{"id":"https://openalex.org/W2150752534","doi":"https://doi.org/10.1109/iros.2003.1250687","title":"A unified adaptive force control of underwater vehicle-manipulator systems (UVMS)","display_name":"A unified adaptive force control of underwater vehicle-manipulator systems (UVMS)","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2150752534","doi":"https://doi.org/10.1109/iros.2003.1250687","mag":"2150752534"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250687","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5022362043","display_name":"Yong Cui","orcid":"https://orcid.org/0000-0002-8869-6529"},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yong Cui","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA, USA","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111590230","display_name":"Junku Yuh","orcid":null},"institutions":[{"id":"https://openalex.org/I117965899","display_name":"University of Hawai\u02bbi at M\u0101noa","ror":"https://ror.org/01wspgy28","country_code":"US","type":"education","lineage":["https://openalex.org/I117965899"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junku Yuh","raw_affiliation_strings":["Autonomous System Laboratory, University of Hawaii, Manoa, Honolulu, HI, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous System Laboratory, University of Hawaii, Manoa, Honolulu, HI, USA","institution_ids":["https://openalex.org/I117965899"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5022362043"],"corresponding_institution_ids":["https://openalex.org/I24603500"],"apc_list":null,"apc_paid":null,"fwci":6.9539,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.96352589,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"553","last_page":"558"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991000294685364,"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":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6977541446685791},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6933350563049316},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5849631428718567},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5605002641677856},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5351529717445374},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.49474331736564636},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4664223790168762},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.46170881390571594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4598584473133087},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4225956201553345},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38705211877822876},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3639148473739624},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.34350520372390747},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32976025342941284},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1310972273349762},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06324440240859985}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6977541446685791},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6933350563049316},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5849631428718567},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5605002641677856},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5351529717445374},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.49474331736564636},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4664223790168762},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.46170881390571594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4598584473133087},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4225956201553345},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38705211877822876},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3639148473739624},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.34350520372390747},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32976025342941284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1310972273349762},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06324440240859985},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1250687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250687","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1485567977","https://openalex.org/W1545365192","https://openalex.org/W1823682784","https://openalex.org/W1880458561","https://openalex.org/W1905188325","https://openalex.org/W1979497606","https://openalex.org/W2016958754","https://openalex.org/W2114377628","https://openalex.org/W2141398053","https://openalex.org/W2157201683","https://openalex.org/W2162797581","https://openalex.org/W2546438571","https://openalex.org/W2724637386","https://openalex.org/W6639128422","https://openalex.org/W6680896223","https://openalex.org/W6739719358"],"related_works":["https://openalex.org/W2115512691","https://openalex.org/W2143099235","https://openalex.org/W2121172820","https://openalex.org/W2390405001","https://openalex.org/W1506477645","https://openalex.org/W1503567079","https://openalex.org/W2792368061","https://openalex.org/W2366143093","https://openalex.org/W2038357898","https://openalex.org/W1572304478"],"abstract_inverted_index":{"A":[0],"unified":[1,33],"adaptive":[2,20,39],"force":[3,34],"control":[4,22,35,41,45,63,66,98],"approach":[5,57],"for":[6],"underwater":[7,54,84,109],"vehicle":[8,110],"manipulator":[9],"systems":[10],"(UVMS)":[11],"is":[12,24,28,118],"proposed":[13,97],"in":[14,83],"this":[15],"paper.":[16],"First,":[17],"a":[18,102,112],"direct":[19],"impedance":[21,40,62],"scheme":[23,99],"introduced.":[25],"This":[26,56],"controller":[27],"further":[29],"incorporated":[30],"into":[31],"the":[32,59,69,74,78,93,96,121],"strategy,":[36],"which":[37],"combines":[38,58],"with":[42,64,105],"hybrid":[43,65],"position/force":[44],"by":[46],"means":[47],"of":[48,61,73,95],"fuzzy":[49],"switching":[50],"to":[51,80,91],"perform":[52],"autonomous":[53,108],"manipulation.":[55],"advantages":[60],"without":[67],"knowing":[68],"accurate":[70],"dynamic":[71],"model":[72,104],"system":[75],"and":[76,111],"has":[77],"potential":[79],"be":[81],"effective":[82],"environment.":[85],"Extensive":[86],"computer":[87],"simulations":[88],"are":[89],"performed":[90],"verify":[92],"efficacy":[94],"based":[100],"on":[101,120],"UVMS":[103],"6":[106],"DOF":[107,114],"3":[113],"robot":[115],"arm":[116],"that":[117],"mounted":[119],"vehicle.":[122]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
