{"id":"https://openalex.org/W1516250551","doi":"https://doi.org/10.1109/icarcv.2002.1234989","title":"Design and development of an underwater vehicle with the structure mounted on spheres","display_name":"Design and development of an underwater vehicle with the structure mounted on spheres","publication_year":2004,"publication_date":"2004-01-23","ids":{"openalex":"https://openalex.org/W1516250551","doi":"https://doi.org/10.1109/icarcv.2002.1234989","mag":"1516250551"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2002.1234989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1234989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","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/A5033504942","display_name":"G.N. Rajasegaran","orcid":null},"institutions":[{"id":"https://openalex.org/I33849332","display_name":"University of Malaya","ror":"https://ror.org/00rzspn62","country_code":"MY","type":"education","lineage":["https://openalex.org/I33849332"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"G.N. Rajasegaran","raw_affiliation_strings":["Faculty of Engineering, University Malaya","Fac. of Eng., Malaya Univ., Kuala Lumpur, Malaysia"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University Malaya","institution_ids":["https://openalex.org/I33849332"]},{"raw_affiliation_string":"Fac. of Eng., Malaya Univ., Kuala Lumpur, Malaysia","institution_ids":["https://openalex.org/I33849332"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013382694","display_name":"G.Z. Taha","orcid":null},"institutions":[{"id":"https://openalex.org/I33849332","display_name":"University of Malaya","ror":"https://ror.org/00rzspn62","country_code":"MY","type":"education","lineage":["https://openalex.org/I33849332"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"G.Z. Taha","raw_affiliation_strings":["Faculty of Engineering, University Malaya","Fac. of Eng., Malaya Univ., Kuala Lumpur, Malaysia"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University Malaya","institution_ids":["https://openalex.org/I33849332"]},{"raw_affiliation_string":"Fac. of Eng., Malaya Univ., Kuala Lumpur, Malaysia","institution_ids":["https://openalex.org/I33849332"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112065885","display_name":"S. Ramachandran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"S. Ramachandran","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033504942"],"corresponding_institution_ids":["https://openalex.org/I33849332"],"apc_list":null,"apc_paid":null,"fwci":0.8331,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73970458,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"1470","last_page":"1474"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9860000014305115,"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":0.9860000014305115,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9760000109672546,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9472000002861023,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.8375886678695679},{"id":"https://openalex.org/keywords/spheres","display_name":"SPHERES","score":0.6862053871154785},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5412466526031494},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.44730493426322937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4464784562587738},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4370438754558563},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.42711737751960754},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.32804763317108154},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3249475359916687},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2888070344924927},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2492617964744568},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15090984106063843},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.14181700348854065},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10767954587936401}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.8375886678695679},{"id":"https://openalex.org/C72422203","wikidata":"https://www.wikidata.org/wiki/Q7392545","display_name":"SPHERES","level":2,"score":0.6862053871154785},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5412466526031494},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.44730493426322937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4464784562587738},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4370438754558563},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.42711737751960754},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.32804763317108154},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3249475359916687},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2888070344924927},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2492617964744568},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15090984106063843},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.14181700348854065},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10767954587936401},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2002.1234989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1234989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.7099999785423279,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W1584456261","https://openalex.org/W2083120813","https://openalex.org/W2127584602"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3193357262","https://openalex.org/W3217214504","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2138488418","https://openalex.org/W2773822314","https://openalex.org/W2953138830","https://openalex.org/W3176162126"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"design":[3,146,159],"and":[4,46,59,68,98,138,155,168],"development":[5],"of":[6,36,103,129,143,160],"an":[7,14],"underwater":[8,15,76,162,174],"mobile":[9,16,21,88],"vehicle":[10],"structure":[11,22,40,56,89,105,131,163],"suitable":[12],"for":[13,84,92],"robot":[17],"is":[18,23,57,90,108,119,164],"described.":[19],"The":[20,55,87,101],"constructed":[24],"from":[25],"aluminum":[26],"plates":[27],"with":[28,150],"openings":[29],"to":[30,34,51,72,121,125],"reduce":[31],"the":[32,39,53,63,66,85,96,104,127,130,136,144,161],"resistance":[33],"flow":[35],"water":[37],"as":[38,70],"traverses":[41],"its":[42,93],"path.":[43],"Two":[44],"longitudinal":[45],"transverse":[47],"shafts":[48],"are":[49,147],"used":[50,171],"hold":[52],"spheres.":[54,86],"designed":[58],"fabricated":[60],"so":[61],"that":[62,111],"spheres":[64],"contact":[65],"ground":[67],"act":[69],"wheels":[71],"provide":[73],"mobility.":[74],"An":[75],"motor,":[77],"through":[78],"proper":[79],"transmission":[80],"provides":[81],"the,":[82],"drive":[83],"tested":[91],"mobility":[94,128],"on":[95,106,115],"floor":[97],"inside":[99,112],"water.":[100,113],"speed":[102],"land":[107],"more":[109],"than":[110],"Based":[114],"initial":[116],"results,":[117],"it":[118],"proposed":[120],"conduct":[122],"further":[123],"tests":[124],"check":[126],"at":[132],"various":[133],"depths":[134],"in":[135,172],"forward":[137],"reverse":[139],"directions.":[140],"Specific":[141],"advantages":[142],"new":[145],"simple":[148,156],"construction":[149],"a":[151],"few":[152],"mechanical":[153],"components":[154],"controls.":[157],"This":[158],"very":[165],"cost":[166],"effective":[167],"can":[169],"be":[170],"many":[173],"applications.":[175]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}