{"id":"https://openalex.org/W2999158598","doi":"https://doi.org/10.1109/tsmc.2019.2961687","title":"IWSCR: An Intelligent Water Surface Cleaner Robot for Collecting Floating Garbage","display_name":"IWSCR: An Intelligent Water Surface Cleaner Robot for Collecting Floating Garbage","publication_year":2020,"publication_date":"2020-01-09","ids":{"openalex":"https://openalex.org/W2999158598","doi":"https://doi.org/10.1109/tsmc.2019.2961687","mag":"2999158598"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2019.2961687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2019.2961687","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5042149473","display_name":"Shihan Kong","orcid":"https://orcid.org/0000-0002-6714-1313"},"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"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shihan Kong","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, 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/0000-0002-6714-1313","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]},{"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/A5005036613","display_name":"Manjun Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I145897649","display_name":"Minzu University of China","ror":"https://ror.org/0044e2g62","country_code":"CN","type":"education","lineage":["https://openalex.org/I145897649"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Manjun Tian","raw_affiliation_strings":["School of Information Engineering, Minzu University of China, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Minzu University of China, Beijing, China","institution_ids":["https://openalex.org/I145897649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066573290","display_name":"Changlin Qiu","orcid":null},"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"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changlin Qiu","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, 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/0000-0001-9973-1214","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]},{"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/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":"last","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":["Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, 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":"Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, 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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1349,"has_fulltext":false,"cited_by_count":98,"citation_normalized_percentile":{"value":0.94976796,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"51","issue":"10","first_page":"6358","last_page":"6368"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9911999702453613,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9898999929428101,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/garbage","display_name":"Garbage","score":0.8815402984619141},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6894649267196655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5930072665214539},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4706869423389435},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46772730350494385},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4449571371078491},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.44171369075775146},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4227713346481323},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.373829185962677},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3379892110824585},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2632926106452942},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07832226157188416}],"concepts":[{"id":"https://openalex.org/C75403996","wikidata":"https://www.wikidata.org/wiki/Q5521979","display_name":"Garbage","level":2,"score":0.8815402984619141},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6894649267196655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5930072665214539},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4706869423389435},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46772730350494385},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4449571371078491},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.44171369075775146},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4227713346481323},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.373829185962677},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3379892110824585},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2632926106452942},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07832226157188416},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2019.2961687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2019.2961687","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"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/G366217430","display_name":null,"funder_award_id":"61633004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7603313047","display_name":null,"funder_award_id":"U1909206","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G994643190","display_name":"\u670d\u52a1\u673a\u5668\u4eba\u5e7f\u57df\u73af\u5883\u611f\u77e5\u548c\u573a\u666f\u8ba4\u77e5\u7406\u8bba\u53ca\u5e94\u7528","funder_award_id":"61633020","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":48,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1536680647","https://openalex.org/W1590684588","https://openalex.org/W1592257745","https://openalex.org/W1892339738","https://openalex.org/W1999156278","https://openalex.org/W2008170591","https://openalex.org/W2014690837","https://openalex.org/W2037496050","https://openalex.org/W2060631926","https://openalex.org/W2096047824","https://openalex.org/W2098223187","https://openalex.org/W2102605133","https://openalex.org/W2154889144","https://openalex.org/W2157723668","https://openalex.org/W2162528857","https://openalex.org/W2168060294","https://openalex.org/W2401157614","https://openalex.org/W2485911221","https://openalex.org/W2503435921","https://openalex.org/W2544719997","https://openalex.org/W2570343428","https://openalex.org/W2572996265","https://openalex.org/W2604316091","https://openalex.org/W2607329203","https://openalex.org/W2612054959","https://openalex.org/W2613718673","https://openalex.org/W2751355297","https://openalex.org/W2796347433","https://openalex.org/W2805024469","https://openalex.org/W2808521881","https://openalex.org/W2810241586","https://openalex.org/W2883318486","https://openalex.org/W2903845624","https://openalex.org/W2910536354","https://openalex.org/W2919115771","https://openalex.org/W2963037989","https://openalex.org/W2963150697","https://openalex.org/W2963326767","https://openalex.org/W2987077892","https://openalex.org/W3105550226","https://openalex.org/W3106250896","https://openalex.org/W4246105527","https://openalex.org/W4248049034","https://openalex.org/W4293584584","https://openalex.org/W6620707391","https://openalex.org/W6750227808","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W2515493494"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"a":[3,134,157],"robot":[4],"system":[5],"for":[6,92,144,163],"intelligent":[7],"water":[8,180],"surface":[9,79,181],"cleaner":[10],"named":[11],"IWSCR":[12,61,171],"is":[13,21,99,111,142,161,172],"developed":[14],"to":[15,23,47,56,67,119,127,174],"collect":[16],"floating":[17,70,116,153],"plastic":[18],"garbage.":[19],"It":[20],"able":[22],"accomplish":[24],"three":[25,87],"major":[26],"tasks":[27,44],"autonomously,":[28],"i.e.,":[29],"cruise":[30],"and":[31,34,36,38,51,65,106,122],"detection,":[32,54],"tracking":[33],"steering,":[35,64],"grasping":[37,159],"collection.":[39],"The":[40],"challenges":[41],"behind":[42],"these":[43,85],"involve":[45],"how":[46,55,66],"realize":[48,120],"the":[49,58,69,74,78,81,95,103,114,129,139,150,166,177],"accurate":[50,121],"real-time":[52,123],"garbage":[53,71,117,124],"resist":[57],"disturbances":[59],"while":[60],"conducts":[62],"vision-based":[63,145],"grasp":[68],"reliably":[72],"despite":[73],"turbulent":[75],"conditions":[76],"on":[77,113,138],"of":[80,131,152,179],"water.":[82],"To":[83],"overcome":[84],"difficulties,":[86],"key":[88],"techniques":[89],"are":[90],"proposed":[91,115,143],"IWSCR.":[93,164],"First,":[94],"YOLOv3":[96],"network,":[97],"which":[98],"widely":[100],"applied":[101],"in":[102,155],"high":[104],"speed":[105],"accuracy":[107],"object":[108],"detection":[109],"field,":[110],"trained":[112],"dataset":[118],"detection.":[125],"Next,":[126],"improve":[128],"ability":[130],"resisting":[132],"disturbances,":[133],"control":[135],"law":[136],"based":[137],"sliding-mode":[140],"controller":[141],"steering.":[146],"Furthermore,":[147],"inspired":[148],"by":[149],"stability":[151],"bottles":[154],"fluid,":[156],"feasible":[158],"strategy":[160],"utilized":[162],"Finally,":[165],"experimental":[167],"results":[168],"demonstrate":[169],"that":[170],"competent":[173],"carry":[175],"out":[176],"task":[178],"cleaning.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
