex.org/W3114709812","https://openalex.org/W3127624705","https://openalex.org/W3212823821","https://openalex.org/W6655188812","https://openalex.org/W6787696993"],"related_works":["https://openalex.org/W2032331948","https://openalex.org/W2107900141","https://openalex.org/W2035871378","https://openalex.org/W1593949101","https://openalex.org/W3117150628","https://openalex.org/W3031561129","https://openalex.org/W843568083","https://openalex.org/W2335656696","https://openalex.org/W2085862885","https://openalex.org/W41843829"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,43,108,163],"propose":[4],"a":[5,66,69,75,80,96,98,111,126,170],"novel":[6],"mechanism":[7],"for":[8,52,100,114,158,173],"attaching":[9],"payloads":[10],"to":[11,49,59,88],"pole-like":[12,60],"structures,":[13],"titled":[14],"GRASPER":[15,45,159],"(GRavity":[16],"ASsisted":[17],"Payload":[18],"EntangleR).":[19],"Inspired":[20],"by":[21,32],"the":[22,26,115,122,135],"tangling-based":[23],"weapon":[24],"\u2019bolas\u2019,":[25],"\u2019pendulum":[27],"catch\u2019":[28],"experiment":[29],"and":[30,36,55,68,92,103,121,152],"driven":[31],"SWaP":[33],"(size,":[34],"weight":[35],"power)":[37],"constraints":[38],"imposed":[39],"on":[40,125,169],"aerial":[41,174],"platforms,":[42],"developed":[44],"as":[46,148],"an":[47],"alternative":[48],"arm-based":[50],"grippers":[51],"load":[53],"transportation":[54],"attachment":[56,82],"tasks":[57],"specific":[58],"structures.":[61],"It":[62],"works":[63],"with":[64,155],"two-bodies;":[65],"counterweight":[67,153],"payload":[70,175],"that":[71],"are":[72],"released":[73,129],"onto":[74],"pole":[76],"at":[77,95],"height.":[78],"Being":[79],"passive":[81],"system,":[83],"it":[84],"is":[85,137],"lightweight,":[86],"simple":[87],"use,":[89],"surprisingly":[90],"robust":[91],"functions":[93],"remotely":[94],"distance;":[97],"plus":[99],"rotorcraft":[101],"endurance":[102],"safety.":[104],"To":[105],"study":[106],"GRASPER,":[107],"first":[109],"define":[110],"model":[112],"accounting":[113],"influence":[116],"of":[117,134,167],"gravity,":[118],"rotational":[119],"dynamics":[120],"Capstan":[123],"effect":[124],"two-body":[127],"system":[128,136],"from":[130],"rest.":[131],"The":[132],"time-evolution":[133],"simulated":[138],"numerically,":[139],"then":[140],"compared":[141],"against":[142],"real-world":[143],"experiments":[144],"across":[145],"variables":[146],"such":[147],"mass,":[149],"string":[150],"length":[151],"types,":[154],"design":[156],"implications":[157],"derived":[160],"thereafter.":[161],"Finally,":[162],"demonstrate":[164],"its":[165],"feasibility":[166],"implementation":[168],"typical":[171],"quadrotor":[172],"deployment":[176],"applications.":[177]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}