{"id":"https://openalex.org/W2775739521","doi":"https://doi.org/10.1109/iros.2017.8206567","title":"Design and development of a mobile crawling robot with novel halbach array based magnetic wheels","display_name":"Design and development of a mobile crawling robot with novel halbach array based magnetic wheels","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2775739521","doi":"https://doi.org/10.1109/iros.2017.8206567","mag":"2775739521"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206567","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5013759477","display_name":"W. A. V. Stepson","orcid":null},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":true,"raw_author_name":"W. A. V. Stepson","raw_affiliation_strings":["Department of Mechanical Engineering, University of Moratuwa, Sri Lanka"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Moratuwa, Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089163925","display_name":"A. D. I. M. Amarasinghe","orcid":null},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":false,"raw_author_name":"A. D. I. M. Amarasinghe","raw_affiliation_strings":["Department of Mechanical Engineering, University of Moratuwa, Sri Lanka"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Moratuwa, Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027086417","display_name":"Prageeth Fernando","orcid":null},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":false,"raw_author_name":"P. N. R. Fernando","raw_affiliation_strings":["Department of Mechanical Engineering, University of Moratuwa, Sri Lanka"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Moratuwa, Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011618114","display_name":"Y. W. R. Amarasinghe","orcid":"https://orcid.org/0000-0002-4960-4441"},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":false,"raw_author_name":"Y. W. R. Amarasinghe","raw_affiliation_strings":["Department of Mechanical Engineering, University of Moratuwa, Sri Lanka"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Moratuwa, Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5013759477"],"corresponding_institution_ids":["https://openalex.org/I195740183"],"apc_list":null,"apc_paid":null,"fwci":0.9887,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.7607272,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6561","last_page":"6566"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9980000257492065,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9980000257492065,"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/T10868","display_name":"Soft Robotics and Applications","score":0.996999979019165,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.988099992275238,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.6675894856452942},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6559883952140808},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5620157122612},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5305322408676147},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4864473342895508},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.4413195848464966},{"id":"https://openalex.org/keywords/articulated-robot","display_name":"Articulated robot","score":0.4354208707809448},{"id":"https://openalex.org/keywords/hull","display_name":"Hull","score":0.42832985520362854},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4171639084815979},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4134385287761688},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41146165132522583},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.41136372089385986},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3946608901023865},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36668917536735535},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1927928924560547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1669747233390808},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14672818779945374},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.09283915162086487}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.6675894856452942},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6559883952140808},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5620157122612},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5305322408676147},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4864473342895508},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.4413195848464966},{"id":"https://openalex.org/C138417311","wikidata":"https://www.wikidata.org/wiki/Q3180664","display_name":"Articulated robot","level":5,"score":0.4354208707809448},{"id":"https://openalex.org/C37423430","wikidata":"https://www.wikidata.org/wiki/Q6750281","display_name":"Hull","level":2,"score":0.42832985520362854},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4171639084815979},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4134385287761688},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41146165132522583},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.41136372089385986},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3946608901023865},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36668917536735535},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1927928924560547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1669747233390808},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14672818779945374},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.09283915162086487},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206567","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W299732095","https://openalex.org/W1914135238","https://openalex.org/W1969570716","https://openalex.org/W2086456025","https://openalex.org/W2095634638","https://openalex.org/W2097794699","https://openalex.org/W2108819880","https://openalex.org/W2122593707","https://openalex.org/W2164040945","https://openalex.org/W2170605684","https://openalex.org/W2544258806","https://openalex.org/W4235469158","https://openalex.org/W6610655387","https://openalex.org/W6674715915","https://openalex.org/W6678256259","https://openalex.org/W6685068141"],"related_works":["https://openalex.org/W3096187747","https://openalex.org/W2291700020","https://openalex.org/W2139206564","https://openalex.org/W3044674998","https://openalex.org/W4255006717","https://openalex.org/W2086863125","https://openalex.org/W3004220142","https://openalex.org/W2997199187","https://openalex.org/W4242231179","https://openalex.org/W2171368057"],"abstract_inverted_index":{"Higher":[0],"efficiency":[1],"and":[2,29,49,104,122,140,158,189],"the":[3,13,27,50,57,62,69,73,79,96,113,128,132,135,141,145,156,160,164,169,175,180,190,196],"safety":[4],"of":[5,23,26,31,72,112,134,174,179],"hull":[6,161],"inspection":[7],"can":[8,153],"be":[9],"achieved":[10],"by":[11,101,127],"replacing":[12],"conventional":[14],"methods":[15],"with":[16,35,86,117],"modern":[17],"crawling":[18,33,82,181],"robots.":[19],"This":[20],"paper":[21],"consists":[22],"detailed":[24],"study":[25],"design":[28],"development":[30],"a":[32,36,87,186],"robot":[34,83,114,146,157,182],"novel":[37],"permanent":[38],"magnetic":[39,44,47,58],"wheel":[40,51],"based":[41,55,90],"on":[42,56,91],"Halbach":[43],"array.":[45],"The":[46,81,109,137,151,177],"array":[48],"assembly":[52],"were":[53,75],"designed":[54],"simulation":[59],"results.":[60],"Maintaining":[61],"adequate":[63],"adhesion":[64],"force":[65,71],"as":[66,68],"well":[67],"friction":[70],"wheels":[74],"considered":[76],"in":[77,168,185,195],"designing":[78],"wheels.":[80],"is":[84,115],"equipped":[85,116],"steering":[88,93,97],"system":[89,111,148],"Ackermann":[92],"method":[94],"hence":[95],"angles":[98],"are":[99,124,149,193],"controlled":[100,125],"an":[102],"algorithm":[103,129],"actuated":[105],"using":[106],"servo":[107],"motors.":[108],"driving":[110],"four":[118],"geared":[119],"stepper":[120],"motors":[121],"they":[123],"separately":[126],"according":[130],"to":[131],"inputs":[133],"controller.":[136],"control":[138,147,155],"architecture":[139],"components":[142],"used":[143],"for":[144],"explained.":[150],"operator":[152],"remotely":[154],"inspect":[159],"surface":[162],"via":[163],"camera":[165],"feed":[166],"available":[167],"HMI":[170],"(Human":[171],"Machine":[172],"Interface)":[173],"robot.":[176],"prototype":[178],"was":[183],"tested":[184],"similar":[187],"environment":[188],"test":[191],"results":[192],"included":[194],"paper.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
