{"id":"https://openalex.org/W3007569990","doi":"https://doi.org/10.1109/lra.2020.2975747","title":"A Flapped Paddle-Fin for Improving Underwater Propulsive Efficiency of Oscillatory Actuation","display_name":"A Flapped Paddle-Fin for Improving Underwater Propulsive Efficiency of Oscillatory Actuation","publication_year":2020,"publication_date":"2020-02-21","ids":{"openalex":"https://openalex.org/W3007569990","doi":"https://doi.org/10.1109/lra.2020.2975747","mag":"3007569990"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2975747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2975747","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5022264007","display_name":"Ashutosh Simha","orcid":"https://orcid.org/0000-0001-8748-1625"},"institutions":[{"id":"https://openalex.org/I111112146","display_name":"Tallinn University of Technology","ror":"https://ror.org/0443cwa12","country_code":"EE","type":"education","lineage":["https://openalex.org/I111112146"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Ashutosh Simha","raw_affiliation_strings":["Department of Software Science, Tallinn University of Technology, Tallinn, Estonia"],"raw_orcid":"https://orcid.org/0000-0001-8748-1625","affiliations":[{"raw_affiliation_string":"Department of Software Science, Tallinn University of Technology, Tallinn, Estonia","institution_ids":["https://openalex.org/I111112146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066310600","display_name":"Roza Gkliva","orcid":"https://orcid.org/0000-0002-1920-6696"},"institutions":[{"id":"https://openalex.org/I111112146","display_name":"Tallinn University of Technology","ror":"https://ror.org/0443cwa12","country_code":"EE","type":"education","lineage":["https://openalex.org/I111112146"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Roza Gkliva","raw_affiliation_strings":["Centre for Biorobotics, Department of Computer Systems, Tallinn University of Technology, Tallinn, Estonia"],"raw_orcid":"https://orcid.org/0000-0002-1920-6696","affiliations":[{"raw_affiliation_string":"Centre for Biorobotics, Department of Computer Systems, Tallinn University of Technology, Tallinn, Estonia","institution_ids":["https://openalex.org/I111112146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085233495","display_name":"\u00dclle Kotta","orcid":"https://orcid.org/0000-0002-7697-769X"},"institutions":[{"id":"https://openalex.org/I111112146","display_name":"Tallinn University of Technology","ror":"https://ror.org/0443cwa12","country_code":"EE","type":"education","lineage":["https://openalex.org/I111112146"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Ulle Kotta","raw_affiliation_strings":["Department of Software Science, Tallinn University of Technology, Tallinn, Estonia"],"raw_orcid":"https://orcid.org/0000-0002-7697-769X","affiliations":[{"raw_affiliation_string":"Department of Software Science, Tallinn University of Technology, Tallinn, Estonia","institution_ids":["https://openalex.org/I111112146"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084627413","display_name":"Maarja Kruusmaa","orcid":"https://orcid.org/0000-0001-5738-5421"},"institutions":[{"id":"https://openalex.org/I111112146","display_name":"Tallinn University of Technology","ror":"https://ror.org/0443cwa12","country_code":"EE","type":"education","lineage":["https://openalex.org/I111112146"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Maarja Kruusmaa","raw_affiliation_strings":["Centre for Biorobotics, Department of Computer Systems, Tallinn University of Technology, Tallinn, Estonia"],"raw_orcid":"https://orcid.org/0000-0001-5738-5421","affiliations":[{"raw_affiliation_string":"Centre for Biorobotics, Department of Computer Systems, Tallinn University of Technology, Tallinn, Estonia","institution_ids":["https://openalex.org/I111112146"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":19.5782,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.98610334,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"5","issue":"2","first_page":"3176","last_page":"3181"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9943000078201294,"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/fin","display_name":"Fin","score":0.7915924191474915},{"id":"https://openalex.org/keywords/propulsive-efficiency","display_name":"Propulsive efficiency","score":0.7413541078567505},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.7063755989074707},{"id":"https://openalex.org/keywords/wake","display_name":"Wake","score":0.6573034524917603},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6378321647644043},{"id":"https://openalex.org/keywords/paddle","display_name":"Paddle","score":0.6173990964889526},{"id":"https://openalex.org/keywords/drag","display_name":"Drag","score":0.5339571237564087},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5131469368934631},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.4700174629688263},{"id":"https://openalex.org/keywords/fish-fin","display_name":"Fish fin","score":0.45650821924209595},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3853608965873718},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.31492578983306885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2746735215187073},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2606485188007355},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2357780635356903},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.2354755997657776},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.23506003618240356},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11820578575134277},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1132606565952301}],"concepts":[{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.7915924191474915},{"id":"https://openalex.org/C42021957","wikidata":"https://www.wikidata.org/wiki/Q7250457","display_name":"Propulsive efficiency","level":3,"score":0.7413541078567505},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.7063755989074707},{"id":"https://openalex.org/C48939323","wikidata":"https://www.wikidata.org/wiki/Q294879","display_name":"Wake","level":2,"score":0.6573034524917603},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6378321647644043},{"id":"https://openalex.org/C165150422","wikidata":"https://www.wikidata.org/wiki/Q449573","display_name":"Paddle","level":2,"score":0.6173990964889526},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.5339571237564087},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5131469368934631},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.4700174629688263},{"id":"https://openalex.org/C25554088","wikidata":"https://www.wikidata.org/wiki/Q4162555","display_name":"Fish fin","level":3,"score":0.45650821924209595},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3853608965873718},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.31492578983306885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2746735215187073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2606485188007355},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2357780635356903},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.2354755997657776},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.23506003618240356},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11820578575134277},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1132606565952301},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2975747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2975747","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G7244604924","display_name":null,"funder_award_id":"ETAG17107","funder_id":"https://openalex.org/F4320321090","funder_display_name":"Eesti Teadusagentuur"}],"funders":[{"id":"https://openalex.org/F4320321090","display_name":"Eesti Teadusagentuur","ror":"https://ror.org/00jjeja18"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1837141699","https://openalex.org/W1993139065","https://openalex.org/W1998580099","https://openalex.org/W2031303964","https://openalex.org/W2035299816","https://openalex.org/W2054091565","https://openalex.org/W2072394293","https://openalex.org/W2082801473","https://openalex.org/W2086564308","https://openalex.org/W2100593585","https://openalex.org/W2114613756","https://openalex.org/W2117289015","https://openalex.org/W2121273772","https://openalex.org/W2125404397","https://openalex.org/W2139277299","https://openalex.org/W2142875600","https://openalex.org/W2153699081","https://openalex.org/W2156217788","https://openalex.org/W2160918376","https://openalex.org/W2162849480","https://openalex.org/W2276233072","https://openalex.org/W2430851345","https://openalex.org/W2512191156","https://openalex.org/W2520637732","https://openalex.org/W2606847311","https://openalex.org/W2624160634","https://openalex.org/W2734560912","https://openalex.org/W2770673576","https://openalex.org/W2779883601","https://openalex.org/W2808294394","https://openalex.org/W2843023802","https://openalex.org/W2921924845","https://openalex.org/W2964887325","https://openalex.org/W2969125521","https://openalex.org/W4237367820","https://openalex.org/W4256447911","https://openalex.org/W6694772248"],"related_works":["https://openalex.org/W4280504320","https://openalex.org/W2035299816","https://openalex.org/W2094476460","https://openalex.org/W2001725698","https://openalex.org/W2084903029","https://openalex.org/W2046566731","https://openalex.org/W2147491283","https://openalex.org/W2003843198","https://openalex.org/W4238505782","https://openalex.org/W1976408797"],"abstract_inverted_index":{"This":[0,61],"letter":[1],"presents":[2],"a":[3,19,23,63,86],"novel":[4],"design":[5],"of":[6,25,35,67,89],"an":[7,108],"oscillatory":[8,56,74,117],"fin":[9,54,103],"for":[10],"thrust-efficient":[11],"and":[12,39,94,121],"agile":[13],"underwater":[14,109],"robotic":[15,110],"locomotion.":[16],"We":[17],"propose":[18],"flat":[20],"paddle-fin":[21],"comprising":[22],"set":[24],"overlapping":[26],"cascaded":[27],"soft":[28],"flaps":[29],"that":[30],"open":[31],"in":[32,41,46,69,91],"one":[33],"half":[34],"the":[36,42,47,53,101,125],"stroke":[37],"cycle":[38],"close":[40],"other.":[43],"Consequently,":[44],"asymmetry":[45],"lateral":[48],"drag":[49],"force":[50,70],"exerted":[51],"by":[52],"during":[55],"actuation":[57],"is":[58],"passively":[59],"achieved.":[60],"enables":[62],"substantially":[64],"higher":[65],"degree":[66,88],"efficiency":[68],"generation":[71],"than":[72],"conventional":[73,97],"fins":[75],"which":[76],"rely":[77],"on":[78,107],"weaker":[79],"longitudinal":[80],"wake-induced":[81],"forces.":[82],"Experimental":[83],"results":[84],"show":[85],"high":[87],"improvement":[90],"net":[92],"thrust":[93],"propulsive-efficiency":[95],"over":[96],"fins.":[98],"Locomotion":[99],"with":[100],"proposed":[102],"has":[104],"been":[105],"demonstrated":[106],"platform.":[111],"Various":[112],"gaits":[113],"were":[114],"achieved":[115],"using":[116],"actuation,":[118],"via":[119],"angular":[120],"phase":[122],"offsets":[123],"between":[124],"actuators.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}