{"id":"https://openalex.org/W4377704734","doi":"https://doi.org/10.1109/icara56516.2023.10125773","title":"CART-II: Development of Collision Avoidance Robotic Tether with Soft Sensing Capabilities for Underwater Nuclear Inspection Vehicles","display_name":"CART-II: Development of Collision Avoidance Robotic Tether with Soft Sensing Capabilities for Underwater Nuclear Inspection Vehicles","publication_year":2023,"publication_date":"2023-02-10","ids":{"openalex":"https://openalex.org/W4377704734","doi":"https://doi.org/10.1109/icara56516.2023.10125773"},"language":"en","primary_location":{"id":"doi:10.1109/icara56516.2023.10125773","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icara56516.2023.10125773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","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/A5035231877","display_name":"Ammar K. Al Mhdawi","orcid":"https://orcid.org/0000-0003-1806-1189"},"institutions":[{"id":"https://openalex.org/I165525304","display_name":"Edge Hill University","ror":"https://ror.org/028ndzd53","country_code":"GB","type":"education","lineage":["https://openalex.org/I165525304"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ammar K. Al Mhdawi","raw_affiliation_strings":["Edge Hill University,Dept. of Computer Science and Eng.,United Kingdom","Dept. of Computer Science and Eng., Edge Hill University, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edge Hill University,Dept. of Computer Science and Eng.,United Kingdom","institution_ids":["https://openalex.org/I165525304"]},{"raw_affiliation_string":"Dept. of Computer Science and Eng., Edge Hill University, United Kingdom","institution_ids":["https://openalex.org/I165525304"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nick Wright","orcid":null},"institutions":[{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"education","lineage":["https://openalex.org/I84884186"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nick Wright","raw_affiliation_strings":["Newcastle University,Dept. of EE Eng.,United Kingdom","Dept. of EE Eng., Newcastle University, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Newcastle University,Dept. of EE Eng.,United Kingdom","institution_ids":["https://openalex.org/I84884186"]},{"raw_affiliation_string":"Dept. of EE Eng., Newcastle University, United Kingdom","institution_ids":["https://openalex.org/I84884186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034490254","display_name":"Simon Benson","orcid":"https://orcid.org/0000-0002-8476-8687"},"institutions":[{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"education","lineage":["https://openalex.org/I84884186"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Benson","raw_affiliation_strings":["Newcastle University,Dept. of Marine Eng.,United Kingdom","Dept. of Marine Eng., Newcastle University, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Newcastle University,Dept. of Marine Eng.,United Kingdom","institution_ids":["https://openalex.org/I84884186"]},{"raw_affiliation_string":"Dept. of Marine Eng., Newcastle University, United Kingdom","institution_ids":["https://openalex.org/I84884186"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036549995","display_name":"Maryam Haroutunian","orcid":"https://orcid.org/0000-0002-3407-8653"},"institutions":[{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"education","lineage":["https://openalex.org/I84884186"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maryam Haroutunian","raw_affiliation_strings":["Newcastle University,Dept. of Marine Eng.,United Kingdom","Dept. of Marine Eng., Newcastle University, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Newcastle University,Dept. of Marine Eng.,United Kingdom","institution_ids":["https://openalex.org/I84884186"]},{"raw_affiliation_string":"Dept. of Marine Eng., Newcastle University, United Kingdom","institution_ids":["https://openalex.org/I84884186"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06929045,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15","last_page":"22"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9987999796867371,"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":0.9987999796867371,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9830999970436096,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9624000191688538,"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/underwater","display_name":"Underwater","score":0.8426130414009094},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.6690835952758789},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6665143966674805},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5067988038063049},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4946605861186981},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4804267883300781},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.45877042412757874},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35196053981781006},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34588226675987244},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.322563111782074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3006918430328369},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.196957528591156},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15342500805854797},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14877822995185852}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.8426130414009094},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.6690835952758789},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6665143966674805},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5067988038063049},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4946605861186981},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4804267883300781},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.45877042412757874},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35196053981781006},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34588226675987244},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.322563111782074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3006918430328369},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.196957528591156},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15342500805854797},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14877822995185852},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icara56516.2023.10125773","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icara56516.2023.10125773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1662989418","https://openalex.org/W2123998235","https://openalex.org/W2333355339","https://openalex.org/W2980257453","https://openalex.org/W2998664587","https://openalex.org/W3002797464","https://openalex.org/W4213041115","https://openalex.org/W6637395302","https://openalex.org/W6678340937"],"related_works":["https://openalex.org/W4383047418","https://openalex.org/W4372267671","https://openalex.org/W4312769026","https://openalex.org/W4312756471","https://openalex.org/W2532182032","https://openalex.org/W4386104472","https://openalex.org/W2951419801","https://openalex.org/W2910593227","https://openalex.org/W2254436626","https://openalex.org/W2995560259"],"abstract_inverted_index":{"In":[0,211],"nuclear":[1,26,41],"inspection":[2,60,83],"environments,":[3],"a":[4,72,131,142,207,252,278],"tether":[5,29,132,151,188,326],"cable":[6,30],"is":[7,53,102,138,176,267,275],"used":[8],"to":[9,95,126,181,199,213,255,276,320],"transfer":[10],"power":[11],"and":[12,19,34,44,77,88,190,247,261,297,311],"data":[13],"between":[14],"the":[15,20,28,37,56,75,80,82,89,107,127,150,156,182,187,191,204,215,218,235,265,273,293,298,305,309,315,322],"underwater":[16,25,51,179,189],"robotic":[17],"system":[18,118,307],"surface":[21],"control":[22],"unit.":[23],"During":[24],"inspection,":[27],"can":[31,148],"become":[32],"entangled":[33],"loop":[35],"with":[36,50,68,222,300,308],"environment":[38],"such":[39,168],"as":[40,169],"waste":[42],"boxes":[43],"objects.":[45],"The":[46,99,116,134,162,269],"risk":[47],"of":[48,58,74,106,120,140,145,164,186,193,203,217,264,272,282,304,314,324],"colliding":[49],"objects":[52,205],"increased":[54],"by":[55,130],"presence":[57],"more":[59],"robots":[61],"underwater,":[62,246],"especially":[63],"if":[64],"they":[65],"are":[66,124],"equipped":[67],"manipulator":[69],"arms.":[70],"As":[71],"result":[73],"loops":[76],"knots":[78],"around":[79],"cable,":[81],"process":[84],"may":[85,91],"be":[86,93],"affected":[87],"ROV":[90],"not":[92,177],"able":[94],"perform":[96],"its":[97],"job.":[98],"present":[100],"article":[101],"an":[103,229],"extended":[104],"development":[105],"previous":[108],"Collision":[109],"Avoidance":[110],"Robotic":[111],"Tether":[112],"(CART-I)":[113],"model":[114,296],"[1].":[115],"CART-I":[117],"consists":[119],"micro":[121,135,219],"thrusters":[122],"that":[123,147],"attached":[125],"base":[128],"unit":[129,137],"cable.":[133],"thrust":[136,146,220],"capable":[139],"generating":[141],"small":[143],"amount":[144],"move":[149],"away":[152],"from":[153],"obstacles":[154],"in":[155,159,251,318],"water,":[157],"particularly":[158],"restricted":[160],"spaces.":[161],"use":[163],"light":[165],"detection":[166,175,224,245],"technologies":[167],"IR":[170],"or":[171],"LiDAR":[172],"for":[173,242],"obstacle":[174,223,283],"effective":[178,243],"due":[180],"complex":[183],"motion":[184],"dynamics":[185],"size":[192],"obstacles,":[194],"which":[195],"makes":[196],"it":[197],"impossible":[198],"provide":[200,214,277],"definite":[201],"identification":[202],"within":[206],"given":[208],"time":[209],"period.":[210],"order":[212,319],"surroundings":[216],"units":[221],"capability,":[225],"we":[226],"have":[227],"developed":[228,241],"autonomous":[230,280],"force":[231,244,287],"soft":[232,236,286,316],"sensor.":[233],"Additionally,":[234],"moulded":[237],"sealed":[238],"encase":[239],"was":[240,248],"experimentally":[249],"tested":[250],"water":[253],"tank":[254],"validate":[256],"our":[257],"proposed":[258],"design.":[259],"Simulation":[260],"experimental":[262],"results":[263],"sensor":[266,317],"provided.":[268],"overall":[270],"goal":[271],"CART-II":[274,306],"smart":[279],"vision":[281],"avoidance":[284],"using":[285],"sensing":[288],"capabilities.":[289],"This":[290],"paper":[291],"presents":[292],"full":[294],"kinematic":[295],"simulation":[299],"finite":[301],"element":[302],"analysis":[303],"hardware":[310],"physical":[312],"implementation":[313],"enhance":[321],"performance":[323],"traditional":[325],"systems.":[327]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
