{"id":"https://openalex.org/W4402753422","doi":"https://doi.org/10.1109/cis-ram61939.2024.10673051","title":"Sea-U-Dragon: A Lightweight Unmanned Underwater Vehicle for Robot-Environment Interaction","display_name":"Sea-U-Dragon: A Lightweight Unmanned Underwater Vehicle for Robot-Environment Interaction","publication_year":2024,"publication_date":"2024-08-08","ids":{"openalex":"https://openalex.org/W4402753422","doi":"https://doi.org/10.1109/cis-ram61939.2024.10673051"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram61939.2024.10673051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram61939.2024.10673051","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)","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/A5034832674","display_name":"Songqun Gao","orcid":"https://orcid.org/0000-0002-2434-8656"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Songqun Gao","raw_affiliation_strings":["The Chinese University of Hong Kong,Dept. of Mechan. &#x0026; Auto. Eng.,Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Dept. of Mechan. &#x0026; Auto. Eng.,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103217377","display_name":"Ruixin Yan","orcid":"https://orcid.org/0009-0006-6067-0294"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruixin Yan","raw_affiliation_strings":["The Chinese University of Hong Kong,Dept. of Mechan. &#x0026; Auto. Eng.,Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Dept. of Mechan. &#x0026; Auto. Eng.,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081005685","display_name":"Zuoquan Zhao","orcid":"https://orcid.org/0000-0002-7954-5083"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zuoquan Zhao","raw_affiliation_strings":["The Chinese University of Hong Kong,Dept. of Mechan. &#x0026; Auto. Eng.,Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Dept. of Mechan. &#x0026; Auto. Eng.,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101293952","display_name":"Wendi Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wendi Ding","raw_affiliation_strings":["The Chinese University of Hong Kong,Dept. of Mechan. &#x0026; Auto. Eng.,Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Dept. of Mechan. &#x0026; Auto. Eng.,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063401529","display_name":"Minghao Dou","orcid":"https://orcid.org/0009-0004-7622-3494"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minghao Dou","raw_affiliation_strings":["The Chinese University of Hong Kong,Dept. of Mechan. &#x0026; Auto. Eng.,Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Dept. of Mechan. &#x0026; Auto. Eng.,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100428803","display_name":"Ben M. Chen","orcid":"https://orcid.org/0000-0002-3839-5787"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ben M. Chen","raw_affiliation_strings":["The Chinese University of Hong Kong,Dept. of Mechan. &#x0026; Auto. Eng.,Hong Kong SAR"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Dept. of Mechan. &#x0026; Auto. Eng.,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5034832674"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.3554,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.59435602,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"69","last_page":"74"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9932000041007996,"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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.9869999885559082,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7498366236686707},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.6779303550720215},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.6056020259857178},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.524619460105896},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5098559260368347},{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.4521043002605438},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4405049979686737},{"id":"https://openalex.org/keywords/intervention-auv","display_name":"Intervention AUV","score":0.4231283664703369},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3209293782711029},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30468523502349854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2743113338947296},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.23880839347839355},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.15199705958366394}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7498366236686707},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.6779303550720215},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.6056020259857178},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.524619460105896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5098559260368347},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.4521043002605438},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4405049979686737},{"id":"https://openalex.org/C110071780","wikidata":"https://www.wikidata.org/wiki/Q6057342","display_name":"Intervention AUV","level":5,"score":0.4231283664703369},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3209293782711029},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30468523502349854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2743113338947296},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.23880839347839355},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.15199705958366394}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cis-ram61939.2024.10673051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram61939.2024.10673051","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.6200000047683716,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2086848990","https://openalex.org/W2492811885","https://openalex.org/W2770381555","https://openalex.org/W2964217490","https://openalex.org/W2981243826","https://openalex.org/W2988698101","https://openalex.org/W2996259567","https://openalex.org/W2998284387","https://openalex.org/W3007123786","https://openalex.org/W3025180790","https://openalex.org/W3033103412","https://openalex.org/W3035931270","https://openalex.org/W3041885040","https://openalex.org/W3092132586","https://openalex.org/W3155558268","https://openalex.org/W4211080125","https://openalex.org/W4285275658","https://openalex.org/W4309119351","https://openalex.org/W4366377610","https://openalex.org/W4384111675","https://openalex.org/W4393904288","https://openalex.org/W6863496468"],"related_works":["https://openalex.org/W4372267671","https://openalex.org/W2079693677","https://openalex.org/W2981706417","https://openalex.org/W4235285863","https://openalex.org/W2784470129","https://openalex.org/W1644223116","https://openalex.org/W1577440474","https://openalex.org/W4233667783","https://openalex.org/W2515556373","https://openalex.org/W4288535220"],"abstract_inverted_index":{"Although":[0],"unmanned":[1],"underwater":[2,13,24,34,45,73,89],"vehicles":[3],"(UUVs)":[4],"exhibit":[5],"significant":[6],"advantages":[7],"in":[8,23],"coastal":[9],"water":[10],"applications":[11],"(e.g.":[12],"grasping),":[14],"dynamic":[15,31,74,83,97,111],"and":[16,26,96,106],"disturbed":[17],"environments,":[18],"along":[19,76],"with":[20,33,38,77],"the":[21,44,92,102],"uncertainties":[22],"positioning":[25],"navigation":[27],"pose":[28],"challenges":[29],"to":[30,69,72,86,109],"interaction":[32,112],"environments.":[35],"To":[36],"deal":[37],"these":[39],"challenges,":[40],"this":[41],"paper":[42],"explores":[43],"robot-environment-interaction":[46],"(REI)":[47],"task":[48],"by":[49],"introducing":[50],"a":[51,64],"lightweight":[52],"UUV":[53],"named":[54],"Sea-U-Dragon.":[55],"Sea-U-Dragon":[56,105],"employs":[57],"an":[58,78],"active-passive":[59],"com-pliant":[60],"control":[61],"strategy,":[62],"featuring":[63],"flexible":[65],"end":[66],"effector":[67],"designed":[68],"passively":[70],"adapt":[71],"changes,":[75],"uncertainty":[79],"disturbance":[80],"estimator":[81],"(UDE)-based":[82],"motion/force":[84],"controller":[85],"compensate":[87],"for":[88],"uncertainties.":[90],"Finally,":[91],"trajectory":[93],"following":[94],"experiments":[95],"force":[98],"tracking":[99],"demonstrations":[100],"justify":[101],"maneuverability":[103],"of":[104],"its":[107],"ability":[108],"perform":[110],"tasks.":[113]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
