{"id":"https://openalex.org/W4225162976","doi":"https://doi.org/10.1109/robosoft54090.2022.9762113","title":"The Validation of Viscosity Induced Chord-wise Undulation on Soft Fin Ray Array Towards a Novel Robotic Manta Ray","display_name":"The Validation of Viscosity Induced Chord-wise Undulation on Soft Fin Ray Array Towards a Novel Robotic Manta Ray","publication_year":2022,"publication_date":"2022-04-04","ids":{"openalex":"https://openalex.org/W4225162976","doi":"https://doi.org/10.1109/robosoft54090.2022.9762113"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft54090.2022.9762113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","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/A5027923938","display_name":"Yi Sun","orcid":"https://orcid.org/0000-0002-0906-5682"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Yi Sun","raw_affiliation_strings":["Sydney Institute for Robotics and Intelligent Systems and Australian Centre for Field Robotics, The University of Sydney,Sydney,NSW,Australia,2006"],"affiliations":[{"raw_affiliation_string":"Sydney Institute for Robotics and Intelligent Systems and Australian Centre for Field Robotics, The University of Sydney,Sydney,NSW,Australia,2006","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001051207","display_name":"Liao Wu","orcid":"https://orcid.org/0000-0002-4554-7638"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Liao Wu","raw_affiliation_strings":["University of New South Wales,School of Mechanical and Manufacturing Engineering,NSW,Australia","School of Mechanical and Manufacturing Engineering, University of New South Wales, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"University of New South Wales,School of Mechanical and Manufacturing Engineering,NSW,Australia","institution_ids":["https://openalex.org/I31746571"]},{"raw_affiliation_string":"School of Mechanical and Manufacturing Engineering, University of New South Wales, NSW, Australia","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100740072","display_name":"Hongjian Wang","orcid":"https://orcid.org/0000-0003-1187-0135"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hongjian Wang","raw_affiliation_strings":["The University of Sydney,School of Aerospace, Mechanical and Mechatronic Engineering,Sydney,NSW,Australia,2006"],"affiliations":[{"raw_affiliation_string":"The University of Sydney,School of Aerospace, Mechanical and Mechatronic Engineering,Sydney,NSW,Australia,2006","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["Queen Mary University of London,Centre for Advanced Robotics @ Queen Mary (ARQ),London,United Kingdom,E1 4NS"],"affiliations":[{"raw_affiliation_string":"Queen Mary University of London,Centre for Advanced Robotics @ Queen Mary (ARQ),London,United Kingdom,E1 4NS","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025104684","display_name":"Peng Qi","orcid":"https://orcid.org/0000-0003-0514-9464"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Qi","raw_affiliation_strings":["Tongji University,Department of Control Science and Engineering,Shanghai,China,200092"],"affiliations":[{"raw_affiliation_string":"Tongji University,Department of Control Science and Engineering,Shanghai,China,200092","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5027923938"],"corresponding_institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"],"apc_list":null,"apc_paid":null,"fwci":0.2887,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.52045636,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9988999962806702,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9979000091552734,"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/chord","display_name":"Chord (peer-to-peer)","score":0.7237899899482727},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6396842002868652},{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.6233415007591248},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4867134392261505},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.47771692276000977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44802507758140564},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41439008712768555},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35183003544807434},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30342477560043335},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2802134156227112},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2740507423877716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17792746424674988},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11638951301574707}],"concepts":[{"id":"https://openalex.org/C194147245","wikidata":"https://www.wikidata.org/wiki/Q1076368","display_name":"Chord (peer-to-peer)","level":2,"score":0.7237899899482727},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6396842002868652},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.6233415007591248},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4867134392261505},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.47771692276000977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44802507758140564},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41439008712768555},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35183003544807434},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30342477560043335},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2802134156227112},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2740507423877716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17792746424674988},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11638951301574707},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft54090.2022.9762113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.75,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W984092848","https://openalex.org/W1978137841","https://openalex.org/W2044796898","https://openalex.org/W2045240372","https://openalex.org/W2046657031","https://openalex.org/W2107126289","https://openalex.org/W2116427012","https://openalex.org/W2149878860","https://openalex.org/W2159254673","https://openalex.org/W2164788924","https://openalex.org/W2171334428","https://openalex.org/W2188023334","https://openalex.org/W2275194489","https://openalex.org/W2290952711","https://openalex.org/W2295179809","https://openalex.org/W2326567429","https://openalex.org/W2334404634","https://openalex.org/W2468811593","https://openalex.org/W2582692610","https://openalex.org/W2586705812","https://openalex.org/W2605221221","https://openalex.org/W2695450890","https://openalex.org/W2772252224","https://openalex.org/W2793128170","https://openalex.org/W2822279955","https://openalex.org/W2901252645","https://openalex.org/W2944806635","https://openalex.org/W2971535392","https://openalex.org/W2994752493","https://openalex.org/W2998200609","https://openalex.org/W6644942589"],"related_works":["https://openalex.org/W2351864507","https://openalex.org/W3159818711","https://openalex.org/W3215212221","https://openalex.org/W2753058862","https://openalex.org/W2042398445","https://openalex.org/W2070360846","https://openalex.org/W2883093918","https://openalex.org/W4281616442","https://openalex.org/W4287332183","https://openalex.org/W2407141488"],"abstract_inverted_index":{"The":[0,110,132],"fin":[1,22,106,154],"motion":[2,93],"of":[3,23,138],"the":[4,21,24,45,48,58,62,76,81,90,136,141,144,150,153,178],"manta":[5,25,184],"ray":[6,26,107,185],"has":[7,74],"been":[8,75],"an":[9],"attractive":[10],"inspiration":[11],"for":[12,38,80,95,129,167],"biomimetic":[13,180],"underwater":[14,168,181],"robot":[15,182],"propeller":[16],"designs.":[17],"Study":[18],"shows":[19],"that":[20,135],"generates":[27],"undulations":[28],"in":[29,42,103,143],"both":[30],"span":[31],"and":[32,40,121,170],"chord-wise":[33,49],"directions,":[34],"which":[35],"is":[36,52,118],"advantageous":[37],"speed":[39],"agility":[41],"swimming.":[43],"Regarding":[44],"undulation":[46,50,130,151],"generation,":[47],"(CWU)":[51],"relatively":[53],"challenging":[54],"to":[55,100,177],"implement.":[56],"In":[57,84],"existing":[59],"batoid-inspired":[60],"robots,":[61],"multi-fin-ray":[63],"driven":[64,120],"by":[65],"individual":[66],"actuators,":[67,73],"like":[68,186],"motors":[69],"or":[70],"other":[71],"smart":[72],"most":[77],"common":[78],"design":[79],"CWU":[82,102],"implementation.":[83],"this":[85,171],"paper,":[86],"we":[87],"tap":[88],"into":[89],"viscosity":[91,137],"induced":[92],"sequencing":[94],"soft":[96,105],"fluidic":[97],"actuators":[98],"(SFAs)":[99],"achieve":[101],"a":[104,174],"array":[108],"(SFRA).":[109],"SFRA,":[111],"assembled":[112],"using":[113],"eight":[114,124],"bi-directional":[115],"fiber-reinforced":[116],"SFAs,":[117],"hydraulically":[119],"tested":[122],"with":[123,156,161,183],"different":[125],"tubing":[126],"connection":[127],"plans":[128],"characterization.":[131],"results":[133],"show":[134],"water":[139],"during":[140],"flow":[142],"SFRA":[145],"channel":[146],"network":[147],"successfully":[148],"achieves":[149],"along":[152],"rays":[155],"decaying":[157],"oscillation":[158],"amplitudes.":[159],"SFAs":[160],"hydraulic":[162],"actuation":[163],"are":[164],"favored":[165],"candidates":[166],"propellers,":[169],"work":[172],"provides":[173],"new":[175],"solution":[176],"SFA-based":[179],"swimming":[187],"mode.":[188]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
