{"id":"https://openalex.org/W2943411039","doi":"https://doi.org/10.1109/tie.2019.2913810","title":"Gliding Motion Regulation of a Robotic Dolphin Based on a Controllable Fluke","display_name":"Gliding Motion Regulation of a Robotic Dolphin Based on a Controllable Fluke","publication_year":2019,"publication_date":"2019-05-04","ids":{"openalex":"https://openalex.org/W2943411039","doi":"https://doi.org/10.1109/tie.2019.2913810","mag":"2943411039"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2019.2913810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2913810","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/A5001123312","display_name":"Zhengxing Wu","orcid":"https://orcid.org/0000-0003-2338-5217"},"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":"Zhengxing Wu","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2338-5217","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"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/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"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"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex System, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing, China","State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6347-572X","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex System, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101527797","display_name":"Jun Yuan","orcid":"https://orcid.org/0000-0002-0667-3981"},"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":"Jun Yuan","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","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":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069534867","display_name":"Suwen Qi","orcid":"https://orcid.org/0000-0002-5845-6380"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Suwen Qi","raw_affiliation_strings":["Department of Biomedical Engineering, School of Medicine, Shenzhen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, School of Medicine, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3491,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.91328211,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"67","issue":"4","first_page":"2945","last_page":"2953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"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":1.0,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T10659","display_name":"Marine animal studies overview","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/deflection-angle","display_name":"Deflection angle","score":0.8501646518707275},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.6662813425064087},{"id":"https://openalex.org/keywords/pitch-angle","display_name":"Pitch angle","score":0.6104745268821716},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.46880441904067993},{"id":"https://openalex.org/keywords/pitch-control","display_name":"Pitch control","score":0.4636346697807312},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.4439281225204468},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4362150728702545},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4323325455188751},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42147159576416016},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38852038979530334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3571886420249939},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3544686436653137},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3403749167919159},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3170278072357178},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25887948274612427},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2113262116909027},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20619121193885803},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1984860897064209},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.19443663954734802}],"concepts":[{"id":"https://openalex.org/C2991746120","wikidata":"https://www.wikidata.org/wiki/Q210028","display_name":"Deflection angle","level":2,"score":0.8501646518707275},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.6662813425064087},{"id":"https://openalex.org/C2777581452","wikidata":"https://www.wikidata.org/wiki/Q4363928","display_name":"Pitch angle","level":2,"score":0.6104745268821716},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.46880441904067993},{"id":"https://openalex.org/C2778330180","wikidata":"https://www.wikidata.org/wiki/Q2027065","display_name":"Pitch control","level":3,"score":0.4636346697807312},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.4439281225204468},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4362150728702545},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4323325455188751},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42147159576416016},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38852038979530334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3571886420249939},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3544686436653137},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3403749167919159},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3170278072357178},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25887948274612427},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2113262116909027},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20619121193885803},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1984860897064209},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.19443663954734802},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C2778449969","wikidata":"https://www.wikidata.org/wiki/Q130760","display_name":"Turbine","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2019.2913810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2913810","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.6899999976158142,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G2047172968","display_name":null,"funder_award_id":"4161002","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G2794432786","display_name":null,"funder_award_id":"61725305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2921093364","display_name":null,"funder_award_id":"61633017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G751879017","display_name":null,"funder_award_id":"61603388","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8732266741","display_name":"\u5ba4\u5185\u6311\u6218\u6027\u73af\u5883\u4e0b\u673a\u5668\u4eba\u89c6\u89c9\u5b9a\u4f4d\u5bfc\u822a\u7406\u8bba\u53ca\u5e94\u7528","funder_award_id":"61836015","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/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1543924242","https://openalex.org/W1608215728","https://openalex.org/W2038548594","https://openalex.org/W2041213630","https://openalex.org/W2069081522","https://openalex.org/W2069744451","https://openalex.org/W2070294777","https://openalex.org/W2071497230","https://openalex.org/W2096012780","https://openalex.org/W2097868028","https://openalex.org/W2097923614","https://openalex.org/W2106353989","https://openalex.org/W2145461394","https://openalex.org/W2147137560","https://openalex.org/W2165836812","https://openalex.org/W2275849460","https://openalex.org/W2323495180","https://openalex.org/W2334750579","https://openalex.org/W2348418537","https://openalex.org/W2415733029","https://openalex.org/W2463528478","https://openalex.org/W2508006471","https://openalex.org/W2537963959","https://openalex.org/W2563462572","https://openalex.org/W2576413457","https://openalex.org/W2579453502","https://openalex.org/W2581111877","https://openalex.org/W2590116986","https://openalex.org/W2726276097","https://openalex.org/W2756120644","https://openalex.org/W2770045095","https://openalex.org/W2883731169","https://openalex.org/W2905364384","https://openalex.org/W4253122685","https://openalex.org/W4300106150","https://openalex.org/W6684520911","https://openalex.org/W6744451806"],"related_works":["https://openalex.org/W2061090284","https://openalex.org/W2125579716","https://openalex.org/W1974298630","https://openalex.org/W2663063359","https://openalex.org/W2379385402","https://openalex.org/W2348134434","https://openalex.org/W2152526946","https://openalex.org/W4379116282","https://openalex.org/W1875907780","https://openalex.org/W2943411039"],"abstract_inverted_index":{"This":[0],"paper":[1,159],"investigates":[2],"a":[3,13,26,68,87],"controllable":[4,56,129],"fluke's":[5,102,111],"regulation":[6],"effect":[7],"on":[8,25,73,131,162],"the":[9,29,37,41,51,55,59,74,80,101,118,124,128,132,138,148,151,164,168],"gliding":[10,30,44,60,107,133,165,176],"motion":[11],"of":[12,40,54,127,150,157,167],"self-propelled":[14],"robotic":[15,81,169],"dolphin":[16,82,170],"in":[17,109,135,171],"both":[18],"theory":[19],"and":[20,46,175],"practice.":[21,136],"In":[22,78],"theory,":[23],"based":[24],"dynamic":[27],"model,":[28],"equilibria":[31],"is":[32,76,83,143],"first":[33],"analyzed.":[34],"Through":[35],"deriving":[36],"explicit":[38],"expressions":[39],"pitch":[42,69,89,140],"angle,":[43,45],"velocities,":[47],"we":[48,121],"explore":[49,123],"how":[50],"deflection":[52,103,112],"angle":[53,90],"fluke":[57,75,130],"changes":[58],"performance.":[61],"Then,":[62],"aided":[63],"by":[64],"these":[65],"theoretical":[66],"analyses,":[67],"control":[70,97,141,153],"strategy":[71,98],"relying":[72],"constructed.":[77],"simulations,":[79],"able":[84],"to":[85,99,146],"track":[86],"given":[88],"during":[91],"gliding,":[92],"directly":[93],"through":[94],"adopting":[95],"this":[96,158],"regulate":[100],"angle.":[104],"Furthermore,":[105],"extensive":[106],"experiments":[108],"different":[110],"angles":[113],"are":[114],"carried":[115],"out.":[116],"From":[117],"statistical":[119],"data,":[120],"further":[122],"remarkable":[125],"effects":[126],"performance":[134,166],"Besides,":[137],"other":[139],"experiment":[142],"also":[144],"executed":[145],"validate":[147],"effectiveness":[149],"proposed":[152],"approach.":[154],"The":[155],"results":[156],"shed":[160],"light":[161],"improving":[163],"future":[172],"mechanical":[173],"design":[174],"control.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
