{"id":"https://openalex.org/W2011916365","doi":"https://doi.org/10.1109/iros.2013.6696528","title":"An underactuated propeller for attitude control in micro air vehicles","display_name":"An underactuated propeller for attitude control in micro air vehicles","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2011916365","doi":"https://doi.org/10.1109/iros.2013.6696528","mag":"2011916365"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5073424051","display_name":"James Paulos","orcid":"https://orcid.org/0000-0002-4906-5679"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Paulos","raw_affiliation_strings":["Dept. of Mech. Eng. & Appl. Mechanics, University of Pennsylvania, Philadelphia, PA","Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mech. Eng. & Appl. Mechanics, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["Dept. of Mech. Eng. & Appl. Mechanics, University of Pennsylvania, Philadelphia, PA","Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mech. Eng. & Appl. Mechanics, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1374","last_page":"1379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9993000030517578,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9987999796867371,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9986000061035156,"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/underactuation","display_name":"Underactuation","score":0.8507610559463501},{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.7817424535751343},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6339340209960938},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.6203206777572632},{"id":"https://openalex.org/keywords/blade-pitch","display_name":"Blade pitch","score":0.5896166563034058},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5726224184036255},{"id":"https://openalex.org/keywords/coaxial","display_name":"Coaxial","score":0.5626384019851685},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5551036596298218},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5210330486297607},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5086730122566223},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4568636119365692},{"id":"https://openalex.org/keywords/propulsor","display_name":"Propulsor","score":0.43887585401535034},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.42770108580589294},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3784095048904419},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3461751341819763},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2813701331615448},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.21723616123199463},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.1721583902835846},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15325695276260376},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1207892894744873}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8507610559463501},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.7817424535751343},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6339340209960938},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.6203206777572632},{"id":"https://openalex.org/C97683284","wikidata":"https://www.wikidata.org/wiki/Q1134697","display_name":"Blade pitch","level":3,"score":0.5896166563034058},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5726224184036255},{"id":"https://openalex.org/C51221625","wikidata":"https://www.wikidata.org/wiki/Q1751466","display_name":"Coaxial","level":2,"score":0.5626384019851685},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5551036596298218},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5210330486297607},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5086730122566223},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4568636119365692},{"id":"https://openalex.org/C151174772","wikidata":"https://www.wikidata.org/wiki/Q3246710","display_name":"Propulsor","level":3,"score":0.43887585401535034},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.42770108580589294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3784095048904419},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3461751341819763},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2813701331615448},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.21723616123199463},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.1721583902835846},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15325695276260376},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1207892894744873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.722.671","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.722.671","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://modlabupenn.org/wp-content/uploads/paulos_an_underactuated_propeller_IROS_2013.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1493534650","https://openalex.org/W1603335784","https://openalex.org/W2060781099","https://openalex.org/W2069188597","https://openalex.org/W2087269417","https://openalex.org/W2103608534","https://openalex.org/W2109410799","https://openalex.org/W2121610374","https://openalex.org/W2294416892","https://openalex.org/W2316234133","https://openalex.org/W2332654577","https://openalex.org/W2544041682","https://openalex.org/W3144742656","https://openalex.org/W4246223937","https://openalex.org/W6696759840"],"related_works":["https://openalex.org/W2616405966","https://openalex.org/W2328641467","https://openalex.org/W4246688101","https://openalex.org/W2374763448","https://openalex.org/W2014589119","https://openalex.org/W4385467007","https://openalex.org/W2385570499","https://openalex.org/W2189258909","https://openalex.org/W2899893118","https://openalex.org/W2298872178"],"abstract_inverted_index":{"Traditional":[0],"coaxial":[1,74],"helicopter":[2,75],"micro":[3],"air":[4],"vehicles":[5],"use":[6],"a":[7,43,49,72,79,88],"large":[8],"propeller":[9,45],"motor":[10,51],"in":[11,87],"conjunction":[12],"with":[13],"two":[14],"small":[15],"servomotors":[16],"to":[17,54,63],"control":[18,37,57,86],"thrust,":[19],"pitch,":[20],"and":[21,24,32,52,85],"roll":[22],"forces":[23,31],"moments.":[25],"Quadrotors":[26],"similarly":[27],"generate":[28],"these":[29],"necessary":[30],"moments":[33],"through":[34],"the":[35,60],"coordinated":[36],"of":[38,71],"multiple":[39],"actuators.":[40],"We":[41],"present":[42],"novel":[44],"architecture":[46],"which":[47],"allows":[48],"single":[50],"rotor":[53],"express":[55],"such":[56,78],"by":[58],"modulating":[59],"torque":[61],"applied":[62],"one":[64],"passively":[65],"hinged,":[66],"underactuated":[67],"propeller.":[68],"Flight":[69],"tests":[70],"two-motor":[73],"demonstrate":[76],"that":[77],"system":[80],"can":[81],"provide":[82],"active":[83],"stability":[84],"real":[89],"flight":[90],"system.":[91]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}