{"id":"https://openalex.org/W2067673713","doi":"https://doi.org/10.1109/isr.2013.6695645","title":"Spherical ultrasonic motor for pipe inspection robot","display_name":"Spherical ultrasonic motor for pipe inspection robot","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2067673713","doi":"https://doi.org/10.1109/isr.2013.6695645","mag":"2067673713"},"language":"en","primary_location":{"id":"doi:10.1109/isr.2013.6695645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","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/A5108565905","display_name":"Shigeki Toyama","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Shigeki Toyama","raw_affiliation_strings":["Tokyo A&T University, Japan","Tokyo A&T Univ., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo A&T University, Japan","institution_ids":[]},{"raw_affiliation_string":"Tokyo A&T Univ., Tokyo, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5108565905"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.19129115,"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":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9984999895095825,"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":0.9962999820709229,"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/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.7290541529655457},{"id":"https://openalex.org/keywords/ultrasonic-motor","display_name":"Ultrasonic motor","score":0.7164416313171387},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6524825096130371},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.607250452041626},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.5861064791679382},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5410751700401306},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5074295401573181},{"id":"https://openalex.org/keywords/rotational-speed","display_name":"Rotational speed","score":0.48244673013687134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47801482677459717},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.44404536485671997},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4262765944004059},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3737945854663849},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3528800904750824},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3096718490123749},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2755376994609833},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.22421202063560486},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.189446359872818},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.17216002941131592},{"id":"https://openalex.org/keywords/piezoelectricity","display_name":"Piezoelectricity","score":0.12241530418395996}],"concepts":[{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.7290541529655457},{"id":"https://openalex.org/C138794181","wikidata":"https://www.wikidata.org/wiki/Q10541502","display_name":"Ultrasonic motor","level":3,"score":0.7164416313171387},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6524825096130371},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.607250452041626},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.5861064791679382},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5410751700401306},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5074295401573181},{"id":"https://openalex.org/C81063470","wikidata":"https://www.wikidata.org/wiki/Q1256787","display_name":"Rotational speed","level":2,"score":0.48244673013687134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47801482677459717},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.44404536485671997},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4262765944004059},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3737945854663849},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3528800904750824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3096718490123749},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2755376994609833},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.22421202063560486},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.189446359872818},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.17216002941131592},{"id":"https://openalex.org/C100082104","wikidata":"https://www.wikidata.org/wiki/Q183759","display_name":"Piezoelectricity","level":2,"score":0.12241530418395996},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isr.2013.6695645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","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":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W152676313","https://openalex.org/W1536180724","https://openalex.org/W1573670163","https://openalex.org/W1663094051","https://openalex.org/W2056276037","https://openalex.org/W2096007101","https://openalex.org/W2096121837","https://openalex.org/W2097191788","https://openalex.org/W2106224754","https://openalex.org/W2131485621","https://openalex.org/W2135782677","https://openalex.org/W2141218119","https://openalex.org/W2149308635","https://openalex.org/W2487525921","https://openalex.org/W2534161477","https://openalex.org/W2535998328","https://openalex.org/W6606221490"],"related_works":["https://openalex.org/W2006140691","https://openalex.org/W4321512240","https://openalex.org/W88316594","https://openalex.org/W4229012123","https://openalex.org/W2367649163","https://openalex.org/W2945394195","https://openalex.org/W2027098359","https://openalex.org/W2119755427","https://openalex.org/W1597166842","https://openalex.org/W2145206219"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,7,15,36,46,89],"pipe":[3],"inspection":[4],"robot":[5,33],"using":[6,95,103],"newly":[8],"developed":[9,88],"spherical":[10],"ultrasonic":[11,62],"motor":[12],"(SUSM)":[13],"as":[14],"camera":[16,37],"actuator.":[17],"The":[18,64],"novel":[19],"SUSM":[20,108],"has":[21],"improved":[22],"the":[23,32,50,57,70,74,78,84,99,104,107,110,113],"range":[24],"of":[25,61,73,123],"movement":[26],"compared":[27],"to":[28,112],"previous":[29],"SUSMs,":[30],"and":[31,53,59,77],"can":[34],"point":[35],"in":[38],"any":[39],"direction.":[40],"In":[41,98],"this":[42],"study,":[43],"we":[44,87],"determined":[45],"method":[47],"for":[48],"controlling":[49],"rotational":[51,65,79],"direction":[52],"strategic":[54],"control":[55,100],"from":[56,116],"kinematics":[58],"characteristics":[60],"motors.":[63],"directions":[66],"were":[67,81],"defined":[68],"by":[69],"phase":[71],"differences":[72],"applied":[75],"voltages,":[76],"speeds":[80],"changed":[82],"with":[83],"frequencies.":[85],"Additionally,":[86],"very":[90],"small":[91],"position":[92,115],"sensing":[93,105],"system":[94],"rotary":[96],"potentiometers.":[97],"experiment":[101],"performed":[102],"system,":[106],"showed":[109],"returnability":[111],"default":[114],"several":[117],"specified":[118],"points,":[119],"within":[120],"an":[121],"accuracy":[122],"1\u00b0.":[124]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}