{"id":"https://openalex.org/W2105383528","doi":"https://doi.org/10.1109/tie.2009.2028365","title":"New Control Concept for a Gantry Tractor Comprising a \u201cChorus Line\u201d of Synchronized Modules","display_name":"New Control Concept for a Gantry Tractor Comprising a \u201cChorus Line\u201d of Synchronized Modules","publication_year":2009,"publication_date":"2009-08-11","ids":{"openalex":"https://openalex.org/W2105383528","doi":"https://doi.org/10.1109/tie.2009.2028365","mag":"2105383528"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2009.2028365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2009.2028365","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5091316717","display_name":"M. Yousef Ibrahim","orcid":"https://orcid.org/0000-0002-9859-6505"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"M.Y. Ibrahim","raw_affiliation_strings":["Gippsland Regional Automation Centre, School of Applied Sciences and Engineering, Monash University, Churchill, Australia","Gippsland Regional Autom. Centre, Monash Univ., Churchill, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"Gippsland Regional Automation Centre, School of Applied Sciences and Engineering, Monash University, Churchill, Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"Gippsland Regional Autom. Centre, Monash Univ., Churchill, VIC, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090031779","display_name":"I. J. Spark","orcid":"https://orcid.org/0000-0002-9727-6294"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"I.J. Spark","raw_affiliation_strings":["Gippsland Regional Automation Centre, School of Applied Sciences and Engineering, Monash University, Churchill, Australia","Gippsland Regional Autom. Centre, Monash Univ., Churchill, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"Gippsland Regional Automation Centre, School of Applied Sciences and Engineering, Monash University, Churchill, Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"Gippsland Regional Autom. Centre, Monash Univ., Churchill, VIC, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061543115","display_name":"Andrew Percy","orcid":null},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"A. Percy","raw_affiliation_strings":["Gippsland Regional Automation Centre, School of Applied Sciences and Engineering, Monash University, Churchill, Australia","Gippsland Regional Autom. Centre, Monash Univ., Churchill, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"Gippsland Regional Automation Centre, School of Applied Sciences and Engineering, Monash University, Churchill, Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"Gippsland Regional Autom. Centre, Monash Univ., Churchill, VIC, Australia","institution_ids":["https://openalex.org/I56590836"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5091316717"],"corresponding_institution_ids":["https://openalex.org/I56590836"],"apc_list":null,"apc_paid":null,"fwci":0.5661,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.73619273,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"57","issue":"2","first_page":"762","last_page":"768"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9962999820709229,"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"}},"topics":[{"id":"https://openalex.org/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9962999820709229,"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"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9940999746322632,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tractor","display_name":"Tractor","score":0.6952254772186279},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6774687767028809},{"id":"https://openalex.org/keywords/torque-steering","display_name":"Torque steering","score":0.6756812334060669},{"id":"https://openalex.org/keywords/steering-linkage","display_name":"Steering linkage","score":0.6705797910690308},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5407775044441223},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5135679244995117},{"id":"https://openalex.org/keywords/steering-wheel","display_name":"Steering wheel","score":0.5135519504547119},{"id":"https://openalex.org/keywords/electronic-differential","display_name":"Electronic differential","score":0.45929306745529175},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.4371180236339569},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4291139543056488},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41742128133773804},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32858142256736755},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3136427104473114},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10603263974189758}],"concepts":[{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.6952254772186279},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6774687767028809},{"id":"https://openalex.org/C80932167","wikidata":"https://www.wikidata.org/wiki/Q7826801","display_name":"Torque steering","level":3,"score":0.6756812334060669},{"id":"https://openalex.org/C106625973","wikidata":"https://www.wikidata.org/wiki/Q16927051","display_name":"Steering linkage","level":4,"score":0.6705797910690308},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5407775044441223},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5135679244995117},{"id":"https://openalex.org/C2780354894","wikidata":"https://www.wikidata.org/wiki/Q679300","display_name":"Steering wheel","level":2,"score":0.5135519504547119},{"id":"https://openalex.org/C106613895","wikidata":"https://www.wikidata.org/wiki/Q151901","display_name":"Electronic differential","level":3,"score":0.45929306745529175},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.4371180236339569},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4291139543056488},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41742128133773804},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32858142256736755},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3136427104473114},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10603263974189758},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2009.2028365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2009.2028365","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:vital:6318","is_oa":false,"landing_page_url":"http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/34619","pdf_url":null,"source":{"id":"https://openalex.org/S4306400234","display_name":"FedUni ResearchOnline (Federation University Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210158496","host_organization_name":"Australian Federation of University Women \u2013 South Australia","host_organization_lineage":["https://openalex.org/I4210158496"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1573887032","https://openalex.org/W1680904659","https://openalex.org/W1973947374","https://openalex.org/W2005046662","https://openalex.org/W2023170120","https://openalex.org/W2037824701","https://openalex.org/W2044652134","https://openalex.org/W2047315863","https://openalex.org/W2053581276","https://openalex.org/W2116228616","https://openalex.org/W2127358517","https://openalex.org/W2141187560","https://openalex.org/W2151313291","https://openalex.org/W2154351270","https://openalex.org/W2165919374","https://openalex.org/W2168285891","https://openalex.org/W2181002973","https://openalex.org/W3136004759","https://openalex.org/W6680865373"],"related_works":["https://openalex.org/W2270823423","https://openalex.org/W2333706655","https://openalex.org/W2390129063","https://openalex.org/W2727014314","https://openalex.org/W4313362262","https://openalex.org/W2112671702","https://openalex.org/W2377208232","https://openalex.org/W2336760520","https://openalex.org/W1519603315","https://openalex.org/W929814723"],"abstract_inverted_index":{"A":[0],"new":[1],"method":[2],"of":[3,62],"automatically":[4],"maneuvering":[5],"a":[6],"gantry":[7],"tractor":[8],"through":[9],"right-angle":[10],"turns,":[11],"U-turns,":[12],"and":[13,26,33,44,53],"narrow":[14],"gates":[15],"is":[16,65,75],"described":[17],"in":[18],"this":[19],"paper.":[20],"In":[21],"order":[22],"to":[23,72],"maximize":[24],"traction":[25],"maneuverability,":[27],"both":[28],"the":[29,34,78],"wheel-angle":[30],"steering":[31,36,47,69,80],"effect":[32,37],"drive-wheel-speed":[35],"are":[38],"integrated.":[39],"This":[40],"technique":[41],"produces":[42],"identical":[43],"cooperative":[45,63],"redundant":[46],"systems.":[48],"The":[49,60],"necessary":[50],"wheel":[51,55],"angles":[52],"drive":[54],"speed":[56],"have":[57],"been":[58],"simulated.":[59],"advantage":[61],"redundancy":[64],"that":[66],"when":[67],"any":[68],"system":[70],"begins":[71],"fail,":[73],"it":[74],"reinforced":[76],"by":[77],"other":[79],"system.":[81]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
