{"id":"https://openalex.org/W3196873161","doi":"https://doi.org/10.1109/rcar52367.2021.9517563","title":"Modeling and Implementation of Tacking for Wing Sail Land-Yacht","display_name":"Modeling and Implementation of Tacking for Wing Sail Land-Yacht","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3196873161","doi":"https://doi.org/10.1109/rcar52367.2021.9517563","mag":"3196873161"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517563","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5046320510","display_name":"Yihan Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihan Huang","raw_affiliation_strings":["The Chinese University of Hong Kong,Shenzhen","The Chinese University of Hong Kong, Shenzhen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Shenzhen","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062673936","display_name":"Yang Jiao","orcid":"https://orcid.org/0000-0002-1603-6839"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Jiao","raw_affiliation_strings":["The Chinese University of Hong Kong,Shenzhen","The Chinese University of Hong Kong, Shenzhen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Shenzhen","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112371767","display_name":"Xinyu Chen","orcid":"https://orcid.org/0009-0008-6347-2490"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Chen","raw_affiliation_strings":["The Chinese University of Hong Kong,Shenzhen","The Chinese University of Hong Kong, Shenzhen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Shenzhen","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028256056","display_name":"Lianxin Zhang","orcid":"https://orcid.org/0000-0002-5076-9518"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lianxin Zhang","raw_affiliation_strings":["Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong,Shenzhen","Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Shenzhen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong,Shenzhen","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037821700","display_name":"Xiaoqiang Ji","orcid":"https://orcid.org/0000-0002-8556-3579"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqiang Ji","raw_affiliation_strings":["Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong,Shenzhen","Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Shenzhen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong,Shenzhen","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044361827","display_name":"Huihuan Qian","orcid":"https://orcid.org/0000-0001-8269-0882"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huihuan Qian","raw_affiliation_strings":["Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong,Shenzhen","Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Shenzhen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong,Shenzhen","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"405","last_page":"410"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9988999962806702,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9988999962806702,"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/T11604","display_name":"Ship Hydrodynamics and Maneuverability","score":0.9955999851226807,"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/T12126","display_name":"Maritime Transport Emissions and Efficiency","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tacking","display_name":"Tacking","score":0.994737982749939},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.5749292373657227},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5478824973106384},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5133642554283142},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.4476708769798279},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4154527485370636},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.39228934049606323},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3731425404548645},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2075391709804535},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13241523504257202}],"concepts":[{"id":"https://openalex.org/C2779181239","wikidata":"https://www.wikidata.org/wiki/Q7673928","display_name":"Tacking","level":2,"score":0.994737982749939},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.5749292373657227},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5478824973106384},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5133642554283142},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.4476708769798279},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4154527485370636},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.39228934049606323},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3731425404548645},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2075391709804535},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13241523504257202},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517563","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517563","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G7413195341","display_name":null,"funder_award_id":"KQJSCX20180330165912672","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"},{"id":"https://openalex.org/G8081952825","display_name":null,"funder_award_id":"AC01202101027","funder_id":"https://openalex.org/F4320334117","funder_display_name":"National Natural Science Foundation of China-Shenzhen Robotics Research Center Project"},{"id":"https://openalex.org/G999915204","display_name":null,"funder_award_id":"U1813217,U1613226","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326705","display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality","ror":null},{"id":"https://openalex.org/F4320334117","display_name":"National Natural Science Foundation of China-Shenzhen Robotics Research Center Project","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1639322963","https://openalex.org/W1639837026","https://openalex.org/W1719420539","https://openalex.org/W1972271182","https://openalex.org/W1976625292","https://openalex.org/W2027155899","https://openalex.org/W2078965019","https://openalex.org/W2103329017","https://openalex.org/W2162944879","https://openalex.org/W2187215435","https://openalex.org/W2222738899","https://openalex.org/W2254496085","https://openalex.org/W2587293574","https://openalex.org/W2807670049","https://openalex.org/W3001760489","https://openalex.org/W3037496547","https://openalex.org/W3137420233","https://openalex.org/W6675412737","https://openalex.org/W6686659266"],"related_works":["https://openalex.org/W2356170247","https://openalex.org/W3010064855","https://openalex.org/W4210719014","https://openalex.org/W2162944879","https://openalex.org/W1936054418","https://openalex.org/W3196873161","https://openalex.org/W2187893106","https://openalex.org/W4246831295","https://openalex.org/W2384256256","https://openalex.org/W3039616179"],"abstract_inverted_index":{"Wing":[0],"sail":[1],"land-yacht":[2,38,125],"is":[3,20,48,71,106],"one":[4],"of":[5,34,77,111,135],"the":[6,23,57,62,68,75,84,91,100,114,118,124,128,139],"promising":[7],"vehicles":[8],"which":[9,47],"utilizes":[10],"wind":[11],"energy.":[12],"However,":[13],"its":[14],"autonomous":[15],"driving":[16],"in":[17],"all":[18],"directions":[19],"challenging,":[21],"especially":[22],"upwind":[24,54],"steering":[25,69,119,143],"(tacking)":[26],"maneuver.":[27],"This":[28],"paper":[29],"proposes":[30],"a":[31,40,43,65,109,131],"novel":[32],"design":[33],"low":[35],"cost":[36],"three-wheeled":[37],"with":[39,130],"T-frame":[41],"and":[42,52,80,103,121],"foamed":[44],"wing":[45],"sail,":[46],"able":[49],"to":[50,56,82],"move":[51],"tack":[53],"owing":[55],"lightweight":[58],"design.":[59],"To":[60],"achieve":[61,127],"successful":[63],"tacking,":[64],"model":[66,120],"describing":[67],"process":[70],"developed":[72],"based":[73,137],"on":[74,138],"law":[76],"energy":[78],"conservation":[79],"used":[81],"predict":[83],"minimum":[85,141],"initial":[86,142],"velocity":[87],"for":[88],"steering.":[89],"In":[90],"model,":[92],"an":[93],"acceleration":[94],"error":[95,105],"function":[96],"C":[97],"induced":[98],"by":[99,108],"environment":[101],"disturbance":[102],"manufacturing":[104],"identified":[107],"series":[110],"experiments.":[112],"Finally,":[113],"tacking":[115,129],"experiments":[116],"verify":[117],"show":[122],"that":[123],"can":[126],"high":[132],"success":[133],"rate":[134],"94.7%,":[136],"predicted":[140],"velocity.":[144]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}