{"id":"https://openalex.org/W4405785145","doi":"https://doi.org/10.1109/iros58592.2024.10802195","title":"Evaluation and Design Recommendations for a Folding Morphing-wheg Robot for Nuclear Characterisation","display_name":"Evaluation and Design Recommendations for a Folding Morphing-wheg Robot for Nuclear Characterisation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785145","doi":"https://doi.org/10.1109/iros58592.2024.10802195"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802195","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802195","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/A5114080614","display_name":"Dominic Murphy","orcid":null},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dominic Murphy","raw_affiliation_strings":["University of the West of England,Bristol Robotics Laboratory,Bristol,United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of the West of England,Bristol Robotics Laboratory,Bristol,United Kingdom","institution_ids":["https://openalex.org/I178535277","https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078305333","display_name":"Manuel Giuliani","orcid":"https://orcid.org/0000-0003-3781-7623"},"institutions":[{"id":"https://openalex.org/I2802623092","display_name":"Kempten University of Applied Sciences","ror":"https://ror.org/02m4p8096","country_code":"DE","type":"education","lineage":["https://openalex.org/I2802623092"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Giuliani","raw_affiliation_strings":["Kempten University of Applied Sciences,Faculty of Electrical Engineering,Kempten,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kempten University of Applied Sciences,Faculty of Electrical Engineering,Kempten,Germany","institution_ids":["https://openalex.org/I2802623092"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035379994","display_name":"Paul Bremner","orcid":"https://orcid.org/0000-0001-7716-5100"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Paul Bremner","raw_affiliation_strings":["University of the West of England,Bristol Robotics Laboratory,Bristol,United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of the West of England,Bristol Robotics Laboratory,Bristol,United Kingdom","institution_ids":["https://openalex.org/I178535277","https://openalex.org/I4210161128"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9088","last_page":"9093"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9962999820709229,"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":0.9962999820709229,"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":0.9833999872207642,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9782999753952026,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.9231336116790771},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5757072567939758},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.56915283203125},{"id":"https://openalex.org/keywords/folding","display_name":"Folding (DSP implementation)","score":0.5271574854850769},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19527363777160645},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1937154233455658},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11306911706924438}],"concepts":[{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.9231336116790771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5757072567939758},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.56915283203125},{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.5271574854850769},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19527363777160645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1937154233455658},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11306911706924438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802195","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802195","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1991089195","https://openalex.org/W2064736763","https://openalex.org/W2199492784","https://openalex.org/W2545564467","https://openalex.org/W2583243136","https://openalex.org/W2755163439","https://openalex.org/W2898358825","https://openalex.org/W2900742918","https://openalex.org/W2946934882","https://openalex.org/W2950457763","https://openalex.org/W2967978114","https://openalex.org/W3076622104","https://openalex.org/W4250058668","https://openalex.org/W4386522527","https://openalex.org/W6747394972"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1679315481","https://openalex.org/W3151495635","https://openalex.org/W4385170164","https://openalex.org/W4236870338","https://openalex.org/W2016917053","https://openalex.org/W1580681114","https://openalex.org/W51472912"],"abstract_inverted_index":{"This":[0],"paper":[1],"explores":[2],"the":[3,37,49,60,76,102,106,109,122,130,133,187,203],"design":[4,135,173],"and":[5,14,59,73,90,115,165,174,189,228],"development":[6],"of":[7,42,51,75,101,108,154,176,191,202,210,217,225],"a":[8,46,93,152,177,192,213,222,234],"folding":[9,178],"robot":[10,94,110,180,204],"required":[11],"to":[12,83,95,111,231],"survey":[13],"characterize":[15],"nuclear":[16,32,182],"facilities":[17,29],"only":[18],"accessible":[19],"via":[20],"150":[21,218,235],"mm":[22,219,227,236],"diameter":[23],"entry":[24,131],"ducts.":[25],"The":[26,69,172],"enclosed":[27,77],"legacy":[28],"at":[30],"old":[31],"sites":[33],"like":[34],"Sellafield":[35],"in":[36,196],"UK":[38],"have":[39],"this":[40,98,197],"sort":[41],"limited":[43],"access.":[44],"When":[45],"site":[47],"reaches":[48],"end":[50],"its":[52],"operational":[53],"life,":[54],"it":[55,207],"must":[56,64,87],"be":[57,65,88,119],"decommissioned":[58],"resulting":[61],"waste":[62],"material":[63],"safely":[66],"disposed":[67],"of.":[68],"condition,":[70],"radioactive":[71],"characteristics,":[72],"accessibility":[74],"environments":[78,86],"are":[79,144],"unknown;":[80],"for":[81,141,181],"decommissioning":[82],"occur,":[84],"these":[85],"mapped":[89],"characterized.":[91],"For":[92],"carry":[96],"out":[97,150],"task,":[99],"one":[100],"key":[103],"requirements":[104],"is":[105,194,208],"ability":[107,168],"traverse":[112],"rough":[113],"terrain":[114],"obstacles":[116],"that":[117,147,156],"could":[118],"found":[120],"inside":[121],"facility.":[123],"To":[124],"accommodate":[125],"this,":[126],"while":[127,220],"fitting":[128],"through":[129,233],"duct,":[132],"chosen":[134],"utilizes":[136],"morphing":[137],"whegs":[138],"(i.e.,":[139],"wheel-legs)":[140],"locomotion.":[142],"These":[143],"shape-changing":[145],"wheels":[146,170],"can":[148],"open":[149],"into":[151],"set":[153],"legs":[155],"rotate":[157],"around":[158],"an":[159],"axle,":[160],"allowing":[161],"greater":[162],"traction,":[163],"diameter,":[164],"object":[166],"traversal":[167],"than":[169],"alone.":[171],"morphology":[175],"morphing-wheg":[179],"characterization,":[183],"as":[184,186],"well":[185],"manufacture":[188],"testing":[190],"prototype,":[193],"discussed":[195],"paper.":[198],"A":[199],"preliminary":[200],"evaluation":[201],"has":[205],"shown":[206],"capable":[209],"climbing":[211],"up":[212],"maximum":[214],"step":[215],"height":[216],"having":[221],"wheel":[223],"dimension":[224],"100":[226],"being":[229],"able":[230],"fit":[232],"duct.":[237]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}