{"id":"https://openalex.org/W4364302346","doi":"https://doi.org/10.1109/tase.2023.3264237","title":"Sample-Observed Soft Actor-Critic Learning for Path Following of a Biomimetic Underwater Vehicle","display_name":"Sample-Observed Soft Actor-Critic Learning for Path Following of a Biomimetic Underwater Vehicle","publication_year":2023,"publication_date":"2023-04-10","ids":{"openalex":"https://openalex.org/W4364302346","doi":"https://doi.org/10.1109/tase.2023.3264237"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3264237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3264237","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5074876402","display_name":"Ruichen Ma","orcid":"https://orcid.org/0000-0003-4950-9812"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruichen Ma","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4950-9812","affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100445361","display_name":"Yu Wang","orcid":"https://orcid.org/0000-0003-3049-004X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Wang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3049-004X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100639215","display_name":"Shuo Wang","orcid":"https://orcid.org/0000-0002-1390-9219"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Wang","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1390-9219","affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108401200","display_name":"Long Cheng","orcid":"https://orcid.org/0000-0001-7565-8788"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Cheng","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7565-8788","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100431397","display_name":"Rui Wang","orcid":"https://orcid.org/0000-0003-3172-3167"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Wang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3172-3167","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024708104","display_name":"Min Tan","orcid":"https://orcid.org/0000-0002-1986-8438"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Tan","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1986-8438","affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2345,"currency":"USD","value_usd":2345},"apc_paid":null,"fwci":2.0003,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.84454756,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"21","issue":"3","first_page":"2574","last_page":"2583"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9975000023841858,"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":0.9975000023841858,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9742000102996826,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9628000259399414,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6616398096084595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4951733648777008},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.48684161901474},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42925482988357544},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4281888008117676},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.42413267493247986},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37342342734336853},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3408043682575226},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3257754445075989}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6616398096084595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4951733648777008},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.48684161901474},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42925482988357544},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4281888008117676},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.42413267493247986},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37342342734336853},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3408043682575226},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3257754445075989},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3264237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3264237","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8500000238418579,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G1563129299","display_name":null,"funder_award_id":"62122087","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3932525804","display_name":null,"funder_award_id":"62073316","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3995019959","display_name":null,"funder_award_id":"Y2022053","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G4653236334","display_name":null,"funder_award_id":"4222055","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G5464853613","display_name":null,"funder_award_id":"Z211100002121152","funder_id":"https://openalex.org/F4320334978","funder_display_name":"Beijing Nova Program"},{"id":"https://openalex.org/G6884401265","display_name":null,"funder_award_id":"62276253","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7255016761","display_name":null,"funder_award_id":"62203435","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G749317072","display_name":null,"funder_award_id":"6202530 7","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8714772076","display_name":null,"funder_award_id":"YSBR-034","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G8748815676","display_name":null,"funder_award_id":"62033013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null},{"id":"https://openalex.org/F4320334978","display_name":"Beijing Nova Program","ror":"https://ror.org/034k14f91"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1966417947","https://openalex.org/W2020950478","https://openalex.org/W2035845008","https://openalex.org/W2081084346","https://openalex.org/W2100593585","https://openalex.org/W2102023127","https://openalex.org/W2112565225","https://openalex.org/W2117289015","https://openalex.org/W2123359130","https://openalex.org/W2131904095","https://openalex.org/W2145014642","https://openalex.org/W2612054959","https://openalex.org/W2623317660","https://openalex.org/W2737064927","https://openalex.org/W2752507487","https://openalex.org/W2754000639","https://openalex.org/W2775815861","https://openalex.org/W2792969186","https://openalex.org/W2963729305","https://openalex.org/W2996938574","https://openalex.org/W3004006877","https://openalex.org/W3013292885","https://openalex.org/W3113224201","https://openalex.org/W3126763268","https://openalex.org/W3132988674","https://openalex.org/W3156809058","https://openalex.org/W3166944604","https://openalex.org/W3176393554","https://openalex.org/W3200006583","https://openalex.org/W3209965475","https://openalex.org/W4220901398","https://openalex.org/W4283364883","https://openalex.org/W4311415873","https://openalex.org/W4315783921","https://openalex.org/W6747473740","https://openalex.org/W6748839928"],"related_works":["https://openalex.org/W2012995867","https://openalex.org/W2410775454","https://openalex.org/W3015582614","https://openalex.org/W2765495093","https://openalex.org/W3123515255","https://openalex.org/W3192428530","https://openalex.org/W4230505810","https://openalex.org/W2581074659","https://openalex.org/W102508450","https://openalex.org/W2567750182"],"abstract_inverted_index":{"This":[0,41,215],"paper":[1,152],"addresses":[2],"a":[3,10,29,33,113,156,175,241],"learning-based":[4,263],"path":[5,49,134,159,264],"following":[6,50,135,160,265],"control":[7,51,64,82,110,122,136,145,161,252,277,284],"scheme":[8,123,162,173,285],"for":[9,56,163],"biomimetic":[11,190],"underwater":[12,181],"vehicle":[13],"(BUV)":[14],"driven":[15,166],"by":[16,92,118,142,167,203],"undulatory":[17,168,195,205,249],"fins.":[18],"A":[19,66],"dynamic":[20,34],"line-of-sight":[21],"(DLOS)":[22],"guidance":[23],"system":[24,43],"is":[25,76,124,153,234,286],"designed,":[26],"which":[27,207,267],"uses":[28],"virtual":[30],"ball":[31],"with":[32,84],"radius":[35],"to":[36,147,154,228,236,251,276],"detect":[37],"the":[38,48,57,63,103,106,109,119,164,187,194,204,219,226,238,248,253],"reference":[39],"path.":[40],"DLOS":[42,104],"guides":[44],"our":[45,121,129,278,283],"BUV":[46,130,165,227],"in":[47,137,174,256],"and":[52,88,98,112,170,211,232,271,288],"extracts":[53],"essential":[54],"information":[55,270],"Markov":[58],"decision":[59],"process":[60],"(MDP)":[61],"of":[62,108,150,225,240,247],"task.":[65],"deep":[67],"reinforcement":[68],"learning":[69],"(DRL)":[70],"algorithm,":[71],"sample-observed":[72],"soft":[73],"actor-critic":[74],"(SOSAC)":[75],"proposed.":[77],"The":[78],"can":[79,131,200],"train":[80],"out":[81],"policy":[83],"greater":[85],"cumulative":[86],"reward":[87],"higher":[89],"success":[90],"rate":[91],"using":[93,143,184],"two":[94],"tricks:":[95],"sample":[96,99],"observation":[97],"diversification.":[100],"Based":[101],"on":[102,222],"system,":[105],"MDP":[107],"task,":[111],"multilayer":[114],"perceptron":[115],"(MLP)":[116],"trained":[117],"SOSAC,":[120],"established.":[125],"Experiments":[126,280],"show":[127],"that":[128,282],"successfully":[132],"achieve":[133],"an":[138,261],"indoor":[139],"pool":[140],"environment":[141],"this":[144,151,172,257],"scheme.Note":[146],"Practitioners\u2014The":[148],"motivation":[149],"design":[155],"practical":[157,287],"end-to-end":[158,262],"fins,":[169],"verify":[171],"real-world":[176],"environment.":[177],"Unlike":[178],"common":[179,242],"autonomous":[180],"vehicles":[182],"(AUVs)":[183],"axial":[185],"propellers,":[186],"BUVs":[188],"apply":[189],"propellers":[191],"such":[192],"as":[193],"fin.":[196],"Multimodel":[197],"wave":[198],"patterns":[199],"be":[201,229],"implemented":[202],"fin,":[206],"generates":[208,273],"nonlinear":[209],"thrust":[210],"lateral":[212],"force":[213,221],"simultaneously.":[214],"propulsive":[216],"feature":[217],"makes":[218],"driving":[220],"different":[223],"directions":[224],"strong":[230],"coupled,":[231],"it":[233],"complicated":[235],"convert":[237],"outputs":[239],"controller":[243],"into":[244],"waveform":[245,274],"parameters":[246,275],"fins":[250],"BUV.":[254,279],"Therefore,":[255],"paper,":[258],"we":[259],"proposed":[260],"controller,":[266],"observes":[268],"environmental":[269],"directly":[272],"suggest":[281],"valid.":[289]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
