{"id":"https://openalex.org/W4416368661","doi":"https://doi.org/10.1109/lra.2025.3634890","title":"Hybrid-Driven Disc-Shaped Autonomous Underwater Vehicle With High Maneuverability and Gliding Capability: Design and Experiments","display_name":"Hybrid-Driven Disc-Shaped Autonomous Underwater Vehicle With High Maneuverability and Gliding Capability: Design and Experiments","publication_year":2025,"publication_date":"2025-11-19","ids":{"openalex":"https://openalex.org/W4416368661","doi":"https://doi.org/10.1109/lra.2025.3634890"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3634890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3634890","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/A5007305849","display_name":"Haoda Li","orcid":"https://orcid.org/0009-0006-2274-3077"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haoda Li","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University, Zhoushan, China"],"raw_orcid":"https://orcid.org/0009-0006-2274-3077","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028626590","display_name":"Zitao Jin","orcid":"https://orcid.org/0009-0003-5959-5029"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihang Jin","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University, Zhoushan, China"],"raw_orcid":"https://orcid.org/0009-0003-5959-5029","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jin Huang","orcid":"https://orcid.org/0000-0003-1309-8329"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Huang","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University, Zhoushan, China"],"raw_orcid":"https://orcid.org/0000-0003-1309-8329","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055056691","display_name":"Zichen Liu","orcid":"https://orcid.org/0000-0001-7345-911X"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zichen Liu","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University, Zhoushan, China"],"raw_orcid":"https://orcid.org/0000-0001-7345-911X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102561360","display_name":"Xianyu Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianyu Peng","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University, Zhoushan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhikun Wang","orcid":"https://orcid.org/0000-0003-1366-0596"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhikun Wang","raw_affiliation_strings":["Donghai Laboratory, Zhoushan, China"],"raw_orcid":"https://orcid.org/0000-0003-1366-0596","affiliations":[{"raw_affiliation_string":"Donghai Laboratory, Zhoushan, China","institution_ids":[]}]},{"author_position":"last","author":{"id":null,"display_name":"Ying Chen","orcid":"https://orcid.org/0000-0003-1285-556X"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Chen","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University, Zhoushan, China"],"raw_orcid":"https://orcid.org/0000-0003-1285-556X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing, Ocean College of Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5007305849"],"corresponding_institution_ids":["https://openalex.org/I31847773"],"apc_list":null,"apc_paid":null,"fwci":1.9797,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.88039096,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"11","issue":"1","first_page":"946","last_page":"953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.8248000144958496,"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":0.8248000144958496,"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/T11604","display_name":"Ship Hydrodynamics and Maneuverability","score":0.057100001722574234,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.03400000184774399,"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/underwater-glider","display_name":"Underwater glider","score":0.7793999910354614},{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.7055000066757202},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.548799991607666},{"id":"https://openalex.org/keywords/buoyancy","display_name":"Buoyancy","score":0.46639999747276306},{"id":"https://openalex.org/keywords/glider","display_name":"Glider","score":0.4311000108718872},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.3831000030040741},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.37630000710487366},{"id":"https://openalex.org/keywords/propulsor","display_name":"Propulsor","score":0.3538999855518341}],"concepts":[{"id":"https://openalex.org/C34824556","wikidata":"https://www.wikidata.org/wiki/Q2634473","display_name":"Underwater glider","level":3,"score":0.7793999910354614},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.7055000066757202},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.61080002784729},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.548799991607666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4961000084877014},{"id":"https://openalex.org/C538625479","wikidata":"https://www.wikidata.org/wiki/Q6497624","display_name":"Buoyancy","level":2,"score":0.46639999747276306},{"id":"https://openalex.org/C73525677","wikidata":"https://www.wikidata.org/wiki/Q2396202","display_name":"Glider","level":2,"score":0.4311000108718872},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.3831000030040741},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.37630000710487366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3628000020980835},{"id":"https://openalex.org/C151174772","wikidata":"https://www.wikidata.org/wiki/Q3246710","display_name":"Propulsor","level":3,"score":0.3538999855518341},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3504999876022339},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3440000116825104},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.33000001311302185},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.30000001192092896},{"id":"https://openalex.org/C994952","wikidata":"https://www.wikidata.org/wiki/Q17145637","display_name":"Mooring","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C141614622","wikidata":"https://www.wikidata.org/wiki/Q7002983","display_name":"Neutral buoyancy","level":2,"score":0.2842999994754791},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2750000059604645},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26829999685287476},{"id":"https://openalex.org/C2988576667","wikidata":"https://www.wikidata.org/wiki/Q19680204","display_name":"Motion simulation","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2597000002861023},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.25769999623298645},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2554999887943268}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3634890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3634890","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1484721599","https://openalex.org/W1546767056","https://openalex.org/W2004699259","https://openalex.org/W2068870240","https://openalex.org/W2097868028","https://openalex.org/W2100269650","https://openalex.org/W2125097724","https://openalex.org/W2156171605","https://openalex.org/W2166905292","https://openalex.org/W2344213315","https://openalex.org/W2531272140","https://openalex.org/W2900427346","https://openalex.org/W2908658035","https://openalex.org/W2924359829","https://openalex.org/W2978986438","https://openalex.org/W2999224801","https://openalex.org/W2999410716","https://openalex.org/W3035185677","https://openalex.org/W3047448626","https://openalex.org/W3154392751","https://openalex.org/W3191887117","https://openalex.org/W3208052598","https://openalex.org/W4213451709","https://openalex.org/W4292999322","https://openalex.org/W4297327861","https://openalex.org/W4303712424","https://openalex.org/W4311715876","https://openalex.org/W4376627212","https://openalex.org/W4385059757","https://openalex.org/W4404367631","https://openalex.org/W4406387956","https://openalex.org/W4407024399"],"related_works":[],"abstract_inverted_index":{"This":[0,72],"paper":[1],"presents":[2],"the":[3,28,55,58,91,102,113,127,132,151,156,160,163],"mechatronic":[4],"design":[5,64],"and":[6,24,36,49,85,97,109,138,147,158],"implementation":[7],"of":[8,61,93,131,155,162],"a":[9,20],"hybrid-driven":[10,17],"disc-shaped":[11,63],"autonomous":[12],"underwater":[13,175],"vehicle":[14],"(HD-AUV).":[15],"The":[16],"system":[18,23],"integrates":[19],"buoyancy":[21],"adjustment":[22],"propeller":[25,77,99],"thrusters,":[26,78],"enabling":[27],"HD-AUV":[29,56,103,157],"to":[30,42,65,104,125],"achieve":[31,66],"both":[32],"high":[33],"maneuverability":[34],"motion":[35,45,70,169],"energy-efficient":[37],"gliding.":[38],"These":[39,167],"capabilities":[40,154],"correspond":[41],"two":[43],"distinct":[44],"modes:":[46],"AUV":[47,53],"mode":[48],"glider":[50,89],"mode.":[51],"In":[52,88],"mode,":[54,90],"leverages":[57],"rotational":[59],"symmetry":[60],"its":[62],"four":[67,76],"degree-of-freedom":[68],"(4-DOF)":[69],"control.":[71],"configuration,":[73],"supported":[74],"by":[75],"facilitates":[79],"high-maneuverability":[80],"actions,":[81],"including":[82],"fixed-point":[83],"hovering":[84],"in-place":[86],"turning.":[87],"integration":[92],"rotatable":[94],"dorsal":[95],"fins":[96],"horizontal":[98],"thrusters":[100],"enables":[101],"transition":[105],"seamlessly":[106],"between":[107],"diving":[108],"ascending":[110],"phases":[111],"without":[112],"conventional":[114],"mass-shifting":[115],"mechanisms":[116],"used":[117],"in":[118,177],"torpedo-type":[119],"gliders.":[120],"Numerical":[121],"simulations":[122],"are":[123],"conducted":[124],"evaluate":[126],"steady":[128],"glide":[129],"performance":[130],"HD-AUV,":[133],"focusing":[134],"on":[135],"lift-to-drag":[136],"ratios":[137],"hydrodynamic":[139],"coefficients.":[140],"Comprehensive":[141],"pool":[142],"experiments,":[143],"encompassing":[144],"multi-DOF":[145],"maneuvers":[146],"gentle":[148],"gliding,":[149],"demonstrate":[150],"exceptional":[152],"locomotion":[153],"validate":[159],"accuracy":[161],"proposed":[164],"dynamic":[165],"model.":[166],"hybrid":[168],"modes":[170],"hold":[171],"significant":[172],"promise":[173],"for":[174],"operations":[176],"complex":[178],"seafloor":[179],"environments.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-11-19T00:00:00"}
