{"id":"https://openalex.org/W3010686334","doi":"https://doi.org/10.1109/sii46433.2020.9026221","title":"Performance comparison of control methods using a dual-arm underwater robot-Computed torque based control and resolved acceleration control for UVMS-","display_name":"Performance comparison of control methods using a dual-arm underwater robot-Computed torque based control and resolved acceleration control for UVMS-","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3010686334","doi":"https://doi.org/10.1109/sii46433.2020.9026221","mag":"3010686334"},"language":"en","primary_location":{"id":"doi:10.1109/sii46433.2020.9026221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii46433.2020.9026221","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/SICE International Symposium on System Integration (SII)","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/A5009471006","display_name":"Shinichi Sagara","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinichi Sagara","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Kyushu Institute of Technology, Kitakyushu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Kyushu Institute of Technology, Kitakyushu, Japan","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016793398","display_name":"Radzi Ambar","orcid":"https://orcid.org/0000-0003-0922-7685"},"institutions":[{"id":"https://openalex.org/I930072361","display_name":"Tun Hussein Onn University of Malaysia","ror":"https://ror.org/01c5wha71","country_code":"MY","type":"education","lineage":["https://openalex.org/I930072361"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Radzi Ambar","raw_affiliation_strings":["Department of Computer Engineering, Universiti Tun Hussein Onn Malaysia, Johor, Malaysia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Universiti Tun Hussein Onn Malaysia, Johor, Malaysia","institution_ids":["https://openalex.org/I930072361"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5957,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.65906907,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1094","last_page":"1099"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987000226974487,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9977999925613403,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/acceleration","display_name":"Acceleration","score":0.7051382064819336},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6867741346359253},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.665756344795227},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6007221341133118},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5127099752426147},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.47297966480255127},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4679153561592102},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.4664086103439331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43636518716812134},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4189267158508301},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39847275614738464},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3336942791938782},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.28078967332839966},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.226505309343338},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1577051877975464},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1298111081123352},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.06826984882354736}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7051382064819336},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6867741346359253},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.665756344795227},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6007221341133118},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5127099752426147},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.47297966480255127},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4679153561592102},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.4664086103439331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43636518716812134},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4189267158508301},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39847275614738464},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3336942791938782},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.28078967332839966},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.226505309343338},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1577051877975464},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1298111081123352},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.06826984882354736},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/sii46433.2020.9026221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii46433.2020.9026221","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2016770250","https://openalex.org/W2017352881","https://openalex.org/W2026162525","https://openalex.org/W2040892141","https://openalex.org/W2053905718","https://openalex.org/W2090601308","https://openalex.org/W2101474901","https://openalex.org/W2110754506","https://openalex.org/W2132294818","https://openalex.org/W2150752534","https://openalex.org/W2163182383","https://openalex.org/W2185063385","https://openalex.org/W2320043814","https://openalex.org/W2619318350","https://openalex.org/W2903053043","https://openalex.org/W4235131321","https://openalex.org/W6682309058","https://openalex.org/W6980784156"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3217214504","https://openalex.org/W3168963531","https://openalex.org/W2887125121","https://openalex.org/W2145590848","https://openalex.org/W2755887994","https://openalex.org/W2369699286","https://openalex.org/W3149490355","https://openalex.org/W2374143010"],"abstract_inverted_index":{"Most":[0],"of":[1,18,34,45,67,72,104],"control":[2,57,99,106],"methods":[3,107],"for":[4,59],"Underwater":[5],"Vehicle-Manipulator":[6],"Systems":[7],"(UVMS)":[8],"have":[9,52],"been":[10],"proposed":[11,53,92],"based":[12,61,98],"on":[13,62],"the":[14,28,32,35,42,46,63,68,74,105,109],"configuration":[15,110],"space":[16,65],"consisting":[17,66],"vehicle":[19,29,75],"position":[20,69],"and":[21,23,70,76],"orientation":[22,71],"manipulator":[24,36],"joint":[25],"displacement.":[26],"Since":[27],"that":[30,41],"is":[31,39,102],"base":[33],"moves,":[37],"it":[38],"considered":[40],"steady-state":[43],"error":[44],"manipulator's":[47],"end-tip":[48],"remains.":[49],"The":[50],"authors":[51],"a":[54,84,95],"resolved":[55],"acceleration":[56],"method":[58,93],"UVMS":[60],"task":[64],"both":[73],"end-tip.":[77],"In":[78],"this":[79],"paper,":[80],"through":[81],"simulations":[82],"using":[83],"dual":[85],"-arm":[86],"underwater":[87],"robot,":[88],"we":[89],"compare":[90],"our":[91],"with":[94],"computed":[96],"torque":[97],"method,":[100],"which":[101],"one":[103],"in":[108],"space.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
