{"id":"https://openalex.org/W2130153609","doi":"https://doi.org/10.1109/robio.2013.6739597","title":"Passive and active attitude stabilization method for the spherical underwater robot (SUR-II)","display_name":"Passive and active attitude stabilization method for the spherical underwater robot (SUR-II)","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2130153609","doi":"https://doi.org/10.1109/robio.2013.6739597","mag":"2130153609"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5087138345","display_name":"Chunfeng Yue","orcid":null},"institutions":[{"id":"https://openalex.org/I201933988","display_name":"Kagawa University","ror":"https://ror.org/04j7mzp05","country_code":"JP","type":"education","lineage":["https://openalex.org/I201933988"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Chunfeng Yue","raw_affiliation_strings":["Graduate School of Engineering, Kagawa University, Kagawa, Japan","Grad. Sch. of Eng., Kagawa Univ., Takamatsu, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kagawa University, Kagawa, Japan","institution_ids":["https://openalex.org/I201933988"]},{"raw_affiliation_string":"Grad. Sch. of Eng., Kagawa Univ., Takamatsu, Japan","institution_ids":["https://openalex.org/I201933988"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100611041","display_name":"Shuxiang Guo","orcid":"https://orcid.org/0000-0002-0607-9798"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]},{"id":"https://openalex.org/I201933988","display_name":"Kagawa University","ror":"https://ror.org/04j7mzp05","country_code":"JP","type":"education","lineage":["https://openalex.org/I201933988"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Shuxiang Guo","raw_affiliation_strings":["Faculty of Engineering, Kagawa University, College of Automation, Tianjin University of Technology, Kagawa, Japan","Coll. of Autom., Tianjin Univ. of Technol., Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Kagawa University, College of Automation, Tianjin University of Technology, Kagawa, Japan","institution_ids":["https://openalex.org/I201933988"]},{"raw_affiliation_string":"Coll. of Autom., Tianjin Univ. of Technol., Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055981327","display_name":"Maoxun Li","orcid":null},"institutions":[{"id":"https://openalex.org/I201933988","display_name":"Kagawa University","ror":"https://ror.org/04j7mzp05","country_code":"JP","type":"education","lineage":["https://openalex.org/I201933988"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Maoxun Li","raw_affiliation_strings":["Faculty of Engineering, Kagawa University, Kagawa, Japan","Fac. of Eng., Kagawa Univ., Takamatsu, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Kagawa University, Kagawa, Japan","institution_ids":["https://openalex.org/I201933988"]},{"raw_affiliation_string":"Fac. of Eng., Kagawa Univ., Takamatsu, Japan","institution_ids":["https://openalex.org/I201933988"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100378847","display_name":"Yaxin Li","orcid":"https://orcid.org/0000-0002-7659-4138"},"institutions":[{"id":"https://openalex.org/I201933988","display_name":"Kagawa University","ror":"https://ror.org/04j7mzp05","country_code":"JP","type":"education","lineage":["https://openalex.org/I201933988"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yaxin Li","raw_affiliation_strings":["Faculty of Engineering, Kagawa University, Kagawa, Japan","Fac. of Eng., Kagawa Univ., Takamatsu, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Kagawa University, Kagawa, Japan","institution_ids":["https://openalex.org/I201933988"]},{"raw_affiliation_string":"Fac. of Eng., Kagawa Univ., Takamatsu, Japan","institution_ids":["https://openalex.org/I201933988"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5087138345"],"corresponding_institution_ids":["https://openalex.org/I201933988"],"apc_list":null,"apc_paid":null,"fwci":1.741,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.85869149,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"3","issue":null,"first_page":"1019","last_page":"1023"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9958999752998352,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.994700014591217,"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/euler-angles","display_name":"Euler angles","score":0.7409733533859253},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6972750425338745},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6841776967048645},{"id":"https://openalex.org/keywords/rotation-around-a-fixed-axis","display_name":"Rotation around a fixed axis","score":0.6509707570075989},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5881748199462891},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5786277055740356},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.537814736366272},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4425179362297058},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4418164789676666},{"id":"https://openalex.org/keywords/circular-motion","display_name":"Circular motion","score":0.4354778230190277},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41386276483535767},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41297978162765503},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.386457234621048},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35788238048553467},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2320709228515625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22875863313674927},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20329123735427856},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2020857036113739},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.16373693943023682},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09379345178604126},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08445847034454346}],"concepts":[{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.7409733533859253},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6972750425338745},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6841776967048645},{"id":"https://openalex.org/C6342182","wikidata":"https://www.wikidata.org/wiki/Q2995427","display_name":"Rotation around a fixed axis","level":2,"score":0.6509707570075989},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5881748199462891},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5786277055740356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.537814736366272},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4425179362297058},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4418164789676666},{"id":"https://openalex.org/C127635394","wikidata":"https://www.wikidata.org/wiki/Q715746","display_name":"Circular motion","level":2,"score":0.4354778230190277},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41386276483535767},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41297978162765503},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.386457234621048},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35788238048553467},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2320709228515625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22875863313674927},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20329123735427856},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2020857036113739},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.16373693943023682},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09379345178604126},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08445847034454346},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.7699999809265137,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1963650019","https://openalex.org/W1964575265","https://openalex.org/W1966430968","https://openalex.org/W1971223748","https://openalex.org/W1991997861","https://openalex.org/W1993434046","https://openalex.org/W1994458794","https://openalex.org/W2011921253","https://openalex.org/W2026881523","https://openalex.org/W2036380717","https://openalex.org/W2038635527","https://openalex.org/W2047101432","https://openalex.org/W2051120250","https://openalex.org/W2060400620","https://openalex.org/W2063004661","https://openalex.org/W2064785603","https://openalex.org/W2077335522","https://openalex.org/W2085533641","https://openalex.org/W2107712101","https://openalex.org/W2116534597","https://openalex.org/W2119416454","https://openalex.org/W2135291706","https://openalex.org/W2138429052","https://openalex.org/W2148031265","https://openalex.org/W2152459800","https://openalex.org/W2153015913","https://openalex.org/W2160010096","https://openalex.org/W2165668088","https://openalex.org/W2168800577","https://openalex.org/W2358602199","https://openalex.org/W6681979744"],"related_works":["https://openalex.org/W2313373071","https://openalex.org/W3155356048","https://openalex.org/W2990181534","https://openalex.org/W4309462258","https://openalex.org/W2466443277","https://openalex.org/W3011706881","https://openalex.org/W28949169","https://openalex.org/W4288091406","https://openalex.org/W2413615493","https://openalex.org/W2035609472"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"the":[3,18,22,38,41,46,71,75,80,98,117,132,138,142,156,168,180],"passive":[4,26,61],"and":[5,33,45,66,79,85],"active":[6,91,99,169],"attitude":[7,27,62,92,100,170,184],"stabilization":[8,28,63,93,164],"control":[9,94,155],"for":[10,70],"a":[11,163,187],"spherical":[12,143],"underwater":[13,144],"robot":[14,76,145,181],"(SUR-II).":[15],"Due":[16],"to":[17,50,59,107,154,166],"special":[19],"structure":[20],"of":[21,43,48,141],"robot,":[23],"we":[24,102,160],"involve":[25],"method":[29],"both":[30],"in":[31,64,125,147,172,186],"pitch":[32,65],"roll":[34,67],"directions.":[35,68],"We":[36],"adjust":[37],"distance":[39],"between":[40],"center":[42,47],"buoyancy":[44],"gravity":[49],"generate":[51],"restoring":[52,55,89],"moment.":[53],"The":[54,112,175],"moment":[56],"is":[57,77,83,87,95,151],"used":[58],"realize":[60,183],"But":[69,131],"yaw":[72,128,173],"direction,":[73],"because":[74],"centrosymmetric":[78],"water":[81],"resistance":[82],"small":[84],"there":[86],"no":[88],"moment,":[90],"necessary.":[96],"For":[97],"stabilization,":[101],"employ":[103],"Rotation":[104,133],"Vector":[105,134],"algorithm":[106,115,135],"instead":[108],"Euler":[109,113],"angle":[110,114],"algorithm.":[111],"decomposed":[116],"rotation":[118,139],"motion":[119,140],"into":[120],"3":[121],"orderly":[122],"rotational":[123,157],"motions":[124],"pitch,":[126],"roll,":[127],"direction":[129],"respectively.":[130],"can":[136,182],"describe":[137],"just":[146],"one":[148],"time.":[149,189],"It":[150],"very":[152],"convenient":[153],"motion.":[158],"Finally,":[159],"carry":[161],"out":[162],"experiment":[165],"verify":[167],"stability":[171],"direction.":[174],"experimental":[176],"results":[177],"show":[178],"that":[179],"stabilizaiton":[185],"short":[188]},"counts_by_year":[{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}