{"id":"https://openalex.org/W2108742341","doi":"https://doi.org/10.1109/cca.2009.5280956","title":"A multi-body approach for 6DOF modeling of Biomimetic Autonomous Underwater Vehicles with simulation and experimental results","display_name":"A multi-body approach for 6DOF modeling of Biomimetic Autonomous Underwater Vehicles with simulation and experimental results","publication_year":2009,"publication_date":"2009-07-01","ids":{"openalex":"https://openalex.org/W2108742341","doi":"https://doi.org/10.1109/cca.2009.5280956","mag":"2108742341"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2009.5280956","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2009.5280956","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","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/A5054769060","display_name":"P. Krishnamurthy","orcid":"https://orcid.org/0000-0001-8264-7972"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"P. Krishnamurthy","raw_affiliation_strings":["IntelliTech Microsystems, Inc. (IMI), Bowie, MD, 20715, USA"],"affiliations":[{"raw_affiliation_string":"IntelliTech Microsystems, Inc. (IMI), Bowie, MD, 20715, USA","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082413942","display_name":"Farshad Khorrami","orcid":"https://orcid.org/0000-0002-8418-004X"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"F. Khorrami","raw_affiliation_strings":["Control/Robotics Research Laboratory (CRRL), Department of Electrical and Computer Engineering, Polytechnic Institute of NYU, Brooklyn, 11201, USA"],"affiliations":[{"raw_affiliation_string":"Control/Robotics Research Laboratory (CRRL), Department of Electrical and Computer Engineering, Polytechnic Institute of NYU, Brooklyn, 11201, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017379190","display_name":"Josh de Leeuw","orcid":null},"institutions":[{"id":"https://openalex.org/I126820664","display_name":"Vassar College","ror":"https://ror.org/022x6qg61","country_code":"US","type":"education","lineage":["https://openalex.org/I126820664"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. de Leeuw","raw_affiliation_strings":["Vassar College, Poughkeepsie, NY, 12604, USA","Vassar College, Poughkeepsie, NY 12604,USA"],"affiliations":[{"raw_affiliation_string":"Vassar College, Poughkeepsie, NY, 12604, USA","institution_ids":["https://openalex.org/I126820664"]},{"raw_affiliation_string":"Vassar College, Poughkeepsie, NY 12604,USA","institution_ids":["https://openalex.org/I126820664"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028320911","display_name":"Marianne E. Porter","orcid":"https://orcid.org/0000-0002-3622-7114"},"institutions":[{"id":"https://openalex.org/I126820664","display_name":"Vassar College","ror":"https://ror.org/022x6qg61","country_code":"US","type":"education","lineage":["https://openalex.org/I126820664"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. E. Porter","raw_affiliation_strings":["Vassar College, Poughkeepsie, NY, 12604, USA","Vassar College, Poughkeepsie, NY 12604,USA"],"affiliations":[{"raw_affiliation_string":"Vassar College, Poughkeepsie, NY, 12604, USA","institution_ids":["https://openalex.org/I126820664"]},{"raw_affiliation_string":"Vassar College, Poughkeepsie, NY 12604,USA","institution_ids":["https://openalex.org/I126820664"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108102517","display_name":"K. Livingston","orcid":null},"institutions":[{"id":"https://openalex.org/I126820664","display_name":"Vassar College","ror":"https://ror.org/022x6qg61","country_code":"US","type":"education","lineage":["https://openalex.org/I126820664"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Livingston","raw_affiliation_strings":["Vassar College, Poughkeepsie, NY, 12604, USA","Vassar College, Poughkeepsie, NY 12604,USA"],"affiliations":[{"raw_affiliation_string":"Vassar College, Poughkeepsie, NY, 12604, USA","institution_ids":["https://openalex.org/I126820664"]},{"raw_affiliation_string":"Vassar College, Poughkeepsie, NY 12604,USA","institution_ids":["https://openalex.org/I126820664"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063156758","display_name":"John H. Long","orcid":"https://orcid.org/0000-0002-9095-9770"},"institutions":[{"id":"https://openalex.org/I126820664","display_name":"Vassar College","ror":"https://ror.org/022x6qg61","country_code":"US","type":"education","lineage":["https://openalex.org/I126820664"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. H. Long","raw_affiliation_strings":["Vassar College, Poughkeepsie, NY, 12604, USA","Vassar College, Poughkeepsie, NY 12604,USA"],"affiliations":[{"raw_affiliation_string":"Vassar College, Poughkeepsie, NY, 12604, USA","institution_ids":["https://openalex.org/I126820664"]},{"raw_affiliation_string":"Vassar College, Poughkeepsie, NY 12604,USA","institution_ids":["https://openalex.org/I126820664"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5054769060"],"corresponding_institution_ids":["https://openalex.org/I1343180700"],"apc_list":null,"apc_paid":null,"fwci":45.2496,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.99394319,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1282","last_page":"1287"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":1.0,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.998199999332428,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/torque","display_name":"Torque","score":0.698316216468811},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6944526433944702},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6775938272476196},{"id":"https://openalex.org/keywords/impulse","display_name":"Impulse (physics)","score":0.6543112397193909},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.537174642086029},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.5085817575454712},{"id":"https://openalex.org/keywords/submarine","display_name":"Submarine","score":0.45916634798049927},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4474143087863922},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33507055044174194},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25350695848464966},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2320760190486908},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.20433196425437927},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1924610733985901},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08892738819122314}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.698316216468811},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6944526433944702},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6775938272476196},{"id":"https://openalex.org/C70836080","wikidata":"https://www.wikidata.org/wiki/Q837940","display_name":"Impulse (physics)","level":2,"score":0.6543112397193909},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.537174642086029},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.5085817575454712},{"id":"https://openalex.org/C121327165","wikidata":"https://www.wikidata.org/wiki/Q2811","display_name":"Submarine","level":2,"score":0.45916634798049927},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4474143087863922},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33507055044174194},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25350695848464966},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2320760190486908},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.20433196425437927},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1924610733985901},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08892738819122314},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cca.2009.5280956","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2009.5280956","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.723.8164","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.723.8164","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://pages.iu.edu/%7Ejodeleeu/files/Krishnamurthy_et_al_2009.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"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":40,"referenced_works":["https://openalex.org/W62791640","https://openalex.org/W1479729229","https://openalex.org/W1509118950","https://openalex.org/W1521643008","https://openalex.org/W1541628165","https://openalex.org/W1548656198","https://openalex.org/W1590684588","https://openalex.org/W1593488067","https://openalex.org/W1671387331","https://openalex.org/W1978659560","https://openalex.org/W1978857384","https://openalex.org/W2014546372","https://openalex.org/W2029761816","https://openalex.org/W2094220765","https://openalex.org/W2101343944","https://openalex.org/W2102984755","https://openalex.org/W2113589188","https://openalex.org/W2116497843","https://openalex.org/W2116656643","https://openalex.org/W2117289015","https://openalex.org/W2119605077","https://openalex.org/W2120769765","https://openalex.org/W2124255511","https://openalex.org/W2126039309","https://openalex.org/W2126684952","https://openalex.org/W2128293163","https://openalex.org/W2144223796","https://openalex.org/W2146841217","https://openalex.org/W2147330878","https://openalex.org/W2149455028","https://openalex.org/W2151542325","https://openalex.org/W2160292047","https://openalex.org/W2165417330","https://openalex.org/W2166063729","https://openalex.org/W2169088594","https://openalex.org/W4235546361","https://openalex.org/W6631230435","https://openalex.org/W6677437336","https://openalex.org/W6678727421","https://openalex.org/W6685220815"],"related_works":["https://openalex.org/W2012995867","https://openalex.org/W2410775454","https://openalex.org/W2349909505","https://openalex.org/W2357608514","https://openalex.org/W3015582614","https://openalex.org/W2765495093","https://openalex.org/W2349590521","https://openalex.org/W3123515255","https://openalex.org/W2275441459","https://openalex.org/W2358326180"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,87],"six":[3],"degree-of-freedom":[4],"multi-body":[5],"approach":[6,24],"for":[7],"modeling":[8,79],"and":[9,43,58,81,111],"simulation":[10,70,109],"of":[11,33,98],"biologically-inspired":[12],"(or":[13],"Biomimetic)":[14],"autonomous":[15],"underwater":[16],"vehicles":[17],"(BAUVs),":[18],"i.e.,":[19],"artificial":[20],"fish.":[21],"The":[22,95],"proposed":[23,78],"is":[25,52,104],"based":[26,75],"on":[27,45,76],"considering":[28],"the":[29,40,50,59,77,92,99,118],"BAUV":[30,51,69,89,103,122],"as":[31],"comprised":[32],"multiple":[34],"rigid":[35,47],"bodies":[36],"interlinked":[37],"through":[38,64],"joints;":[39],"external":[41],"force":[42],"torque":[44],"each":[46],"body":[48],"in":[49],"expressed":[53],"using":[54],"quasi-steady":[55],"aerodynamic":[56],"theory":[57],"joint":[60],"constraints":[61],"are":[62,123],"imposed":[63],"an":[65],"impulse-based":[66],"technique.":[67],"A":[68],"platform":[71],"has":[72,82],"been":[73,83],"implemented":[74],"framework":[80],"applied":[84],"to":[85],"analyze":[86],"specific":[88],"inspired":[90,102,121],"by":[91],"electric":[93,100,119],"ray.":[94],"hardware":[96],"implementation":[97],"ray":[101,120],"also":[105,124],"presented.":[106,125],"Finally,":[107],"sample":[108],"results":[110],"validation":[112],"against":[113],"experimental":[114],"data":[115],"collected":[116],"from":[117]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}