{"id":"https://openalex.org/W2737041754","doi":"https://doi.org/10.1109/icra.2017.7989755","title":"Design and dynamic analysis of a Transformable Hovering Rotorcraft (THOR)","display_name":"Design and dynamic analysis of a Transformable Hovering Rotorcraft (THOR)","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2737041754","doi":"https://doi.org/10.1109/icra.2017.7989755","mag":"2737041754"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989755","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5037760482","display_name":"Jun En Low","orcid":null},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jun En Low","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079350778","display_name":"Luke Thura Soe Win","orcid":null},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Luke Thura Soe Win","raw_affiliation_strings":["Singapore University of Technology and Design, Singapore, SG"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design, Singapore, SG","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070674800","display_name":"Danial Sufiyan bin Shaiful","orcid":null},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danial Sufiyan Bin Shaiful","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066673854","display_name":"Chee How Tan","orcid":"https://orcid.org/0000-0003-4677-1698"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee How Tan","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018044324","display_name":"Gim Song Soh","orcid":"https://orcid.org/0000-0002-0042-5151"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gim Song Soh","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021980751","display_name":"Shaohui Foong","orcid":"https://orcid.org/0000-0002-9724-6159"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shaohui Foong","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1246,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.92772548,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6389","last_page":"6396"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9950000047683716,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9950000047683716,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9947999715805054,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9937000274658203,"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/controllability","display_name":"Controllability","score":0.6088827252388},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.5947057604789734},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.5924895405769348},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5698453783988953},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5381885766983032},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4765634834766388},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4765201807022095},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.474784791469574},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.46782201528549194},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4409904181957245},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4388115108013153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43658122420310974},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.4123395085334778},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12439754605293274},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10387638211250305},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10153225064277649},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09030982851982117}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.6088827252388},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.5947057604789734},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.5924895405769348},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5698453783988953},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5381885766983032},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4765634834766388},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4765201807022095},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.474784791469574},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.46782201528549194},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4409904181957245},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4388115108013153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43658122420310974},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.4123395085334778},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12439754605293274},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10387638211250305},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10153225064277649},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09030982851982117},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989755","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320324110","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1486246160","https://openalex.org/W1601577086","https://openalex.org/W2009359817","https://openalex.org/W2022097250","https://openalex.org/W2103608534","https://openalex.org/W2259165155","https://openalex.org/W2527449477","https://openalex.org/W6692297858"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2334632809","https://openalex.org/W2526240748","https://openalex.org/W2966028239","https://openalex.org/W2264340699","https://openalex.org/W2909947097","https://openalex.org/W2587373415","https://openalex.org/W2890534329","https://openalex.org/W4293734307"],"abstract_inverted_index":{"This":[0,38],"paper":[1],"describes":[2],"the":[3,21,31,72,87,136,150],"Transformable":[4],"HOvering":[5],"Rotorcraft":[6],"(THOR),":[7],"a":[8,16,26,36,43,49,79,83,91],"prototype":[9],"Unmanned":[10],"Aerial":[11],"Vehicle":[12],"(UAV)":[13],"that":[14,102],"explores":[15],"novel":[17],"approach":[18,76],"in":[19,65,108,114,120,126],"combining":[20],"range":[22],"and":[23,33,62,82,94,119,133,147,156],"speed":[24],"of":[25,35,58,111,123],"horizontal":[27,116],"flying":[28,45],"platform":[29],"with":[30,48],"hovering":[32,84,128],"maneuverability":[34],"rotor-wing.":[37],"is":[39,103,138],"achieved":[40],"by":[41],"integrating":[42],"tailless":[44],"wing":[46],"configuration":[47],"single-axis":[50],"rotor,":[51],"or":[52],"monocopter.":[53],"By":[54],"maintaining":[55],"full":[56],"utilization":[57],"all":[59],"aerodynamic":[60],"surfaces":[61],"propulsion":[63],"sources":[64],"both":[66,131],"flight":[67,144],"modes,":[68],"this":[69],"method":[70],"represents":[71],"most":[73],"structurally":[74],"efficient":[75],"to":[77,105,140],"achieving":[78],"cruising":[80,117],"mode":[81,85,118],"on":[86],"same":[88],"frame.":[89],"Using":[90],"dual":[92],"servo":[93],"motor":[95],"configuration,":[96],"we":[97],"propose":[98],"an":[99],"under-actuated":[100],"system":[101],"able":[104,139],"achieve":[106],"controllability":[107],"4":[109],"degrees":[110,122],"freedom":[112,124],"while":[113,125],"its":[115,127],"5":[121],"mode.":[129],"In":[130],"indoor":[132],"outdoor":[134],"experiments,":[135],"UAV":[137],"transition":[141],"between":[142],"either":[143],"modes":[145],"seamlessly":[146],"repeatedly":[148],"without":[149],"need":[151],"for":[152],"any":[153],"additional":[154],"mechanisms":[155],"actuators.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
