{"id":"https://openalex.org/W4294975861","doi":"https://doi.org/10.1109/mmar55195.2022.9874273","title":"A Note of A Legless Capsubot Robot Control","display_name":"A Note of A Legless Capsubot Robot Control","publication_year":2022,"publication_date":"2022-08-22","ids":{"openalex":"https://openalex.org/W4294975861","doi":"https://doi.org/10.1109/mmar55195.2022.9874273"},"language":"en","primary_location":{"id":"doi:10.1109/mmar55195.2022.9874273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar55195.2022.9874273","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","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/A5072052382","display_name":"Artur Babiarz","orcid":"https://orcid.org/0000-0002-7841-7151"},"institutions":[{"id":"https://openalex.org/I119004910","display_name":"Silesian University of Technology","ror":"https://ror.org/02dyjk442","country_code":"PL","type":"education","lineage":["https://openalex.org/I119004910"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Artur Babiarz","raw_affiliation_strings":["Silesian University of Technology,Department of Automatic Control and Robotics,Gliwice,Poland","Department of Automatic Control and Robotics, Silesian University of Technology, Gliwice, Poland"],"affiliations":[{"raw_affiliation_string":"Silesian University of Technology,Department of Automatic Control and Robotics,Gliwice,Poland","institution_ids":["https://openalex.org/I119004910"]},{"raw_affiliation_string":"Department of Automatic Control and Robotics, Silesian University of Technology, Gliwice, Poland","institution_ids":["https://openalex.org/I119004910"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5072052382"],"corresponding_institution_ids":["https://openalex.org/I119004910"],"apc_list":null,"apc_paid":null,"fwci":0.241,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5062623,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"27","issue":null,"first_page":"454","last_page":"458"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.996999979019165,"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/T11081","display_name":"Advanced Control Systems Design","score":0.996999979019165,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.986299991607666,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9736999869346619,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.886256217956543},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.853164553642273},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6785370707511902},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.6590632200241089},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5719260573387146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4901021420955658},{"id":"https://openalex.org/keywords/approximation-error","display_name":"Approximation error","score":0.45614099502563477},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.4461310803890228},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4459376335144043},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3548261523246765},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.352843701839447},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2496981918811798},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23825562000274658},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1793588399887085},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.155422180891037}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.886256217956543},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.853164553642273},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6785370707511902},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.6590632200241089},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5719260573387146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4901021420955658},{"id":"https://openalex.org/C122383733","wikidata":"https://www.wikidata.org/wiki/Q865920","display_name":"Approximation error","level":2,"score":0.45614099502563477},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.4461310803890228},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4459376335144043},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3548261523246765},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.352843701839447},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2496981918811798},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23825562000274658},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1793588399887085},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.155422180891037},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar55195.2022.9874273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar55195.2022.9874273","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W328983435","https://openalex.org/W332590057","https://openalex.org/W1581329055","https://openalex.org/W1855553487","https://openalex.org/W1875829743","https://openalex.org/W1969313263","https://openalex.org/W1994696319","https://openalex.org/W2006097298","https://openalex.org/W2078812477","https://openalex.org/W2086699513","https://openalex.org/W2140666501","https://openalex.org/W2152195021","https://openalex.org/W2161411167","https://openalex.org/W2168013035","https://openalex.org/W2565942492","https://openalex.org/W2885161400","https://openalex.org/W2949992486","https://openalex.org/W2991662548","https://openalex.org/W3036607399","https://openalex.org/W3152818962","https://openalex.org/W4298153165","https://openalex.org/W6601342910","https://openalex.org/W6731468165","https://openalex.org/W6794106348","https://openalex.org/W6843621146"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2150958483","https://openalex.org/W2922503265","https://openalex.org/W2023324176","https://openalex.org/W2121097709","https://openalex.org/W2393592727","https://openalex.org/W2153629532","https://openalex.org/W2368034024"],"abstract_inverted_index":{"The":[0],"presented":[1,96],"paper":[2],"contains":[3],"comparison":[4,51],"two":[5],"controllers":[6,27,63,94],"applied":[7],"to":[8,86],"the":[9,50,76],"control":[10,56,88],"system":[11,57],"of":[12,18,38,42,52,64,78,98],"capsubot":[13,65],"robot.":[14],"We":[15],"show":[16],"application":[17],"fractional":[19],"order":[20,25],"PID":[21,26,60,91],"(FOPID)":[22],"and":[23,61,92],"integer":[24],"with":[28,58,90],"tuning":[29,70],"parameters":[30],"by":[31,45],"particle":[32],"swarm":[33],"optimization":[34,39],"(PSO).":[35],"A":[36],"criteria":[37],"is":[40,73],"Integral":[41],"Time":[43],"multiplied":[44],"Absolute":[46],"Error":[47],"(ITAE).":[48],"Finally,":[49],"obtained":[53],"result":[54],"for":[55,95],"standard":[59],"FOPID":[62,93],"robot":[66],"using":[67],"PSO":[68],"algorithm":[69],"in":[71],"Matlab":[72],"presented.":[74],"To":[75],"best":[77],"author's":[79],"knowledge,":[80],"no":[81],"study":[82],"has":[83],"been":[84],"conducted":[85],"investigate":[87],"systems":[89],"type":[97],"capsubot.":[99]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}