{"id":"https://openalex.org/W2946871295","doi":"https://doi.org/10.1109/robosoft.2019.8722730","title":"Eversion and Retraction of a Soft Robot Towards the Exploration of Coral Reefs","display_name":"Eversion and Retraction of a Soft Robot Towards the Exploration of Coral Reefs","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2946871295","doi":"https://doi.org/10.1109/robosoft.2019.8722730","mag":"2946871295"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft.2019.8722730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722730","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://escholarship.org/content/qt5dm800kp/qt5dm800kp.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064747896","display_name":"Jamie Luong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210150894","display_name":"Jacobs (United States)","ror":"https://ror.org/05pmj3x43","country_code":"US","type":"company","lineage":["https://openalex.org/I4210150894"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jamie Luong","raw_affiliation_strings":["Jacobs School of Engineering, University of California, La Jolla, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jacobs School of Engineering, University of California, La Jolla, CA, USA","institution_ids":["https://openalex.org/I4210150894"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001605979","display_name":"Paul E. Glick","orcid":"https://orcid.org/0000-0001-9841-6503"},"institutions":[{"id":"https://openalex.org/I4210150894","display_name":"Jacobs (United States)","ror":"https://ror.org/05pmj3x43","country_code":"US","type":"company","lineage":["https://openalex.org/I4210150894"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Glick","raw_affiliation_strings":["Jacobs School of Engineering, University of California, La Jolla, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jacobs School of Engineering, University of California, La Jolla, CA, USA","institution_ids":["https://openalex.org/I4210150894"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027127088","display_name":"Aaron Ong","orcid":"https://orcid.org/0000-0002-0088-3996"},"institutions":[{"id":"https://openalex.org/I4210150894","display_name":"Jacobs (United States)","ror":"https://ror.org/05pmj3x43","country_code":"US","type":"company","lineage":["https://openalex.org/I4210150894"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron Ong","raw_affiliation_strings":["Jacobs School of Engineering, University of California, La Jolla, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jacobs School of Engineering, University of California, La Jolla, CA, USA","institution_ids":["https://openalex.org/I4210150894"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076247272","display_name":"Maya S deVries","orcid":"https://orcid.org/0000-0003-1276-1993"},"institutions":[{"id":"https://openalex.org/I150209017","display_name":"Scripps Institution of Oceanography","ror":"https://ror.org/04v7hvq31","country_code":"US","type":"facility","lineage":["https://openalex.org/I150209017","https://openalex.org/I36258959"]},{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maya S. deVries","raw_affiliation_strings":["UC San Diego, Scripps Institution of Oceanography, La Jolla, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC San Diego, Scripps Institution of Oceanography, La Jolla, CA, USA","institution_ids":["https://openalex.org/I150209017","https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033398538","display_name":"Stuart A. Sandin","orcid":"https://orcid.org/0000-0003-1714-4492"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]},{"id":"https://openalex.org/I150209017","display_name":"Scripps Institution of Oceanography","ror":"https://ror.org/04v7hvq31","country_code":"US","type":"facility","lineage":["https://openalex.org/I150209017","https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stuart Sandin","raw_affiliation_strings":["UC San Diego, Scripps Institution of Oceanography, La Jolla, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC San Diego, Scripps Institution of Oceanography, La Jolla, CA, USA","institution_ids":["https://openalex.org/I150209017","https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088329417","display_name":"Elliot W. Hawkes","orcid":"https://orcid.org/0000-0002-0420-5025"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliot W. Hawkes","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056621190","display_name":"Michael T. Tolley","orcid":"https://orcid.org/0000-0001-7821-7777"},"institutions":[{"id":"https://openalex.org/I4210150894","display_name":"Jacobs (United States)","ror":"https://ror.org/05pmj3x43","country_code":"US","type":"company","lineage":["https://openalex.org/I4210150894"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael T. Tolley","raw_affiliation_strings":["Jacobs School of Engineering, University of California, La Jolla, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jacobs School of Engineering, University of California, La Jolla, CA, USA","institution_ids":["https://openalex.org/I4210150894"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5064747896"],"corresponding_institution_ids":["https://openalex.org/I4210150894"],"apc_list":null,"apc_paid":null,"fwci":18.703,"has_fulltext":true,"cited_by_count":97,"citation_normalized_percentile":{"value":0.99670692,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"801","last_page":"807"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9987999796867371,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/coral-reef","display_name":"Coral reef","score":0.789521336555481},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7500753402709961},{"id":"https://openalex.org/keywords/reef","display_name":"Reef","score":0.6417451500892639},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6166707277297974},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5444120764732361},{"id":"https://openalex.org/keywords/coral","display_name":"Coral","score":0.5140634775161743},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5012710094451904},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.439378023147583},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.42285650968551636},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4063447117805481},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.36682626605033875},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.2641206979751587},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24900007247924805},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20533868670463562},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09718939661979675}],"concepts":[{"id":"https://openalex.org/C79367842","wikidata":"https://www.wikidata.org/wiki/Q11292","display_name":"Coral reef","level":2,"score":0.789521336555481},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7500753402709961},{"id":"https://openalex.org/C77044568","wikidata":"https://www.wikidata.org/wiki/Q184358","display_name":"Reef","level":2,"score":0.6417451500892639},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6166707277297974},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5444120764732361},{"id":"https://openalex.org/C143020374","wikidata":"https://www.wikidata.org/wiki/Q2411228","display_name":"Coral","level":2,"score":0.5140634775161743},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5012710094451904},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.439378023147583},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.42285650968551636},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4063447117805481},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.36682626605033875},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.2641206979751587},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24900007247924805},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20533868670463562},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09718939661979675}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robosoft.2019.8722730","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2019.8722730","pdf_url":null,"source":{"id":"https://openalex.org/S4306498402","display_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:escholarship.org/ark:/13030/qt5dm800kp","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/5dm800kp","pdf_url":"https://escholarship.org/content/qt5dm800kp/qt5dm800kp.pdf","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"etd"},{"id":"pmh:oai:scholarworks.sjsu.edu:faculty_rsca-5179","is_oa":false,"landing_page_url":"https://scholarworks.sjsu.edu/faculty_rsca/4180","pdf_url":null,"source":{"id":"https://openalex.org/S4377196389","display_name":"San Jos\u00e9 State University ScholarWorks (San Jose State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I51504820","host_organization_name":"San Jose State University","host_organization_lineage":["https://openalex.org/I51504820"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Research, Scholarly, and Creative Activity","raw_type":"text"},{"id":"pmh:qt5dm800kp","is_oa":false,"landing_page_url":"http://www.escholarship.org/uc/item/5dm800kp","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Luong, Jamie. (2019). Eversion and Retraction of a Soft Robot Towards the Exploration of Coral Reefs. UC San Diego: Mechanical and Aerospace Engineering. Retrieved from: http://www.escholarship.org/uc/item/5dm800kp","raw_type":"dissertation"}],"best_oa_location":{"id":"pmh:oai:escholarship.org/ark:/13030/qt5dm800kp","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/5dm800kp","pdf_url":"https://escholarship.org/content/qt5dm800kp/qt5dm800kp.pdf","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"etd"},"sustainable_development_goals":[{"display_name":"Life below water","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2946871295.pdf","grobid_xml":"https://content.openalex.org/works/W2946871295.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W759378964","https://openalex.org/W1483621521","https://openalex.org/W1515749184","https://openalex.org/W1582747053","https://openalex.org/W1595895163","https://openalex.org/W1615578167","https://openalex.org/W1991781418","https://openalex.org/W1998132491","https://openalex.org/W2005502113","https://openalex.org/W2016457575","https://openalex.org/W2021101528","https://openalex.org/W2028795574","https://openalex.org/W2044205296","https://openalex.org/W2054919520","https://openalex.org/W2056905712","https://openalex.org/W2062832787","https://openalex.org/W2068079496","https://openalex.org/W2072821139","https://openalex.org/W2075421824","https://openalex.org/W2086894807","https://openalex.org/W2090227149","https://openalex.org/W2109476731","https://openalex.org/W2129529838","https://openalex.org/W2325917271","https://openalex.org/W2416506485","https://openalex.org/W2618733545","https://openalex.org/W2734595964","https://openalex.org/W2736778426","https://openalex.org/W2737491236","https://openalex.org/W2738152005","https://openalex.org/W2771720567","https://openalex.org/W2783801667","https://openalex.org/W2883291475","https://openalex.org/W6657614372"],"related_works":["https://openalex.org/W1981253168","https://openalex.org/W2105092152","https://openalex.org/W1467387222","https://openalex.org/W4206979530","https://openalex.org/W2012693525","https://openalex.org/W2018708029","https://openalex.org/W2155689721","https://openalex.org/W91196398","https://openalex.org/W1999831262","https://openalex.org/W2022319242"],"abstract_inverted_index":{"Coral":[0],"reefs":[1,21],"are":[2,86],"declining":[3],"worldwide.":[4],"Yet,":[5],"critical":[6],"information":[7],"remains":[8],"unknown":[9],"about":[10],"the":[11,24,54,57,97,100,110,144],"basic":[12],"biological,":[13],"ecological,":[14],"and":[15,31,59,67,90,112,137,148],"chemical":[16],"processes":[17],"that":[18,35,76],"sustain":[19],"coral":[20,164],"because":[22],"of":[23,56,146,163],"challenges":[25],"to":[26,44,95,108,132,134],"access":[27],"their":[28],"narrow":[29],"crevices":[30,136],"passageways.":[32],"A":[33],"robot":[34,58,71,101,111,118,154],"grows":[36],"through":[37],"its":[38,60,130,140],"environment":[39],"would":[40],"be":[41],"well":[42],"suited":[43],"this":[45,63],"challenge":[46],"as":[47,155],"there":[48],"is":[49],"no":[50],"relative":[51],"motion":[52],"between":[53],"exterior":[55],"surroundings.":[61],"In":[62],"work,":[64],"we":[65],"design":[66],"develop":[68],"an":[69,151],"eversion":[70,147],"for":[72,80,150,159],"operation":[73],"underwater,":[74],"show":[75],"existing":[77],"models":[78],"work":[79],"constrained":[81],"passageways":[82],"if":[83],"external":[84],"contacts":[85],"taken":[87],"into":[88],"account,":[89],"present":[91],"a":[92,114,156],"new":[93],"model":[94],"describe":[96],"forces":[98],"on":[99,129],"during":[102],"retraction.":[103],"We":[104,142],"use":[105],"ambient":[106],"water":[107],"pressurize":[109],"maintain":[113],"neutral":[115],"buoyancy.":[116],"The":[117],"operates":[119],"in":[120,139],"open":[121],"loop":[122],"without":[123],"any":[124],"steering,":[125],"but":[126],"can":[127],"rely":[128],"compliance":[131],"conform":[133],"natural":[135],"pathways":[138],"environment.":[141],"demonstrate":[143],"mechanism":[145],"retraction":[149],"underwater":[152],"soft":[153],"potential":[157],"approach":[158],"future":[160],"non-destructive":[161],"exploration":[162],"reefs.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":2}],"updated_date":"2026-05-28T09:10:13.091523","created_date":"2025-10-10T00:00:00"}