{"id":"https://openalex.org/W2151393224","doi":"https://doi.org/10.1109/icarcv.2004.1468833","title":"Design and development of an autonomous underwater vehicle test-bed (USM-AUV I)","display_name":"Design and development of an autonomous underwater vehicle test-bed (USM-AUV I)","publication_year":2005,"publication_date":"2005-07-27","ids":{"openalex":"https://openalex.org/W2151393224","doi":"https://doi.org/10.1109/icarcv.2004.1468833","mag":"2151393224"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2004.1468833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2004.1468833","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004.","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/A5052376469","display_name":"Mohd Rizal Arshad","orcid":"https://orcid.org/0000-0003-1993-093X"},"institutions":[{"id":"https://openalex.org/I139322472","display_name":"Universiti Sains Malaysia","ror":"https://ror.org/02rgb2k63","country_code":"MY","type":"education","lineage":["https://openalex.org/I139322472"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"M.R. Arshad","raw_affiliation_strings":["Underwater Robotics Research Group (URRG), School of Electrical and Electronic Engineering, University of Science Malaysia, Pulau, Penang, Malaysia"],"affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Group (URRG), School of Electrical and Electronic Engineering, University of Science Malaysia, Pulau, Penang, Malaysia","institution_ids":["https://openalex.org/I139322472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012676667","display_name":"M. Y. Radzak","orcid":null},"institutions":[{"id":"https://openalex.org/I139322472","display_name":"Universiti Sains Malaysia","ror":"https://ror.org/02rgb2k63","country_code":"MY","type":"education","lineage":["https://openalex.org/I139322472"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"M.Y. Radzak","raw_affiliation_strings":["Underwater Robotics Research Group (URRG), School of Electrical and Electronic Engineering, University of Science Malaysia, Pulau, Penang, Malaysia"],"affiliations":[{"raw_affiliation_string":"Underwater Robotics Research Group (URRG), School of Electrical and Electronic Engineering, University of Science Malaysia, Pulau, Penang, Malaysia","institution_ids":["https://openalex.org/I139322472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5052376469"],"corresponding_institution_ids":["https://openalex.org/I139322472"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.21818705,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"257","last_page":"260"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9900000095367432,"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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.989799976348877,"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":0.6052600741386414},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5957029461860657},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.527912437915802},{"id":"https://openalex.org/keywords/vertical-plane","display_name":"Vertical plane","score":0.5125701427459717},{"id":"https://openalex.org/keywords/horizontal-plane","display_name":"Horizontal plane","score":0.4838787317276001},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.45940059423446655},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4312887191772461},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4184833765029907},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40380653738975525},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3970629572868347},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34414613246917725},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22023841738700867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1661015748977661},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13234513998031616},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12646034359931946},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11016032099723816}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6052600741386414},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5957029461860657},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.527912437915802},{"id":"https://openalex.org/C109661024","wikidata":"https://www.wikidata.org/wiki/Q17027571","display_name":"Vertical plane","level":2,"score":0.5125701427459717},{"id":"https://openalex.org/C37222873","wikidata":"https://www.wikidata.org/wiki/Q17027571","display_name":"Horizontal plane","level":2,"score":0.4838787317276001},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.45940059423446655},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4312887191772461},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4184833765029907},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40380653738975525},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3970629572868347},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34414613246917725},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22023841738700867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1661015748977661},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13234513998031616},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12646034359931946},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11016032099723816},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2004.1468833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2004.1468833","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7400000095367432}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322757","display_name":"Universiti Sains Malaysia","ror":"https://ror.org/02rgb2k63"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1516447630","https://openalex.org/W1592265573","https://openalex.org/W1595895163","https://openalex.org/W1948254174","https://openalex.org/W2110297699","https://openalex.org/W2111302859","https://openalex.org/W2122075174","https://openalex.org/W2147868695","https://openalex.org/W2164576815","https://openalex.org/W2312427639","https://openalex.org/W2467390056","https://openalex.org/W3002318169","https://openalex.org/W4256152864","https://openalex.org/W4256153703","https://openalex.org/W4285719527","https://openalex.org/W6698354312"],"related_works":["https://openalex.org/W4372267671","https://openalex.org/W2079693677","https://openalex.org/W2074141374","https://openalex.org/W4312756471","https://openalex.org/W2281085934","https://openalex.org/W2293029006","https://openalex.org/W2030388667","https://openalex.org/W1575487284","https://openalex.org/W4313389733","https://openalex.org/W2405894238"],"abstract_inverted_index":{"In":[0],"this":[1,134],"paper,":[2],"the":[3,15,21,69,79,93,114,121,129],"development":[4],"of":[5,43,97,125],"an":[6],"underwater":[7],"robotic":[8],"vehicle":[9,25,60,94],"is":[10,101,136],"described.":[11],"The":[12,24,46,59,99],"description":[13],"includes":[14],"mechanical":[16],"and":[17,20,39,55],"controller":[18],"design,":[19],"sensor":[22],"integration.":[23],"has":[26],"been":[27],"designed":[28,50],"to":[29,118,138],"have":[30],"a":[31,41,139],"dimension":[32],"1.0":[33],"m":[34,37],"long,":[35],"0.7":[36],"wide":[38],"with":[40,104],"mass":[42],"30":[44],"kg.":[45],"USM-AUV":[47],"I":[48],"was":[49,63],"mainly":[51],"for":[52,92,106],"testing":[53],"conventional":[54],"advanced":[56],"control":[57,62,74,95],"algorithms.":[58],"directional":[61],"performed":[64],"by":[65,75],"two":[66,76],"thrusters":[67,77],"in":[68,78,113,120],"horizontal":[70],"plane":[71],"while":[72],"depth":[73,140],"vertical":[80],"plane.":[81],"There":[82],"are":[83,87],"several":[84],"sensors":[85],"which":[86],"used":[88],"as":[89],"feedback":[90],"elements":[91],"system":[96],"vehicle.":[98,131],"AUV":[100],"also":[102],"equipped":[103],"camera":[105,111],"monitoring":[107],"purposes.":[108],"This":[109],"pan-tilt-zoom":[110],"mounted":[112],"upper":[115],"enclosure,":[116],"serves":[117],"assist":[119],"close":[122],"up":[123],"viewing":[124],"objects":[126],"without":[127],"moving":[128],"whole":[130],"For":[132],"beginning,":[133],"research":[135],"limited":[137],"between":[141],"0":[142],"-":[143],"50":[144],"meters.":[145]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
