{"id":"https://openalex.org/W4385248063","doi":"https://doi.org/10.1109/med59994.2023.10185767","title":"Modelling and workspace analysis for an underwater manipulator*","display_name":"Modelling and workspace analysis for an underwater manipulator*","publication_year":2023,"publication_date":"2023-06-26","ids":{"openalex":"https://openalex.org/W4385248063","doi":"https://doi.org/10.1109/med59994.2023.10185767"},"language":"en","primary_location":{"id":"doi:10.1109/med59994.2023.10185767","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/med59994.2023.10185767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-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/A5054290435","display_name":"Sven Lack","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sven Lack","raw_affiliation_strings":["University of Rostock,Institute of Automation,Rostock,Germany"],"affiliations":[{"raw_affiliation_string":"University of Rostock,Institute of Automation,Rostock,Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025506057","display_name":"Erik Rentzow","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Erik Rentzow","raw_affiliation_strings":["University of Rostock,Institute of Automation,Rostock,Germany"],"affiliations":[{"raw_affiliation_string":"University of Rostock,Institute of Automation,Rostock,Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002598775","display_name":"Torsten Jeinsch","orcid":"https://orcid.org/0000-0002-8287-2544"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Torsten Jeinsch","raw_affiliation_strings":["University of Rostock,Institute of Automation,Rostock,Germany"],"affiliations":[{"raw_affiliation_string":"University of Rostock,Institute of Automation,Rostock,Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5054290435"],"corresponding_institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I4665924"],"apc_list":null,"apc_paid":null,"fwci":0.7328,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.70500076,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"698","last_page":"703"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8787426352500916},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6826402544975281},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6475340127944946},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5993605256080627},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.367147296667099},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24461156129837036},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20670881867408752},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.19946613907814026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1713866889476776}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8787426352500916},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6826402544975281},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6475340127944946},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5993605256080627},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.367147296667099},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24461156129837036},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20670881867408752},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19946613907814026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1713866889476776},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med59994.2023.10185767","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/med59994.2023.10185767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1975413110","https://openalex.org/W1990777642","https://openalex.org/W2008436444","https://openalex.org/W2008621687","https://openalex.org/W2096722024","https://openalex.org/W2149411086","https://openalex.org/W2159600613","https://openalex.org/W2547072705","https://openalex.org/W2807729139","https://openalex.org/W4205608984","https://openalex.org/W4235131321","https://openalex.org/W4254730509"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2394251694","https://openalex.org/W2107847614","https://openalex.org/W4293702207","https://openalex.org/W2385165696"],"abstract_inverted_index":{"Manipulation":[0],"tasks":[1],"in":[2,21],"underwater":[3,97],"operations":[4],"were":[5],"so":[6],"far":[7],"only":[8],"realizable":[9],"with":[10],"large":[11,53],"work":[12,54],"class":[13,55],"remotely":[14],"operated":[15],"vehicles":[16],"(ROV).":[17],"However,":[18],"new":[19],"developments":[20],"the":[22,42,44,74,79,82,88,93,137],"field":[23],"of":[24,41,52,73,78,87,95],"miniaturized":[25],"fully-electric":[26],"multi-joint":[27],"manipulators":[28],"are":[29],"opening":[30],"up":[31],"applications":[32],"for":[33,126,141],"small":[34],"and":[35,61,76,81,118,134],"medium":[36],"size":[37],"ROVs.":[38,56],"Despite":[39],"miniaturization":[40],"manipulators,":[43],"manipulator-to-vehicle":[45],"ratio":[46],"is":[47,105,110,132],"not":[48],"identical":[49],"to":[50,68,112,136],"that":[51],"Coupling":[57],"effects":[58],"between":[59,129],"manipulator":[60,98,117],"vehicle":[62,80],"must":[63],"be":[64],"taken":[65],"into":[66],"account":[67],"ensure":[69],"good":[70],"controller":[71],"performance":[72],"position":[75],"attitude":[77],"tool":[83],"center":[84],"point":[85],"(TCP)":[86],"manipulator.":[89],"In":[90],"this":[91],"paper,":[92],"modelling":[94],"an":[96,101],"based":[99],"on":[100],"extended":[102],"Newton-Euler":[103],"method":[104,109,125],"presented.":[106],"The":[107],"proposed":[108],"applied":[111,135],"a":[113,124],"Reach":[114,138],"Alpha":[115,139],"5":[116,140],"validated":[119],"by":[120],"static":[121],"measurements.":[122],"Further-more,":[123],"collision":[127],"detection":[128],"arm":[130],"parts":[131],"presented":[133],"workspace":[142],"analysis.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
