{"id":"https://openalex.org/W4415883069","doi":"https://doi.org/10.1109/tcst.2025.3625639","title":"Integrated Rotor Compensation and Adaptive Stiffness Impedance Control Method for UMD Systems in Soil Sampling Tasks","display_name":"Integrated Rotor Compensation and Adaptive Stiffness Impedance Control Method for UMD Systems in Soil Sampling Tasks","publication_year":2025,"publication_date":"2025-11-04","ids":{"openalex":"https://openalex.org/W4415883069","doi":"https://doi.org/10.1109/tcst.2025.3625639"},"language":null,"primary_location":{"id":"doi:10.1109/tcst.2025.3625639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3625639","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5109782982","display_name":"Jiahao Rao","orcid":"https://orcid.org/0009-0001-2323-186X"},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Rao","raw_affiliation_strings":["School of Automation and Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, China University of Geosciences, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0001-2323-186X","affiliations":[{"raw_affiliation_string":"School of Automation and Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013007709","display_name":"Jianqi An","orcid":"https://orcid.org/0000-0002-4783-5289"},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqi An","raw_affiliation_strings":["School of Automation and Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, China University of Geosciences, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-4783-5289","affiliations":[{"raw_affiliation_string":"School of Automation and Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101916568","display_name":"Jinhua She","orcid":"https://orcid.org/0000-0003-3165-5045"},"institutions":[{"id":"https://openalex.org/I148798404","display_name":"Tokyo University of Technology","ror":"https://ror.org/021a26605","country_code":"JP","type":"education","lineage":["https://openalex.org/I148798404"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jinhua She","raw_affiliation_strings":["School of Engineering, Tokyo University of Technology, Hachioji, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3165-5045","affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo University of Technology, Hachioji, Tokyo, Japan","institution_ids":["https://openalex.org/I148798404"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047212595","display_name":"Takao Terano","orcid":"https://orcid.org/0000-0002-2364-6950"},"institutions":[{"id":"https://openalex.org/I46943848","display_name":"Chiba University of Commerce","ror":"https://ror.org/02qn0vb48","country_code":"JP","type":"education","lineage":["https://openalex.org/I46943848"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takao Terano","raw_affiliation_strings":["CUC Research Institute, Chiba University of Commerce, Chiba, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2364-6950","affiliations":[{"raw_affiliation_string":"CUC Research Institute, Chiba University of Commerce, Chiba, Japan","institution_ids":["https://openalex.org/I46943848"]}]}],"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":0.25893659,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"34","issue":"2","first_page":"1023","last_page":"1029"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.3075000047683716,"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":0.3075000047683716,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.1859000027179718,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T12729","display_name":"Tree Root and Stability Studies","score":0.10180000215768814,"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/stiffness","display_name":"Stiffness","score":0.6539000272750854},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6057000160217285},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.532800018787384},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5325000286102295},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4941999912261963},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4912000000476837},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.40790000557899475},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.4050999879837036}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6539000272750854},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6057000160217285},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.532800018787384},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5325000286102295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4961000084877014},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4941999912261963},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4912000000476837},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.40790000557899475},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.4050999879837036},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.36329999566078186},{"id":"https://openalex.org/C173736775","wikidata":"https://www.wikidata.org/wiki/Q58964","display_name":"Drill","level":2,"score":0.36039999127388},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.34929999709129333},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.34630000591278076},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34040001034736633},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.28949999809265137},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27799999713897705},{"id":"https://openalex.org/C25197100","wikidata":"https://www.wikidata.org/wiki/Q890886","display_name":"Drilling","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.2703000009059906},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2581999897956848}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2025.3625639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3625639","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3227104964","display_name":null,"funder_award_id":"62373336","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4596456331","display_name":null,"funder_award_id":"B17040","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1990351237","https://openalex.org/W2909059947","https://openalex.org/W2932660071","https://openalex.org/W2938766884","https://openalex.org/W2978288866","https://openalex.org/W2981950086","https://openalex.org/W2996835699","https://openalex.org/W3025734512","https://openalex.org/W3084339092","https://openalex.org/W3088139209","https://openalex.org/W3093903780","https://openalex.org/W3096180411","https://openalex.org/W3112830500","https://openalex.org/W3130269276","https://openalex.org/W3135125952","https://openalex.org/W3167458237","https://openalex.org/W3213880510","https://openalex.org/W4226494925","https://openalex.org/W4283650916","https://openalex.org/W4315644116","https://openalex.org/W4317033463","https://openalex.org/W4366721336","https://openalex.org/W4367609904","https://openalex.org/W4379113559","https://openalex.org/W4388276831","https://openalex.org/W4389665558","https://openalex.org/W4389990954","https://openalex.org/W4392061656","https://openalex.org/W4394819687"],"related_works":[],"abstract_inverted_index":{"Soil":[0],"sampling":[1],"is":[2],"essential":[3],"for":[4,27],"geological":[5],"and":[6,16,34,49,68,93,113,126,139],"environmental":[7],"studies,":[8],"but":[9],"conventional":[10],"methods":[11],"are":[12],"limited":[13],"by":[14],"terrain":[15],"inefficiency.":[17],"To":[18,57],"address":[19],"these":[20,59],"limitations,":[21],"UAVs":[22],"equipped":[23],"with":[24],"a":[25,50],"manipulator":[26],"drilling":[28],"(UMD)":[29],"systems":[30,39],"provide":[31],"increased":[32],"mobility":[33],"broader":[35],"coverage.":[36],"However,":[37],"UMD":[38],"face":[40],"challenges,":[41],"such":[42],"as":[43],"tipping":[44],"under":[45],"soil":[46,87],"reaction":[47,118],"forces":[48,89],"lack":[51],"of":[52,131,141],"compliance":[53],"in":[54],"hard":[55],"soils.":[56],"solve":[58],"issues,":[60],"this":[61],"brief":[62],"presents":[63],"an":[64],"integrated":[65],"rotor":[66],"compensation":[67],"adaptive":[69,101],"stiffness":[70,102,123],"impedance":[71,103],"control":[72],"(RASIC)":[73],"method.":[74,144],"The":[75],"RASIC":[76,143],"method":[77],"leverages":[78],"the":[79,106,128,132,137,142],"UAV\u2019s":[80],"rotors":[81],"to":[82,109],"generate":[83],"downward":[84],"pressure,":[85],"counteracting":[86],"reactive":[88],"while":[90,120],"maintaining":[91],"maneuverability":[92],"endurance":[94],"without":[95],"adding":[96],"weight.":[97],"It":[98],"also":[99],"incorporates":[100],"control,":[104],"allowing":[105],"drill":[107,133],"bit":[108],"stay":[110],"vertically":[111],"compliant":[112],"prevent":[114],"imbalance":[115],"from":[116],"excessive":[117],"forces,":[119],"high":[121],"lateral":[122],"suppresses":[124],"vibrations":[125],"reduces":[127],"wear":[129],"amount":[130],"bit.":[134],"Simulations":[135],"demonstrate":[136],"effectiveness":[138],"robustness":[140]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-11-04T00:00:00"}