{"id":"https://openalex.org/W2020310451","doi":"https://doi.org/10.1109/conielecomp.2010.5440791","title":"Quad-tilting thrusters micro submarine: Modeling and control of the attitude","display_name":"Quad-tilting thrusters micro submarine: Modeling and control of the attitude","publication_year":2010,"publication_date":"2010-02-01","ids":{"openalex":"https://openalex.org/W2020310451","doi":"https://doi.org/10.1109/conielecomp.2010.5440791","mag":"2020310451"},"language":"en","primary_location":{"id":"doi:10.1109/conielecomp.2010.5440791","is_oa":false,"landing_page_url":"https://doi.org/10.1109/conielecomp.2010.5440791","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 20th International Conference on Electronics Communications and Computers (CONIELECOMP)","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/A5113772687","display_name":"R. L\u00f3pez","orcid":null},"institutions":[{"id":"https://openalex.org/I721619","display_name":"Benem\u00e9rita Universidad Aut\u00f3noma de Puebla","ror":"https://ror.org/03p2z7827","country_code":"MX","type":"education","lineage":["https://openalex.org/I721619"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"R. Lopez","raw_affiliation_strings":["Facultad de Ciencias de la El\u00e9ctronica, Universidad Autonoma de Puebla, Puebla, Mexico","Facultad de Ciencias de la El\u00e9ctronica, Universidad Autonoma de Puebla 4 Sur, No. 104, C.H., Mexico"],"affiliations":[{"raw_affiliation_string":"Facultad de Ciencias de la El\u00e9ctronica, Universidad Autonoma de Puebla, Puebla, Mexico","institution_ids":["https://openalex.org/I721619"]},{"raw_affiliation_string":"Facultad de Ciencias de la El\u00e9ctronica, Universidad Autonoma de Puebla 4 Sur, No. 104, C.H., Mexico","institution_ids":["https://openalex.org/I721619"]}]},{"author_position":"middle","author":{"id":null,"display_name":"I. Torres","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"I. Torres","raw_affiliation_strings":["Laboratorio Franco-Mexicano de Informatica y Automatica, UMI-CNRS 3175 CINVESTAV, DF., Mexico","Laboratorio Franco-Mexicano de Informatica y Automatica UMI-CNRS 3175, CINVESTAV, Av. IPN No. 2508, Mexico, DF"],"affiliations":[{"raw_affiliation_string":"Laboratorio Franco-Mexicano de Informatica y Automatica, UMI-CNRS 3175 CINVESTAV, DF., Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Laboratorio Franco-Mexicano de Informatica y Automatica UMI-CNRS 3175, CINVESTAV, Av. IPN No. 2508, Mexico, DF","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061404673","display_name":"J. Escare\u00f1o","orcid":"https://orcid.org/0000-0003-4706-7117"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"J. Escareno","raw_affiliation_strings":["Laboratorio Franco-Mexicano de Informatica y Automatica, UMI-CNRS 3175 CINVESTAV, DF., Mexico","Laboratorio Franco-Mexicano de Informatica y Automatica UMI-CNRS 3175, CINVESTAV, Av. IPN No. 2508, Mexico, DF"],"affiliations":[{"raw_affiliation_string":"Laboratorio Franco-Mexicano de Informatica y Automatica, UMI-CNRS 3175 CINVESTAV, DF., Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Laboratorio Franco-Mexicano de Informatica y Automatica UMI-CNRS 3175, CINVESTAV, Av. IPN No. 2508, Mexico, DF","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032756462","display_name":"Sergio Salazar","orcid":"https://orcid.org/0000-0002-5089-1791"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"S. Salazar","raw_affiliation_strings":["Laboratorio Franco-Mexicano de Informatica y Automatica, UMI-CNRS 3175 CINVESTAV, DF., Mexico","Laboratorio Franco-Mexicano de Informatica y Automatica UMI-CNRS 3175, CINVESTAV, Av. IPN No. 2508, Mexico, DF"],"affiliations":[{"raw_affiliation_string":"Laboratorio Franco-Mexicano de Informatica y Automatica, UMI-CNRS 3175 CINVESTAV, DF., Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"Laboratorio Franco-Mexicano de Informatica y Automatica UMI-CNRS 3175, CINVESTAV, Av. IPN No. 2508, Mexico, DF","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111644601","display_name":"Amparo Palomino","orcid":null},"institutions":[{"id":"https://openalex.org/I721619","display_name":"Benem\u00e9rita Universidad Aut\u00f3noma de Puebla","ror":"https://ror.org/03p2z7827","country_code":"MX","type":"education","lineage":["https://openalex.org/I721619"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"A. Palomino","raw_affiliation_strings":["Facultad de Ciencias de la El\u00e9ctronica, Universidad Autonoma de Puebla, Puebla, Mexico","Facultad de Ciencias de la El\u00e9ctronica, Universidad Autonoma de Puebla 4 Sur, No. 104, C.H., Mexico"],"affiliations":[{"raw_affiliation_string":"Facultad de Ciencias de la El\u00e9ctronica, Universidad Autonoma de Puebla, Puebla, Mexico","institution_ids":["https://openalex.org/I721619"]},{"raw_affiliation_string":"Facultad de Ciencias de la El\u00e9ctronica, Universidad Autonoma de Puebla 4 Sur, No. 104, C.H., Mexico","institution_ids":["https://openalex.org/I721619"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113772687"],"corresponding_institution_ids":["https://openalex.org/I721619"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.13782838,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"4","issue":null,"first_page":"85","last_page":"89"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984999895095825,"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":0.9984999895095825,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9599000215530396,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9474999904632568,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/attitude-control","display_name":"Attitude control","score":0.7907167673110962},{"id":"https://openalex.org/keywords/submarine","display_name":"Submarine","score":0.6695939898490906},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5802514553070068},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5522777438163757},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.528529167175293},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5024564266204834},{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.45006242394447327},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4455453157424927},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.42595964670181274},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4056621193885803},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32840365171432495},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.1380349099636078},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11290854215621948}],"concepts":[{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.7907167673110962},{"id":"https://openalex.org/C121327165","wikidata":"https://www.wikidata.org/wiki/Q2811","display_name":"Submarine","level":2,"score":0.6695939898490906},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5802514553070068},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5522777438163757},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.528529167175293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5024564266204834},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.45006242394447327},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4455453157424927},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.42595964670181274},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4056621193885803},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32840365171432495},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.1380349099636078},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11290854215621948},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/conielecomp.2010.5440791","is_oa":false,"landing_page_url":"https://doi.org/10.1109/conielecomp.2010.5440791","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 20th International Conference on Electronics Communications and Computers (CONIELECOMP)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W1590684588","https://openalex.org/W1897972559"],"related_works":["https://openalex.org/W2034957122","https://openalex.org/W2362814827","https://openalex.org/W2515556373","https://openalex.org/W2349855979","https://openalex.org/W1920791587","https://openalex.org/W2291813429","https://openalex.org/W4389552621","https://openalex.org/W2391880685","https://openalex.org/W3197041827","https://openalex.org/W1907547597"],"abstract_inverted_index":{"In":[0],"this":[1,48],"paper":[2],"we":[3,50],"present":[4],"the":[5,25,30,35,38,41,65,71],"design,":[6],"modeling":[7],"and":[8],"control":[9,55,60,73],"of":[10,24,37,40],"a":[11,53],"quad":[12],"tilting":[13],"thruster":[14],"Micro":[15],"Autonomous":[16],"Underwater":[17],"Vehicle":[18],"(MicroAUV).":[19],"The":[20],"detailed":[21],"dynamic":[22],"model":[23],"vehicle":[26,42,67],"is":[27],"deduced":[28],"via":[29],"Euler-Lagrange":[31],"formulation.":[32],"We":[33],"address":[34],"stabilization":[36],"attitude":[39,59],"to":[43],"perform":[44],"manipulation":[45],"tasks.":[46],"For":[47],"purpose,":[49],"have":[51],"employed":[52],"saturated-based":[54],"algorithm.":[56],"Experimental":[57],"autonomous":[58],"was":[61],"successfully":[62],"achieved,":[63],"validating":[64],"proposed":[66],"as":[68,70],"well":[69],"embedded":[72],"system.":[74]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}