{"id":"https://openalex.org/W4405710148","doi":"https://doi.org/10.1109/robot61475.2024.10796924","title":"Effects of the Thrusters Orientation in the Displacement of the Underwater Robot UDrobot: Design and Experimentation","display_name":"Effects of the Thrusters Orientation in the Displacement of the Underwater Robot UDrobot: Design and Experimentation","publication_year":2024,"publication_date":"2024-11-06","ids":{"openalex":"https://openalex.org/W4405710148","doi":"https://doi.org/10.1109/robot61475.2024.10796924"},"language":"en","primary_location":{"id":"doi:10.1109/robot61475.2024.10796924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot61475.2024.10796924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 7th Iberian Robotics Conference (ROBOT)","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/A5047624312","display_name":"Juan S. Cely","orcid":"https://orcid.org/0000-0003-3348-0533"},"institutions":[{"id":"https://openalex.org/I182083151","display_name":"Universidad Rey Juan Carlos","ror":"https://ror.org/01v5cv687","country_code":"ES","type":"education","lineage":["https://openalex.org/I182083151"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan S. Cely","raw_affiliation_strings":["Rey Juan Carlos University,Intelligent Robotics Lab,Fuenlabrada,Spain"],"raw_orcid":"https://orcid.org/0000-0003-3348-0533","affiliations":[{"raw_affiliation_string":"Rey Juan Carlos University,Intelligent Robotics Lab,Fuenlabrada,Spain","institution_ids":["https://openalex.org/I182083151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032722533","display_name":"Marco Carpio","orcid":"https://orcid.org/0000-0001-9666-1775"},"institutions":[{"id":"https://openalex.org/I3132940433","display_name":"Politecnica Salesiana University","ror":"https://ror.org/00f11af73","country_code":"EC","type":"education","lineage":["https://openalex.org/I3132940433"]}],"countries":["EC"],"is_corresponding":false,"raw_author_name":"Marco Carpio","raw_affiliation_strings":["Universidad Politécnica Salesiana,Grupo de Investigación en Interacción, Robótica y Automática (GIIRA),Cuenca,Ecuador"],"raw_orcid":"https://orcid.org/0000-0001-9666-1775","affiliations":[{"raw_affiliation_string":"Universidad Politécnica Salesiana,Grupo de Investigación en Interacción, Robótica y Automática (GIIRA),Cuenca,Ecuador","institution_ids":["https://openalex.org/I3132940433"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051334051","display_name":"Roque Saltar\u00e9n","orcid":"https://orcid.org/0000-0001-8009-5350"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roque Saltaren","raw_affiliation_strings":["Centro de Automática y Robótica, Universidad Politécnica de Madrid,Madrid,Spain"],"raw_orcid":"https://orcid.org/0000-0001-8009-5350","affiliations":[{"raw_affiliation_string":"Centro de Automática y Robótica, Universidad Politécnica de Madrid,Madrid,Spain","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.30374615,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9955999851226807,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9187999963760376,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9110999703407288,"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/orientation","display_name":"Orientation (vector space)","score":0.6909589767456055},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6537654995918274},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.648357629776001},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.6340615153312683},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4418938457965851},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.422426700592041},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39599746465682983},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3575022518634796},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.33267468214035034},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31890198588371277},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.20687276124954224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1538453996181488},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09603899717330933},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08653318881988525},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0658729076385498}],"concepts":[{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6909589767456055},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6537654995918274},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.648357629776001},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.6340615153312683},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4418938457965851},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.422426700592041},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39599746465682983},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3575022518634796},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.33267468214035034},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31890198588371277},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.20687276124954224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1538453996181488},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09603899717330933},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08653318881988525},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0658729076385498},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot61475.2024.10796924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot61475.2024.10796924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 7th Iberian Robotics Conference (ROBOT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1989779197","https://openalex.org/W2036964579","https://openalex.org/W2038928597","https://openalex.org/W2130681076","https://openalex.org/W2579314765","https://openalex.org/W2600051528","https://openalex.org/W2605505399","https://openalex.org/W2742188239","https://openalex.org/W2774029052","https://openalex.org/W2792300139","https://openalex.org/W2808294394","https://openalex.org/W2903975763","https://openalex.org/W2911415904","https://openalex.org/W2914295133","https://openalex.org/W2947914516","https://openalex.org/W2965887540","https://openalex.org/W2969228909","https://openalex.org/W2969528921","https://openalex.org/W2994761562","https://openalex.org/W2995525702","https://openalex.org/W3007030116","https://openalex.org/W3026829485","https://openalex.org/W3030042014","https://openalex.org/W3154955638","https://openalex.org/W4205805726","https://openalex.org/W4213310690","https://openalex.org/W4280536586"],"related_works":["https://openalex.org/W2071768959","https://openalex.org/W4319442894","https://openalex.org/W2921408402","https://openalex.org/W4312767556","https://openalex.org/W2982615283","https://openalex.org/W2290286193","https://openalex.org/W4312370102","https://openalex.org/W4372267671","https://openalex.org/W2079693677","https://openalex.org/W4312756471"],"abstract_inverted_index":{"Underwater":[0],"robots":[1],"need":[2],"a":[3,35,81],"number":[4],"of":[5,19,31,37,74,84,86,99],"thrusters":[6,23,33],"to":[7,62,104],"perform":[8],"their":[9],"movements.":[10],"However,":[11],"there":[12],"are":[13],"movements":[14],"that":[15,44,91],"require":[16],"another":[17],"type":[18,39],"actuator,":[20],"otherwise":[21],"the":[22,28,32,42,47,66,72,75,87,93,97,105],"must":[24],"replace":[25],"it.":[26],"Verifying":[27],"correct":[29],"orientation":[30,43,73],"in":[34],"robot":[36],"this":[38],"allows":[40],"choosing":[41],"best":[45,94],"benefits":[46],"robot's":[48,76],"movement.":[49],"Four":[50],"different":[51,82],"tests":[52],"were":[53,60],"performed":[54],"where":[55],"vertical":[56],"forces":[57],"and":[58,71],"torques":[59],"applied":[61],"be":[63],"exerted":[64],"by":[65],"robot,":[67],"capturing":[68],"depth":[69],"values":[70],"pose,":[77],"each":[78],"test":[79],"with":[80,102],"angle":[83,90,98],"inclination":[85],"thrusters.":[88],"The":[89],"achieved":[92],"results":[95],"was":[96],"-5":[100],"degrees":[101],"respect":[103],"vertical.":[106]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}