{"id":"https://openalex.org/W2908718548","doi":"https://doi.org/10.1109/iros.2018.8594437","title":"Design and Development of Biaxial Active Nozzle with Flexible Flow Channel for Air Floating Active Scope Camera","display_name":"Design and Development of Biaxial Active Nozzle with Flexible Flow Channel for Air Floating Active Scope Camera","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908718548","doi":"https://doi.org/10.1109/iros.2018.8594437","mag":"2908718548"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5086871589","display_name":"Akihiro Ishii","orcid":"https://orcid.org/0000-0001-9011-4121"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Akihiro Ishii","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013086274","display_name":"Yuichi Ambe","orcid":"https://orcid.org/0000-0003-4725-5513"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichi Ambe","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013439258","display_name":"Yu Yamauchi","orcid":"https://orcid.org/0000-0001-6202-3150"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yu Yamauchi","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101552254","display_name":"Hisato Ando","orcid":"https://orcid.org/0000-0002-8337-8871"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hisato Ando","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003204631","display_name":"Masashi Konyo","orcid":"https://orcid.org/0000-0002-6826-9722"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Konyo","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenjiro Tadakuma","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Graduate School of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5086871589"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.8915,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.73423773,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2","issue":null,"first_page":"442","last_page":"449"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.991599977016449,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9696000218391418,"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/nozzle","display_name":"Nozzle","score":0.8964846730232239},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5508142709732056},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.5318683385848999},{"id":"https://openalex.org/keywords/jet","display_name":"Jet (fluid)","score":0.5313287973403931},{"id":"https://openalex.org/keywords/head","display_name":"Head (geology)","score":0.5310457348823547},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.4708019495010376},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.44201144576072693},{"id":"https://openalex.org/keywords/reaction","display_name":"Reaction","score":0.43066662549972534},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4051395654678345},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.337974488735199},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3320324420928955},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.33049654960632324},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.316034197807312},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29483065009117126},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2573739290237427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13143223524093628},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12306463718414307}],"concepts":[{"id":"https://openalex.org/C56200935","wikidata":"https://www.wikidata.org/wiki/Q250840","display_name":"Nozzle","level":2,"score":0.8964846730232239},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5508142709732056},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.5318683385848999},{"id":"https://openalex.org/C119947313","wikidata":"https://www.wikidata.org/wiki/Q5596635","display_name":"Jet (fluid)","level":2,"score":0.5313287973403931},{"id":"https://openalex.org/C2780312720","wikidata":"https://www.wikidata.org/wiki/Q5689100","display_name":"Head (geology)","level":2,"score":0.5310457348823547},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.4708019495010376},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.44201144576072693},{"id":"https://openalex.org/C99664630","wikidata":"https://www.wikidata.org/wiki/Q343546","display_name":"Reaction","level":2,"score":0.43066662549972534},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4051395654678345},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.337974488735199},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3320324420928955},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.33049654960632324},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.316034197807312},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29483065009117126},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2573739290237427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13143223524093628},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12306463718414307},{"id":"https://openalex.org/C114793014","wikidata":"https://www.wikidata.org/wiki/Q52109","display_name":"Geomorphology","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8594437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"mag:3162584584","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=201902250071463416","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4000000059604645,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1590804794","https://openalex.org/W1991642292","https://openalex.org/W2075412946","https://openalex.org/W2095462685","https://openalex.org/W2098502014","https://openalex.org/W2124540383","https://openalex.org/W2131150943","https://openalex.org/W2133039496","https://openalex.org/W2316125483","https://openalex.org/W2564825285","https://openalex.org/W2564854166","https://openalex.org/W2592474752","https://openalex.org/W2736778426","https://openalex.org/W2737491236","https://openalex.org/W2783261033"],"related_works":["https://openalex.org/W2329647538","https://openalex.org/W2015408450","https://openalex.org/W2405763885","https://openalex.org/W2460146009","https://openalex.org/W2512545648","https://openalex.org/W132746222","https://openalex.org/W851902016","https://openalex.org/W14175906","https://openalex.org/W2329745064","https://openalex.org/W2370701206"],"abstract_inverted_index":{"Long":[0],"flexible":[1,80,120,163],"continuum":[2],"robots":[3,23],"have":[4],"a":[5,47,59,78,94,112,119,149,170,241,256],"high":[6],"potential":[7],"for":[8],"search":[9],"and":[10,61,73,167,189,296],"rescue":[11],"operations":[12],"that":[13,184,211,283],"explore":[14],"deep":[15],"layered":[16],"debris.":[17],"A":[18,82,206],"general":[19],"problem":[20],"of":[21,28,70,77,125,136,156,180,228,293],"these":[22],"is":[24,85,116,129,165,187,232],"in":[25,64,255],"the":[26,29,37,54,68,74,89,98,102,107,126,132,137,153,157,177,181,185,190,197,200,212,216,222,226,229,237,250,268,284,298],"control":[27,67],"head":[30,75,272],"motion":[31,76],"because":[32],"their":[33],"thin":[34,150],"bodies":[35],"limit":[36],"space":[38],"available":[39],"to":[40,66,87,97,145,175],"mount":[41],"multiple":[42,171],"actuators.":[43,277],"This":[44],"paper":[45],"develops":[46],"biaxial":[48,201],"active":[49,202],"nozzle":[50,113,140,182,186,203,213,239],"which":[51,100,262],"can":[52,214,252],"rotate":[53],"air":[55,90,108,121,127],"jet":[56,91,128],"direction":[57,69,92,124,219],"along":[58],"roll":[60],"pitch":[62],"axis":[63],"order":[65],"reaction":[71,103,217,230],"force":[72,104,218,231],"long":[79],"robot.":[81],"major":[83],"challenge":[84],"how":[86],"change":[88,215],"without":[93],"large":[95],"resistance":[96],"flow,":[99],"reduces":[101],"induced":[105],"by":[106,131,169,220,275],"jet.":[109],"We":[110,235],"propose":[111],"whose":[114,271],"outlet":[115],"connected":[117],"with":[118,240],"tube.":[122,138],"The":[123,139,162,247,278],"controlled":[130,274],"smooth":[133],"shape":[134,154],"deformation":[135,155],"should":[141],"be":[142,146],"compact":[143,188],"enough":[144],"installed":[147],"on":[148,196],"robot,":[151],"although":[152],"tube":[158,164,191,223],"may":[159],"cause":[160],"buckling.":[161],"modeled":[166],"simulated":[168],"link":[172],"model":[173],"used":[174],"derive":[176],"geometric":[178],"parameters":[179],"so":[183],"does":[192],"not":[193],"buckle.":[194],"Based":[195],"derived":[198],"parameters,":[199],"was":[204,259,263,273],"developed.":[205],"basic":[207],"performance":[208],"experiment":[209],"shows":[210],"deforming":[221],"shape,":[224],"while":[225],"magnitude":[227],"almost":[233],"constant.":[234],"integrated":[236,285],"proposed":[238],"conventional":[242],"Active":[243],"Scope":[244],"Camera":[245],"(ASC).":[246],"range":[248],"where":[249],"robot":[251],"look":[253],"around":[254],"vertical":[257],"exploration":[258],"significantly":[260],"improved,":[261],"three":[264],"times":[265],"larger":[266],"than":[267],"previous":[269],"ASC":[270,286],"pneumatic":[276],"rubble":[279,290],"field":[280],"test":[281],"demonstrates":[282],"could":[287],"move":[288],"over":[289],"(maximum":[291],"height":[292],"200":[294],"mm)":[295],"steer":[297],"course.":[299]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5}],"updated_date":"2026-05-10T06:08:35.923825","created_date":"2025-10-10T00:00:00"}
