{"id":"https://openalex.org/W4405786509","doi":"https://doi.org/10.1109/iros58592.2024.10801901","title":"Design and Preliminary Validation of A Multi-mode Quadrotor Aerial-Aquatic Vehicle with Tilting Mechanism","display_name":"Design and Preliminary Validation of A Multi-mode Quadrotor Aerial-Aquatic Vehicle with Tilting Mechanism","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786509","doi":"https://doi.org/10.1109/iros58592.2024.10801901"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801901","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801901","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101545894","display_name":"Mengyao Liu","orcid":"https://orcid.org/0000-0002-3695-6341"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengyao Liu","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Mechanical & Electrical Engineering,Nanjing,People’s Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Mechanical & Electrical Engineering,Nanjing,People’s Republic of China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662674","display_name":"Bai Chen","orcid":"https://orcid.org/0000-0001-8290-8626"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai Chen","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Mechanical & Electrical Engineering,Nanjing,People’s Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Mechanical & Electrical Engineering,Nanjing,People’s Republic of China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037113285","display_name":"Lingyu Wang","orcid":"https://orcid.org/0000-0002-5720-6144"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingyu Wang","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Mechanical & Electrical Engineering,Nanjing,People’s Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Mechanical & Electrical Engineering,Nanjing,People’s Republic of China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002895445","display_name":"Zebing Mao","orcid":"https://orcid.org/0000-0002-2944-7151"},"institutions":[{"id":"https://openalex.org/I173915773","display_name":"Yamaguchi University","ror":"https://ror.org/03cxys317","country_code":"JP","type":"education","lineage":["https://openalex.org/I173915773"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zebing Mao","raw_affiliation_strings":["Yamaguchi University,Faculty of Engineering,Yamaguchi,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yamaguchi University,Faculty of Engineering,Yamaguchi,Japan","institution_ids":["https://openalex.org/I173915773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024054078","display_name":"Yayi Shen","orcid":"https://orcid.org/0000-0002-0866-5256"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yayi Shen","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,College of Mechanical & Electrical Engineering,Nanjing,People’s Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,College of Mechanical & Electrical Engineering,Nanjing,People’s Republic of China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2002,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.96716314,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"10564","last_page":"10569"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9995999932289124,"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/T12697","display_name":"Water Quality Monitoring Technologies","score":0.968500018119812,"subfield":{"id":"https://openalex.org/subfields/2312","display_name":"Water Science and Technology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.940500020980835,"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/mechanism","display_name":"Mechanism (biology)","score":0.7440689206123352},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5640761852264404},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5225346088409424},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.41104599833488464},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3678431510925293},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3223786950111389},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.32173317670822144},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2331508994102478},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.171723872423172},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17013856768608093},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.167840838432312},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.14956581592559814},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.1445561647415161},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1253451704978943}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7440689206123352},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5640761852264404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5225346088409424},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.41104599833488464},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3678431510925293},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3223786950111389},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.32173317670822144},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2331508994102478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.171723872423172},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17013856768608093},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.167840838432312},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.14956581592559814},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.1445561647415161},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1253451704978943},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801901","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801901","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1964973847","https://openalex.org/W1970628436","https://openalex.org/W1990387323","https://openalex.org/W2118890296","https://openalex.org/W2492811885","https://openalex.org/W2566007514","https://openalex.org/W2754138574","https://openalex.org/W2772013523","https://openalex.org/W2883660187","https://openalex.org/W2933682034","https://openalex.org/W2967642887","https://openalex.org/W2988645098","https://openalex.org/W3003464919","https://openalex.org/W3003591198","https://openalex.org/W3089471175","https://openalex.org/W3203378087","https://openalex.org/W4206766413","https://openalex.org/W4285179961","https://openalex.org/W4323066016"],"related_works":["https://openalex.org/W2071768959","https://openalex.org/W4319442894","https://openalex.org/W2921408402","https://openalex.org/W4312767556","https://openalex.org/W2982615283","https://openalex.org/W2290286193","https://openalex.org/W4312370102","https://openalex.org/W2076947815","https://openalex.org/W1541316785","https://openalex.org/W2093391009"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,24,43,46,50,56,80,87],"development":[4],"of":[5,10,45,89],"a":[6,65],"quadrotor":[7,67],"vehicle":[8,57],"capable":[9],"movement":[11],"between":[12],"air":[13,63,109],"and":[14,32,91,110],"water":[15,73],"environments.":[16],"The":[17,100],"design":[18],"challenges,":[19],"including":[20],"torque":[21],"matching":[22],"in":[23,29,53,62,72,85,96,107],"propulsion":[25],"system,":[26],"balance":[27],"maintenance":[28],"different":[30],"mediums,":[31],"waterproofing":[33],"requirements,":[34],"are":[35],"discussed.":[36],"A":[37],"prototype":[38,101],"is":[39],"constructed":[40],"to":[41],"demonstrate":[42],"feasibility":[44],"proposed":[47],"design.":[48],"Through":[49],"tilting":[51],"mechanism":[52],"four":[54,81],"rotors,":[55],"can":[58],"not":[59],"only":[60],"fly":[61],"like":[64],"normal":[66],"vehicle,":[68],"but":[69],"also":[70],"propel":[71],"with":[74],"two":[75],"configured":[76],"rear":[77],"thrusters.":[78],"Moreover,":[79],"tilted":[82],"rotors":[83],"cooperate":[84],"aligning":[86],"center":[88],"gravity":[90],"buoyancy,":[92],"addressing":[93],"limitations":[94],"observed":[95],"traditional":[97],"aerial-aquatic":[98],"vehicles.":[99],"has":[102],"been":[103],"verified":[104],"through":[105],"experiments":[106],"both":[108],"water.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-27T14:10:00.468798","created_date":"2025-10-10T00:00:00"}