{"id":"https://openalex.org/W2890806935","doi":"https://doi.org/10.1109/icra.2018.8461091","title":"Micro Underwater Vehicle Hydrobatics: A Submerged Furuta Pendulum","display_name":"Micro Underwater Vehicle Hydrobatics: A Submerged Furuta Pendulum","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890806935","doi":"https://doi.org/10.1109/icra.2018.8461091","mag":"2890806935"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8461091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5064280336","display_name":"Daniel A Duecker","orcid":"https://orcid.org/0000-0001-7256-6984"},"institutions":[{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]},{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Daniel A Duecker","raw_affiliation_strings":["Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089725504","display_name":"Axel Hackbarth","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Axel Hackbarth","raw_affiliation_strings":["Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072927258","display_name":"Tobias Johannink","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias Johannink","raw_affiliation_strings":["Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109009653","display_name":"Edwin Kreuzer","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Edwin Kreuzer","raw_affiliation_strings":["Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043873756","display_name":"Eugen Solowjow","orcid":"https://orcid.org/0000-0001-5222-3706"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Eugen Solowjow","raw_affiliation_strings":["Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5064280336"],"corresponding_institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"],"apc_list":null,"apc_paid":null,"fwci":2.6688,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.88798589,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7498","last_page":"7503"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9959999918937683,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9836000204086304,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/furuta-pendulum","display_name":"Furuta pendulum","score":0.746991753578186},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7056745290756226},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6668664216995239},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5896526575088501},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5521671175956726},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5406607389450073},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.4522670805454254},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.44455254077911377},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.37032902240753174},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3442869186401367},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3278515338897705},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3059540390968323},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.17525267601013184},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17108508944511414},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16294389963150024},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1085222065448761},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09780776500701904},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09434464573860168},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08361715078353882}],"concepts":[{"id":"https://openalex.org/C191601290","wikidata":"https://www.wikidata.org/wiki/Q5509824","display_name":"Furuta pendulum","level":5,"score":0.746991753578186},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7056745290756226},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6668664216995239},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5896526575088501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5521671175956726},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5406607389450073},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.4522670805454254},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.44455254077911377},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.37032902240753174},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3442869186401367},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3278515338897705},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3059540390968323},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.17525267601013184},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17108508944511414},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16294389963150024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1085222065448761},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09780776500701904},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09434464573860168},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08361715078353882},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8461091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1519566451","https://openalex.org/W1968599295","https://openalex.org/W2001284234","https://openalex.org/W2072679762","https://openalex.org/W2079523531","https://openalex.org/W2109656638","https://openalex.org/W2149145472","https://openalex.org/W2157356547","https://openalex.org/W2162991084","https://openalex.org/W2209825950","https://openalex.org/W2210895635","https://openalex.org/W2329767976","https://openalex.org/W2492811885","https://openalex.org/W2497156839","https://openalex.org/W2539083524","https://openalex.org/W2611023971","https://openalex.org/W3026829485","https://openalex.org/W6650854887","https://openalex.org/W6668713794","https://openalex.org/W6681987259","https://openalex.org/W6688310391","https://openalex.org/W6729033314","https://openalex.org/W6736495736"],"related_works":["https://openalex.org/W4400880407","https://openalex.org/W2603203616","https://openalex.org/W2901168827","https://openalex.org/W2782999059","https://openalex.org/W2113966452","https://openalex.org/W2612644259","https://openalex.org/W4386822091","https://openalex.org/W1974845375","https://openalex.org/W2907134170","https://openalex.org/W2766814838"],"abstract_inverted_index":{"We":[0,43],"present":[1],"the":[2,40,45,48,69,72,76,88],"new":[3],"HippoCampus":[4,61],"micro":[5],"underwater":[6,41],"vehicle,":[7],"first":[8],"introduced":[9],"in":[10],"[1].":[11],"It":[12],"is":[13,58],"designed":[14],"for":[15,36],"monitoring":[16],"confined":[17],"fluid":[18],"volumes.":[19],"These":[20],"tightly":[21],"constrained":[22],"settings":[23],"demand":[24],"agile":[25],"vehicle":[26],"dynamics.":[27],"Moreover,":[28],"we":[29],"adapt":[30],"a":[31,51,63],"robust":[32],"attitude":[33],"control":[34,73],"scheme":[35],"aerial":[37],"drones":[38],"to":[39,87],"domain.":[42],"demonstrate":[44],"performance":[46],"of":[47,71],"controller":[49],"with":[50],"challenging":[52],"maneuver.":[53],"A":[54],"submerged":[55],"Furuta":[56],"pendulum":[57],"stabilized":[59],"by":[60],"after":[62],"swing-up.":[64],"The":[65],"experimental":[66],"results":[67],"reveal":[68],"robustness":[70],"method,":[74],"as":[75],"system":[77],"quickly":[78],"recovers":[79],"from":[80],"strong":[81],"physical":[82],"disturbances,":[83],"which":[84],"are":[85],"applied":[86],"system.":[89]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
