{"id":"https://openalex.org/W4388878547","doi":"https://doi.org/10.1109/tiv.2023.3335270","title":"Vision-Based Underwater Inspection With Portable Autonomous Underwater Vehicle: Development, Control, and Evaluation","display_name":"Vision-Based Underwater Inspection With Portable Autonomous Underwater Vehicle: Development, Control, and Evaluation","publication_year":2023,"publication_date":"2023-11-21","ids":{"openalex":"https://openalex.org/W4388878547","doi":"https://doi.org/10.1109/tiv.2023.3335270"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3335270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3335270","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","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/A5008680911","display_name":"Lin Hong","orcid":"https://orcid.org/0000-0002-8117-7427"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Hong","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8117-7427","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100327828","display_name":"Xin Wang","orcid":"https://orcid.org/0000-0001-7543-6288"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-7543-6288","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101892346","display_name":"Zhang De-sheng","orcid":"https://orcid.org/0000-0001-7632-4667"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"De-Sheng Zhang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-7632-4667","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050272269","display_name":"Ming Zhao","orcid":"https://orcid.org/0000-0003-2000-2241"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Zhao","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077450477","display_name":"Hang Xu","orcid":"https://orcid.org/0000-0002-6751-5928"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":3.2621,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.9193903,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"2197","last_page":"2209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9958000183105469,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9908000230789185,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7326378226280212},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.47473058104515076},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47363772988319397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4339786767959595},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.373300701379776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36463284492492676},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3459565043449402},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3353617191314697},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3344901204109192},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1731547713279724},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08907485008239746}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7326378226280212},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.47473058104515076},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47363772988319397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4339786767959595},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.373300701379776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36463284492492676},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3459565043449402},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3353617191314697},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3344901204109192},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1731547713279724},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08907485008239746},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2023.3335270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3335270","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G2434860281","display_name":null,"funder_award_id":"U1913206","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W335071387","https://openalex.org/W1588998206","https://openalex.org/W1972715357","https://openalex.org/W1996142173","https://openalex.org/W2045157402","https://openalex.org/W2089481918","https://openalex.org/W2123998235","https://openalex.org/W2130726407","https://openalex.org/W2173261491","https://openalex.org/W2405764194","https://openalex.org/W2492811885","https://openalex.org/W2563150812","https://openalex.org/W2564879041","https://openalex.org/W2729882686","https://openalex.org/W2747780507","https://openalex.org/W2769959917","https://openalex.org/W2783421923","https://openalex.org/W2789412978","https://openalex.org/W2793128170","https://openalex.org/W2885856407","https://openalex.org/W2895934422","https://openalex.org/W2901954913","https://openalex.org/W2906597774","https://openalex.org/W2910128665","https://openalex.org/W2910983971","https://openalex.org/W2912864437","https://openalex.org/W2937359304","https://openalex.org/W2945214992","https://openalex.org/W2979921801","https://openalex.org/W2995010020","https://openalex.org/W3018757597","https://openalex.org/W3039205832","https://openalex.org/W3043301796","https://openalex.org/W3130863473","https://openalex.org/W3182360886","https://openalex.org/W3191386484","https://openalex.org/W3191887117","https://openalex.org/W3217596000","https://openalex.org/W4205880316","https://openalex.org/W4206330874","https://openalex.org/W4213100415","https://openalex.org/W4228998801","https://openalex.org/W4289175129","https://openalex.org/W4293842373","https://openalex.org/W4303712424","https://openalex.org/W4313551676","https://openalex.org/W4379382588","https://openalex.org/W4386869725","https://openalex.org/W6678340937","https://openalex.org/W6753955667","https://openalex.org/W6777046832"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3217214504","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2773822314","https://openalex.org/W2953138830","https://openalex.org/W12034839","https://openalex.org/W3176162126","https://openalex.org/W2891537746"],"abstract_inverted_index":{"This":[0,116],"paper":[1],"presents":[2],"the":[3,16,28,40,56,62,66,72,87,94,109,119,133,137,145,148,176,196],"development":[4,38],"of":[5,18,39,58,65,97,121,136,147,191],"a":[6,99,122,162,167,188],"portable":[7],"autonomous":[8],"underwater":[9,25,59,142,155,184],"vehicle":[10],"(AUV)":[11],"named":[12],"Shark,":[13],"along":[14],"with":[15],"design":[17,120],"its":[19,46],"hovering":[20,150],"control":[21,102,151],"system":[22,33,37,157],"for":[23,140],"vision-based":[24,141,154,183],"inspection.":[26],"Firstly,":[27],"mechanical":[29],"structure":[30],"design,":[31],"electrical":[32],"configuration,":[34],"and":[35,50,71,114,153,166,195,216],"software":[36],"Shark":[41,67,89,138,177],"AUV":[42,68,90,139,178],"are":[43,75,158],"introduced,":[44],"highlighting":[45],"cost-effectiveness,":[47],"compact":[48],"size,":[49],"streamlined":[51],"torpedo":[52],"shape":[53],"to":[54,131],"enhance":[55],"flexibility":[57],"inspections.":[60,143],"Secondly,":[61],"dynamic":[63],"model":[64,103,117],"is":[69,91,104],"established,":[70],"hydrodynamic":[73],"coefficients":[74],"numerical":[76],"estimated":[77],"utilizing":[78],"computational":[79],"fluid":[80],"dynamics":[81],"(CFD)":[82],"simulations.":[83],"Thirdly,":[84],"considering":[85],"that":[86,106,175],"developed":[88,105],"underactuated":[92],"in":[93,160,210],"sway":[95,113],"degree":[96],"freedom,":[98],"novel":[100],"heading":[101,134,204],"reasonably":[107],"tackles":[108],"motion":[110,212],"coupling":[111],"between":[112],"yaw.":[115],"facilitates":[118],"robust":[123],"<inline-formula":[124,198],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[125,199],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[126,200],"notation=\"LaTeX\">$\\mathcal":[127,201],"{H}_{\\infty":[128,202],"}$</tex-math></inline-formula>":[129,203],"controller":[130,205],"regulate":[132],"angle":[135],"Finally,":[144],"effectiveness":[146],"designed":[149],"method":[152],"inspection":[156,185],"validated":[159],"both":[161],"3D":[163],"simulation":[164],"platform":[165],"laboratory":[168],"test":[169],"pool.":[170],"The":[171],"experimental":[172],"results":[173],"demonstrate":[174],"prototype":[179],"can":[180],"achieve":[181],"satisfactory":[182],"performance":[186,209],"within":[187],"pixel":[189],"error":[190],"5":[192],"\u00d7":[193],"5,":[194],"proposed":[197],"consistently":[206],"provides":[207],"superior":[208],"handling":[211],"coupling,":[213],"parametric":[214],"uncertainty,":[215],"external":[217],"disturbances.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}