{"id":"https://openalex.org/W2901319860","doi":"https://doi.org/10.1109/iisr.2018.8535802","title":"Development of Underwater Bilateral Control by Using Manipulator with Module Structure","display_name":"Development of Underwater Bilateral Control by Using Manipulator with Module Structure","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2901319860","doi":"https://doi.org/10.1109/iisr.2018.8535802","mag":"2901319860"},"language":"en","primary_location":{"id":"doi:10.1109/iisr.2018.8535802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iisr.2018.8535802","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 Intelligence and Safety for Robotics (ISR)","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/A5091378169","display_name":"Naoki Motoi","orcid":"https://orcid.org/0000-0003-1536-0095"},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Naoki Motoi","raw_affiliation_strings":["Graduate School of Maritime Sciences, Kobe University, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Maritime Sciences, Kobe University, Japan","institution_ids":["https://openalex.org/I65837984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103794953","display_name":"Kenta Takizawa","orcid":null},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenta Takizawa","raw_affiliation_strings":["Graduate School of Maritime Sciences, Kobe University, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Maritime Sciences, Kobe University, Japan","institution_ids":["https://openalex.org/I65837984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085317524","display_name":"Junki Sakiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Junki Sakiyama","raw_affiliation_strings":["Graduate School of Maritime Sciences, Kobe University, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Maritime Sciences, Kobe University, Japan","institution_ids":["https://openalex.org/I65837984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5091378169"],"corresponding_institution_ids":["https://openalex.org/I65837984"],"apc_list":null,"apc_paid":null,"fwci":0.1704,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.52166476,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"122","last_page":"127"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.992900013923645,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7406740188598633},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.6935595273971558},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.6098373532295227},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5811551809310913},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5615132451057434},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.5505948662757874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5353866815567017},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5091792941093445},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5043109655380249},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.49102139472961426},{"id":"https://openalex.org/keywords/rotary-encoder","display_name":"Rotary encoder","score":0.4702303111553192},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.41716110706329346},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.416599839925766},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4048132598400116},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3301147222518921},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31962698698043823},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13718312978744507},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13235530257225037},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1252213418483734},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08929795026779175},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08788436651229858},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07318654656410217}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7406740188598633},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6935595273971558},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.6098373532295227},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5811551809310913},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5615132451057434},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.5505948662757874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5353866815567017},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5091792941093445},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5043109655380249},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.49102139472961426},{"id":"https://openalex.org/C37488316","wikidata":"https://www.wikidata.org/wiki/Q53699","display_name":"Rotary encoder","level":3,"score":0.4702303111553192},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.41716110706329346},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.416599839925766},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4048132598400116},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3301147222518921},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31962698698043823},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13718312978744507},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13235530257225037},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1252213418483734},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08929795026779175},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08788436651229858},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07318654656410217},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iisr.2018.8535802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iisr.2018.8535802","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 Intelligence and Safety for Robotics (ISR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6800000071525574}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315870","display_name":"Nagamori Foundation","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W582557673","https://openalex.org/W1487506095","https://openalex.org/W1967390389","https://openalex.org/W2006288098","https://openalex.org/W2033193336","https://openalex.org/W2042903360","https://openalex.org/W2096323098","https://openalex.org/W2102279668","https://openalex.org/W2103304361","https://openalex.org/W2168790374","https://openalex.org/W2171649388","https://openalex.org/W2293700583","https://openalex.org/W2341960731","https://openalex.org/W2510867741","https://openalex.org/W2511337750","https://openalex.org/W2580279585","https://openalex.org/W4242059591","https://openalex.org/W6697165581","https://openalex.org/W6703954404"],"related_works":["https://openalex.org/W2092896760","https://openalex.org/W2068021791","https://openalex.org/W2373662871","https://openalex.org/W2168195809","https://openalex.org/W998225366","https://openalex.org/W2313879336","https://openalex.org/W4205612800","https://openalex.org/W2322736329","https://openalex.org/W1972118934","https://openalex.org/W2334580170"],"abstract_inverted_index":{"This":[0,29],"paper":[1],"proposes":[2],"an":[3,53],"underwater":[4,21,92,129],"bilateral":[5,22,93,107,130],"control":[6,94,131],"method":[7],"by":[8,67,86],"using":[9,68,87],"a":[10,13,40,51,55],"manipulator":[11,26,31,64],"with":[12],"module":[14,34,47,125],"structure.":[15],"For":[16],"the":[17,20,24,33,69,73,79,83,88,101,103,106,110,113,118,121,124,128],"realization":[18],"of":[19,50,123],"control,":[23],"waterproof":[25,61],"is":[27,65,76],"designed.":[28],"developed":[30],"has":[32,37],"structure":[35,48,126],"which":[36],"advantages":[38],"for":[39],"multi-degrees-of-freedom":[41],"system":[42],"and":[43,58,112,127],"its":[44],"maintenance.":[45],"The":[46,60,91],"consists":[49],"motor,":[52],"encoder,":[54],"magnetic":[56,70,89],"coupling":[57],"gears.":[59],"in":[62,97,109],"this":[63,98],"achieved":[66],"coupling,":[71],"since":[72],"motor":[74,80],"torque":[75],"transmitted":[77],"from":[78],"side":[81,85],"to":[82],"load":[84],"force.":[90],"was":[95,115,132],"implemented":[96],"manipulator.":[99],"In":[100],"experiments,":[102],"comparison":[104],"between":[105],"controls":[108],"atmosphere":[111],"water":[114],"conducted.":[116],"From":[117],"experimental":[119],"results,":[120],"validity":[122],"confirmed.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}