{"id":"https://openalex.org/W2764154179","doi":"https://doi.org/10.1109/ccta.2017.8062561","title":"Modeling and propulsion methods of underwater snake robots","display_name":"Modeling and propulsion methods of underwater snake robots","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2764154179","doi":"https://doi.org/10.1109/ccta.2017.8062561","mag":"2764154179"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2017.8062561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062561","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11250/2484170","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024657122","display_name":"Eleni Kelasidi","orcid":"https://orcid.org/0000-0003-4768-2937"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"E. Kelasidi","raw_affiliation_strings":["Dept. of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055872448","display_name":"Kristin Y. Pettersen","orcid":"https://orcid.org/0000-0002-3897-0315"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"K. Y. Pettersen","raw_affiliation_strings":["Dept. of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034485872","display_name":"Jan Tommy Gravdahl","orcid":"https://orcid.org/0000-0002-5663-0795"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. T. Gravdahl","raw_affiliation_strings":["Dept. of Engineering Cybernetics at NTNU, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics at NTNU, Trondheim, Norway","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004614247","display_name":"Simen Str\u00f8ms\u00f8yen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105718","display_name":"Trondheim Kommune","ror":"https://ror.org/01gjtys23","country_code":"NO","type":"government","lineage":["https://openalex.org/I4210105718"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"S. Stromsoyen","raw_affiliation_strings":["Norges teknisk-naturvitenskapelige universitet, Trondheim, NO"],"affiliations":[{"raw_affiliation_string":"Norges teknisk-naturvitenskapelige universitet, Trondheim, NO","institution_ids":["https://openalex.org/I4210105718"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035029254","display_name":"Asgeir J. S\u00f8rensen","orcid":"https://orcid.org/0000-0002-7078-0298"},"institutions":[{"id":"https://openalex.org/I4210105718","display_name":"Trondheim Kommune","ror":"https://ror.org/01gjtys23","country_code":"NO","type":"government","lineage":["https://openalex.org/I4210105718"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"A.J. Sorensen","raw_affiliation_strings":["Norges teknisk-naturvitenskapelige universitet, Trondheim, NO"],"affiliations":[{"raw_affiliation_string":"Norges teknisk-naturvitenskapelige universitet, Trondheim, NO","institution_ids":["https://openalex.org/I4210105718"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5024657122"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.7752,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.98147683,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9994000196456909,"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":0.9994000196456909,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.996399998664856,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.9099276065826416},{"id":"https://openalex.org/keywords/stern","display_name":"Stern","score":0.6853798627853394},{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.6733148097991943},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.6591114401817322},{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.6477779746055603},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.5536707043647766},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5232773423194885},{"id":"https://openalex.org/keywords/fish-fin","display_name":"Fish fin","score":0.5092319250106812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.462912380695343},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.44691169261932373},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4232257008552551},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3910316228866577},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36445921659469604},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36224228143692017},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35758814215660095},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12490445375442505},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09647586941719055},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09189808368682861},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08849811553955078},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.08592891693115234}],"concepts":[{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.9099276065826416},{"id":"https://openalex.org/C96597354","wikidata":"https://www.wikidata.org/wiki/Q273062","display_name":"Stern","level":2,"score":0.6853798627853394},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.6733148097991943},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.6591114401817322},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.6477779746055603},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.5536707043647766},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5232773423194885},{"id":"https://openalex.org/C25554088","wikidata":"https://www.wikidata.org/wiki/Q4162555","display_name":"Fish fin","level":3,"score":0.5092319250106812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.462912380695343},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.44691169261932373},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4232257008552551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3910316228866577},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36445921659469604},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36224228143692017},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35758814215660095},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12490445375442505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09647586941719055},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09189808368682861},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08849811553955078},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.08592891693115234},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","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},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ccta.2017.8062561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062561","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:brage.bibsys.no:11250/2484170","is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/2484170","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":{"id":"pmh:oai:brage.bibsys.no:11250/2484170","is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/2484170","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/bookPart"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8899999856948853,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1548656198","https://openalex.org/W1549935978","https://openalex.org/W1967218403","https://openalex.org/W2017533233","https://openalex.org/W2038599799","https://openalex.org/W2054091565","https://openalex.org/W2083120813","https://openalex.org/W2103608534","https://openalex.org/W2117289015","https://openalex.org/W2121285128","https://openalex.org/W2138578406","https://openalex.org/W2215005741","https://openalex.org/W2294829212","https://openalex.org/W2486982121","https://openalex.org/W2547083743","https://openalex.org/W2547686842","https://openalex.org/W2564364739","https://openalex.org/W2564746056","https://openalex.org/W2585005151","https://openalex.org/W4240215908","https://openalex.org/W4243217210","https://openalex.org/W4251786266","https://openalex.org/W6732661343"],"related_works":["https://openalex.org/W4280504320","https://openalex.org/W4390554365","https://openalex.org/W1990160652","https://openalex.org/W2350274412","https://openalex.org/W626412951","https://openalex.org/W2356621174","https://openalex.org/W4388419031","https://openalex.org/W4307720037","https://openalex.org/W4316253498","https://openalex.org/W2094476460"],"abstract_inverted_index":{"In":[0],"this":[1,150],"paper":[2,151],"we":[3],"consider":[4,75],"underwater":[5],"snake":[6],"robots":[7],"(USRs)":[8],"that":[9,153],"may":[10],"be":[11],"equipped":[12],"with":[13,107,120,142,165],"additional":[14],"added":[15,56,82],"effectors":[16],"along":[17,125],"their":[18],"body,":[19],"including":[20],"caudal,":[21],"dorsal":[22],"and":[23,71,100,143],"pectoral":[24],"fins,":[25],"tunnel":[26],"thrusters":[27],"and/or":[28],"a":[29,34,41,94,115,134,156,166,179],"stern":[30],"propeller.":[31],"We":[32,73,92],"propose":[33],"mathematical":[35],"model":[36,60,96,109,116],"for":[37,68,97,162,175],"USRs":[38],"swimming":[39],"in":[40,62,149,159],"2D":[42],"plane,":[43],"which":[44,103],"includes":[45],"the":[46,55,76,108,111,138,163,172,176],"extra":[47],"propulsion":[48,160],"forces":[49],"acting":[50],"on":[51],"each":[52],"link":[53],"from":[54],"effectors.":[57],"The":[58],"resulting":[59],"is":[61,104,155],"closed":[63],"form,":[64],"making":[65],"it":[66,130],"well-suited":[67],"control":[69],"design":[70],"analysis.":[72],"then":[74,105],"particular":[77],"case":[78],"when":[79],"fins":[80,124],"are":[81],"to":[83,88,113,132,171],"one":[84,121],"or":[85,122],"more":[86,123],"links":[87],"provide":[89,114],"lift":[90],"forces.":[91],"develop":[93],"quasi-static":[95],"an":[98,118],"oscillating":[99],"rotating":[101],"foil,":[102],"combined":[106],"of":[110,117,137],"USR":[112,119,139,164,177],"its":[126],"body.":[127],"This":[128],"makes":[129],"possible":[131],"make":[133],"simulation-based":[135],"comparison":[136],"energy":[140],"efficiency":[141,161],"without":[144,178],"fins.":[145],"Simulation":[146],"results":[147,173],"presented":[148],"show":[152],"there":[154],"significant":[157],"improvement":[158],"caudal":[167,180],"(tail)":[168],"fin":[169],"compared":[170],"obtained":[174],"fin.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
