{"id":"https://openalex.org/W2769180486","doi":"https://doi.org/10.1109/tro.2018.2821155","title":"Fundamental Actuation Properties of Multirotors: Force\u2013Moment Decoupling and Fail\u2013Safe Robustness","display_name":"Fundamental Actuation Properties of Multirotors: Force\u2013Moment Decoupling and Fail\u2013Safe Robustness","publication_year":2018,"publication_date":"2018-05-15","ids":{"openalex":"https://openalex.org/W2769180486","doi":"https://doi.org/10.1109/tro.2018.2821155","mag":"2769180486"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2821155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2821155","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.laas.fr/hal-01612602","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089018207","display_name":"Giulia Michieletto","orcid":"https://orcid.org/0000-0002-1357-8077"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR","IT"],"is_corresponding":false,"raw_author_name":"Giulia Michieletto","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","Unipd - Universit\u00e0 degli Studi di Padova = University of Padua (Via 8 Febbraio 2, 35122 Padova - Italie)","LAAS-RIS - \u00c9quipe Robotique et InteractionS (  - France)"],"raw_orcid":"https://orcid.org/0000-0002-1357-8077","affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"Unipd - Universit\u00e0 degli Studi di Padova = University of Padua (Via 8 Febbraio 2, 35122 Padova - Italie)","institution_ids":["https://openalex.org/I138689650"]},{"raw_affiliation_string":"LAAS-RIS - \u00c9quipe Robotique et InteractionS (  - France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018909750","display_name":"Markus Ryll","orcid":"https://orcid.org/0000-0003-2203-2946"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Markus Ryll","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","LAAS-RIS - \u00c9quipe Robotique et InteractionS (  - France)"],"raw_orcid":"https://orcid.org/0000-0003-2203-2946","affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-RIS - \u00c9quipe Robotique et InteractionS (  - France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001771133","display_name":"Antonio Franchi","orcid":"https://orcid.org/0000-0002-5670-1282"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antonio Franchi","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","LAAS-RIS - \u00c9quipe Robotique et InteractionS (  - France)"],"raw_orcid":"https://orcid.org/0000-0002-5670-1282","affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-RIS - \u00c9quipe Robotique et InteractionS (  - France)","institution_ids":["https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.3668,"has_fulltext":false,"cited_by_count":105,"citation_normalized_percentile":{"value":0.98331974,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"34","issue":"3","first_page":"702","last_page":"715"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9983000159263611,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9983000159263611,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9976000189781189,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9943000078201294,"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/robustness","display_name":"Robustness (evolution)","score":0.6952232718467712},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6624529957771301},{"id":"https://openalex.org/keywords/multirotor","display_name":"Multirotor","score":0.6154298782348633},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.547012984752655},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.48095980286598206},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44300827383995056},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.424045592546463},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3525550365447998},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34348517656326294},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.3388424515724182},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.32058197259902954},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2651051878929138},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2649229168891907},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.184134840965271},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13381034135818481}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6952232718467712},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6624529957771301},{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.6154298782348633},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.547012984752655},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.48095980286598206},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44300827383995056},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.424045592546463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3525550365447998},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34348517656326294},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.3388424515724182},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.32058197259902954},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2651051878929138},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2649229168891907},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.184134840965271},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13381034135818481},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/tro.2018.2821155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2821155","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01612602v1","is_oa":true,"landing_page_url":"https://hal.laas.fr/hal-01612602","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://hal.laas.fr/hal-01612602","raw_type":"\\ninfo:eu-repo/semantics/preprint\\n"},{"id":"pmh:oai:HAL:hal-01612602v2","is_oa":false,"landing_page_url":"https://laas.hal.science/hal-01612602","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2018, 34 (3), pp.702-715. &#x27E8;10.1109/TRO.2018.2821155&#x27E9;","raw_type":"Journal articles"},{"id":"pmh:oai:iris.uniroma1.it:11573/1688582","is_oa":false,"landing_page_url":"https://hdl.handle.net/11573/1688582","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:www.research.unipd.it:11577/3336618","is_oa":false,"landing_page_url":"http://hdl.handle.net/11577/3336618","pdf_url":null,"source":{"id":"https://openalex.org/S4377196283","display_name":"Research Padua  Archive (University of Padua)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01612602v1","is_oa":true,"landing_page_url":"https://hal.laas.fr/hal-01612602","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://hal.laas.fr/hal-01612602","raw_type":"\\ninfo:eu-repo/semantics/preprint\\n"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W306312984","https://openalex.org/W1584143882","https://openalex.org/W1919002818","https://openalex.org/W2000146415","https://openalex.org/W2021101383","https://openalex.org/W2042470517","https://openalex.org/W2051155887","https://openalex.org/W2072093554","https://openalex.org/W2077981455","https://openalex.org/W2080747069","https://openalex.org/W2089908769","https://openalex.org/W2097237604","https://openalex.org/W2204091819","https://openalex.org/W2305233197","https://openalex.org/W2411959689","https://openalex.org/W2418601359","https://openalex.org/W2468610634","https://openalex.org/W2516883896","https://openalex.org/W2555041734","https://openalex.org/W2560414423","https://openalex.org/W2566317155","https://openalex.org/W2588158086","https://openalex.org/W2593091274","https://openalex.org/W2593266422","https://openalex.org/W2594379050","https://openalex.org/W2604407501","https://openalex.org/W2614122538","https://openalex.org/W2615395590","https://openalex.org/W2790708554","https://openalex.org/W3099342129","https://openalex.org/W3106018402","https://openalex.org/W6610845606"],"related_works":["https://openalex.org/W2728521155","https://openalex.org/W2556504211","https://openalex.org/W2810775292","https://openalex.org/W3150660900","https://openalex.org/W2625580943","https://openalex.org/W2914097399","https://openalex.org/W3212684323","https://openalex.org/W3151488434","https://openalex.org/W3155344697","https://openalex.org/W2470336628"],"abstract_inverted_index":{"In":[0],"this":[1,127],"paper,":[2],"we":[3,96],"shed":[4],"light":[5],"on":[6,67,158],"two":[7],"fundamental":[8],"actuation":[9],"capabilities":[10],"of":[11,18,46,54,63,85,120,141,147,175],"multirotors.":[12],"The":[13,31,72,150,178],"first":[14],"is":[15,33,74,131,152,180],"the":[16,21,29,34,44,52,61,68,86,93,139,142,148,159,162,166],"degree":[17],"coupling":[19],"between":[20],"total":[22,25],"force":[23],"and":[24,83,145,165,185],"moment":[26],"generated":[27],"by":[28],"propellers.":[30,56,87,123,149,177],"second":[32],"ability":[35],"to":[36,108,133,155],"robustly":[37,109],"fly":[38,110,170],"completely":[39,111],"still":[40,112],"in":[41,51],"place":[42],"after":[43,192],"loss":[45],"one":[47],"or":[48],"more":[49],"propellers,":[50],"case":[53,91],"mono-directional":[55],"These":[57],"are":[58,105],"formalized":[59],"through":[60],"definition":[62],"some":[64],"algebraic":[65],"conditions":[66],"control":[69,191],"allocation":[70],"matrices.":[71],"theory":[73,151],"valid":[75],"for":[76,92],"any":[77],"multirotor,":[78],"with":[79,102,171,182],"arbitrary":[80],"number,":[81],"position,":[82],"orientation":[84],"As":[88],"a":[89,114],"show":[90],"general":[94],"theory,":[95,136],"demonstrate":[97],"that":[98],"standard":[99],"star-shaped":[100,164],"hexarotors":[101,168],"collinear":[103],"propellers":[104],"not":[106],"able":[107,154],"at":[113],"constant":[115],"spot":[116],"using":[117],"only":[118,172],"five":[119,173],"their":[121],"six":[122,176],"To":[124],"deeply":[125],"understand":[126],"counterintuitive":[128],"result,":[129],"it":[130],"enough":[132],"apply":[134],"our":[135],"which":[137],"clarifies":[138],"role":[140],"tilt":[143],"angles":[144],"locations":[146],"also":[153],"explain":[156],"why,":[157],"contrary,":[160],"both":[161,183],"tilted":[163],"Y-shaped":[167],"can":[169],"out":[174],"analysis":[179],"validated":[181],"simulations":[184],"extensive":[186],"experimental":[187],"results":[188],"showing":[189],"recovery":[190],"rotor":[193],"losses.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":24},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}
