{"id":"https://openalex.org/W2117896481","doi":"https://doi.org/10.1109/iros.2008.4650750","title":"An Active helideck testbed for floating structures based on a Stewart-Gough platform","display_name":"An Active helideck testbed for floating structures based on a Stewart-Gough platform","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2117896481","doi":"https://doi.org/10.1109/iros.2008.4650750","mag":"2117896481"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://oa.upm.es/4039/","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101402732","display_name":"Alexandre Campos","orcid":"https://orcid.org/0000-0002-2600-3491"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Campos","raw_affiliation_strings":["Department of Autom\u00e1tica, Ing. Electr\u00f3nica e Information Industrial, Universidad Polit\u00e9cnica de Madrid, Spain","Dept. of Autom., Univ. Politec. de Madrid, Madrid"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Autom\u00e1tica, Ing. Electr\u00f3nica e Information Industrial, Universidad Polit\u00e9cnica de Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]},{"raw_affiliation_string":"Dept. of Autom., Univ. Politec. de Madrid, Madrid","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022161558","display_name":"J. Quintero","orcid":null},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Quintero","raw_affiliation_strings":["Department of Autom\u00e1tica, Ing. Electr\u00f3nica e Information Industrial, Universidad Polit\u00e9cnica de Madrid, Spain","Dept. of Autom., Univ. Politec. de Madrid, Madrid"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Autom\u00e1tica, Ing. Electr\u00f3nica e Information Industrial, Universidad Polit\u00e9cnica de Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]},{"raw_affiliation_string":"Dept. of Autom., Univ. Politec. de Madrid, Madrid","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051334051","display_name":"Roque Saltar\u00e9n","orcid":"https://orcid.org/0000-0001-8009-5350"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"R. Saltaren","raw_affiliation_strings":["Department of Autom\u00e1tica, Ing. Electr\u00f3nica e Information Industrial, Universidad Polit\u00e9cnica de Madrid, Spain","Dept. of Autom., Univ. Politec. de Madrid, Madrid"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Autom\u00e1tica, Ing. Electr\u00f3nica e Information Industrial, Universidad Polit\u00e9cnica de Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]},{"raw_affiliation_string":"Dept. of Autom., Univ. Politec. de Madrid, Madrid","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074117864","display_name":"Manuel Ferr\u00e9","orcid":"https://orcid.org/0000-0003-0030-1551"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"M. Ferre","raw_affiliation_strings":["Department of Autom\u00e1tica, Ing. Electr\u00f3nica e Information Industrial, Universidad Polit\u00e9cnica de Madrid, Spain","Dept. of Autom., Univ. Politec. de Madrid, Madrid"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Autom\u00e1tica, Ing. Electr\u00f3nica e Information Industrial, Universidad Polit\u00e9cnica de Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]},{"raw_affiliation_string":"Dept. of Autom., Univ. Politec. de Madrid, Madrid","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043537205","display_name":"Rafa\u00e9l Aracil","orcid":null},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"R. Aracil","raw_affiliation_strings":["Department of Autom\u00e1tica, Ing. Electr\u00f3nica e Information Industrial, Universidad Polit\u00e9cnica de Madrid, Spain","Dept. of Autom., Univ. Politec. de Madrid, Madrid"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Autom\u00e1tica, Ing. Electr\u00f3nica e Information Industrial, Universidad Polit\u00e9cnica de Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]},{"raw_affiliation_string":"Dept. of Autom., Univ. Politec. de Madrid, Madrid","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8282,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.79579236,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3705","last_page":"3710"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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/T11602","display_name":"Magnetic Bearings and Levitation Dynamics","score":0.9948999881744385,"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/T13644","display_name":"Control Systems in Engineering","score":0.9944999814033508,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.7666400074958801},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.6105119585990906},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5687603950500488},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4790140986442566},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4624481499195099},{"id":"https://openalex.org/keywords/active-perception","display_name":"Active perception","score":0.44021591544151306},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36694633960723877},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3657851815223694},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33760926127433777},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31544655561447144},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.27784329652786255},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2563806474208832},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2180618941783905},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.20630723237991333},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08761939406394958}],"concepts":[{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.7666400074958801},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.6105119585990906},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5687603950500488},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4790140986442566},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4624481499195099},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.44021591544151306},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36694633960723877},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3657851815223694},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33760926127433777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31544655561447144},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.27784329652786255},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2563806474208832},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2180618941783905},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.20630723237991333},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08761939406394958},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2008.4650750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:oa.upm.es:4039","is_oa":true,"landing_page_url":"http://oa.upm.es/4039/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196323","display_name":"UPM Digital Archive (Technical University of Madrid)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I88060688","host_organization_name":"Universidad Polit\u00e9cnica de Madrid","host_organization_lineage":["https://openalex.org/I88060688"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. | IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. | 22/09/2008-26/09/2008 | Niza, Francia","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:oa.upm.es:4039","is_oa":true,"landing_page_url":"http://oa.upm.es/4039/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196323","display_name":"UPM Digital Archive (Technical University of Madrid)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I88060688","host_organization_name":"Universidad Polit\u00e9cnica de Madrid","host_organization_lineage":["https://openalex.org/I88060688"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. | IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. | 22/09/2008-26/09/2008 | Niza, Francia","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8500000238418579,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W216064520","https://openalex.org/W1256870269","https://openalex.org/W1555993017","https://openalex.org/W1972062664","https://openalex.org/W1972625161","https://openalex.org/W1997650413","https://openalex.org/W2033609987","https://openalex.org/W2060473961","https://openalex.org/W2076959597","https://openalex.org/W2096829016","https://openalex.org/W2097447930","https://openalex.org/W2118417453","https://openalex.org/W2123998235","https://openalex.org/W2151469446","https://openalex.org/W2158875816","https://openalex.org/W2161366982","https://openalex.org/W2161545330","https://openalex.org/W2162090274","https://openalex.org/W2341668857","https://openalex.org/W2404185497","https://openalex.org/W2986179194","https://openalex.org/W3200796280","https://openalex.org/W4256526535","https://openalex.org/W6682202103","https://openalex.org/W6801489070"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2152313554","https://openalex.org/W2064303750","https://openalex.org/W3048672182","https://openalex.org/W1509300825","https://openalex.org/W2170767802","https://openalex.org/W4295168858"],"abstract_inverted_index":{"A":[0],"parallel":[1,116],"robot":[2,117],"testbed":[3,26],"based":[4],"on":[5,41,147],"Stewart-Gough":[6],"platform":[7,132],"called":[8,118],"<i":[9,119,122],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[10,120,123],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">active-Helideck</i>":[11],"is":[12,27,66,86,112,133,156],"designed,":[13],"developed":[14],"and":[15,42,145,152],"tested":[16],"as":[17,166,170],"a":[18,56,75,115,136],"helicopter":[19],"floating":[20],"Helideck.":[21],"The":[22,60,130],"objective":[23],"of":[24,32,55,63,93,100,108,128],"this":[25,64],"to":[28,67,80,158],"show":[29],"the":[30,69,90,106,109,140,164,173],"advantages":[31],"helicopters":[33],"that":[34],"use":[35],"an":[36,81,101,167],"active":[37],"Helideck":[38,155],"upon":[39],"landing":[40],"taking":[43],"off":[44],"from":[45,48],"ships":[46],"or":[47],"offshore":[49],"structures.":[50],"Active-helideck":[51],"compensates":[52],"simulated":[53,160],"movements":[54,161],"ship":[57,131,165],"at":[58],"sea.":[59],"main":[61],"goal":[62],"study":[65],"maintain":[68],"robotpsilas":[70],"end":[71],"effector":[72],"(Helideck)":[73],"in":[74,78,98,172],"quasi-static":[76],"position":[77],"accordance":[79],"absolute":[82],"inertial":[83,102,168],"frame.":[84],"Compensation":[85],"carried":[87],"out":[88],"through":[89],"coordinate":[91],"action":[92],"its":[94],"six":[95],"prismatic":[96],"actuators":[97],"function":[99],"measurement":[103],"unit.":[104],"Moreover,":[105],"simulation":[107],"sea":[110],"movement":[111],"done":[113],"by":[114,162],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">ship</i>":[121],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">platform</i>":[124],"with":[125,135],"three":[126],"degrees":[127],"freedom.":[129],"built":[134],"vertical":[137],"oscillation":[138],"along":[139],"z":[141],"axis,":[142],"i.e.":[143,150],"heave,":[144],"rotates":[146],"remaining":[148],"axes,":[149],"roll":[151],"pitch.":[153],"Active":[154],"able":[157],"compensate":[159],"considering":[163],"frame":[169],"observed":[171],"experiment.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}