{"id":"https://openalex.org/W2099596125","doi":"https://doi.org/10.1109/robio.2009.5420664","title":"Propulsive and maneuvering performance of two joints biorobotic autonomous undersea vehicle SPC-III","display_name":"Propulsive and maneuvering performance of two joints biorobotic autonomous undersea vehicle SPC-III","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2099596125","doi":"https://doi.org/10.1109/robio.2009.5420664","mag":"2099596125"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420664","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420664","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5029641559","display_name":"Jianhong Liang","orcid":"https://orcid.org/0000-0002-7692-3800"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","US"],"is_corresponding":true,"raw_author_name":"Jianhong Liang","raw_affiliation_strings":["Robotics Institute, BeiHang University, Beijing, China","Robotics Institute, BeiHang University, 37 Xueyuan Road, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, BeiHang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute, BeiHang University, 37 Xueyuan Road, Beijing, China","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005658348","display_name":"Weifeng Zheng","orcid":"https://orcid.org/0000-0003-1407-9373"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Weifeng Zheng","raw_affiliation_strings":["Robotics Institute, BeiHang University, Beijing, China","Robotics Institute, BeiHang University, 37 Xueyuan Road, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, BeiHang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute, BeiHang University, 37 Xueyuan Road, Beijing, China","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002423609","display_name":"Li Wen","orcid":"https://orcid.org/0000-0002-1498-3103"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Li Wen","raw_affiliation_strings":["Robotics Institute, BeiHang University, Beijing, China","Robotics Institute, BeiHang University, 37 Xueyuan Road, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, BeiHang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute, BeiHang University, 37 Xueyuan Road, Beijing, China","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057674506","display_name":"Tianmiao Wang","orcid":"https://orcid.org/0000-0003-3153-7524"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Tianmiao Wang","raw_affiliation_strings":["Robotics Institute, BeiHang University, Beijing, China","Robotics Institute, BeiHang University, 37 Xueyuan Road, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, BeiHang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute, BeiHang University, 37 Xueyuan Road, Beijing, China","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012033507","display_name":"Chengyin Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Chengyin Xie","raw_affiliation_strings":["Robotics Institute, BeiHang University, Beijing, China","Robotics Institute, BeiHang University, 37 Xueyuan Road, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, BeiHang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute, BeiHang University, 37 Xueyuan Road, Beijing, China","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5029641559"],"corresponding_institution_ids":["https://openalex.org/I74973139","https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.6906,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.75899115,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"31","issue":null,"first_page":"314","last_page":"320"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"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":0.9994000196456909,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9983999729156494,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.8229346871376038},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.8022514581680298},{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.7987700700759888},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.7810162901878357},{"id":"https://openalex.org/keywords/propulsor","display_name":"Propulsor","score":0.6284534931182861},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.6278440356254578},{"id":"https://openalex.org/keywords/hull","display_name":"Hull","score":0.6220735311508179},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4710884988307953},{"id":"https://openalex.org/keywords/fish-fin","display_name":"Fish fin","score":0.42609652876853943},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3824096918106079},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3382229208946228},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2596592903137207},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.13116571307182312},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.08224529027938843}],"concepts":[{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.8229346871376038},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.8022514581680298},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.7987700700759888},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.7810162901878357},{"id":"https://openalex.org/C151174772","wikidata":"https://www.wikidata.org/wiki/Q3246710","display_name":"Propulsor","level":3,"score":0.6284534931182861},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.6278440356254578},{"id":"https://openalex.org/C37423430","wikidata":"https://www.wikidata.org/wiki/Q6750281","display_name":"Hull","level":2,"score":0.6220735311508179},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4710884988307953},{"id":"https://openalex.org/C25554088","wikidata":"https://www.wikidata.org/wiki/Q4162555","display_name":"Fish fin","level":3,"score":0.42609652876853943},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3824096918106079},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3382229208946228},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2596592903137207},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.13116571307182312},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.08224529027938843},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420664","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420664","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":18,"referenced_works":["https://openalex.org/W61532229","https://openalex.org/W95736864","https://openalex.org/W1547163188","https://openalex.org/W1671387331","https://openalex.org/W2046765688","https://openalex.org/W2083537896","https://openalex.org/W2104983615","https://openalex.org/W2113589188","https://openalex.org/W2118923808","https://openalex.org/W2128244585","https://openalex.org/W2138578406","https://openalex.org/W2158717966","https://openalex.org/W2467817139","https://openalex.org/W4249962567","https://openalex.org/W6632477507","https://openalex.org/W6679158382","https://openalex.org/W6719957437","https://openalex.org/W6832106555"],"related_works":["https://openalex.org/W2317778457","https://openalex.org/W114248041","https://openalex.org/W2559781427","https://openalex.org/W2578278421","https://openalex.org/W2728556281","https://openalex.org/W595927246","https://openalex.org/W4280504320","https://openalex.org/W2001442073","https://openalex.org/W2149878860","https://openalex.org/W2384459983"],"abstract_inverted_index":{"Biorobotic":[0],"autonomous":[1,14],"undersea":[2],"vehicle":[3,19,102],"SPC-III,":[4],"developed":[5],"by":[6,36,44,62],"Robotics":[7],"institute,":[8],"BeiHang":[9],"University,":[10],"is":[11,28,60],"a":[12,21,29,45,106],"mission-scale":[13],"submersible":[15,18],"vehicle.":[16],"The":[17,25,53],"possesses":[20],"torpedo-shape":[22],"rigid":[23],"hull.":[24],"aft":[26],"section":[27],"two":[30,37,69],"joints":[31],"caudal":[32,58,83,93],"fin":[33,59,84,94],"thruster":[34,85],"driven":[35],"servo":[38,70],"motors,":[39],"which":[40],"may":[41],"be":[42],"substituted":[43],"screw":[46,87],"propeller":[47,88],"maintaining":[48],"the":[49,57,64,68,101,119],"same":[50],"body":[51],"shape.":[52],"accurate":[54],"motion":[55,66],"of":[56,67,82,121],"achieved":[61],"adjusting":[63],"coordinated":[65],"motors.":[71],"Experiments":[72],"have":[73],"been":[74],"conducted":[75],"to":[76],"measure":[77],"power":[78],"consumption":[79],"and":[80,86,96,110],"maneuverability":[81],"under":[89],"different":[90],"speeds.":[91],"Using":[92],"propulsion":[95],"carrying":[97],"Water":[98],"Quality":[99],"Multiprobes,":[100],"has":[103],"successfully":[104],"performed":[105],"49-km":[107],"probe":[108],"experiment":[109],"collected":[111],"concentration":[112],"distributing":[113],"data":[114],"on":[115],"blue-green":[116],"algae":[117],"in":[118],"water":[120],"Taihu":[122],"Lake.":[123]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}