{"id":"https://openalex.org/W1541316785","doi":"https://doi.org/10.1109/icarcv.2002.1238568","title":"Preliminary studies of the modelling and control of a twin-barrel underactuated underwater robotic vehicle","display_name":"Preliminary studies of the modelling and control of a twin-barrel underactuated underwater robotic vehicle","publication_year":2004,"publication_date":"2004-03-23","ids":{"openalex":"https://openalex.org/W1541316785","doi":"https://doi.org/10.1109/icarcv.2002.1238568","mag":"1541316785"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2002.1238568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1238568","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","raw_type":"proceedings-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/A5113489038","display_name":"T. H. Koh","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"T.H. Koh","raw_affiliation_strings":["Robotics Research Centre and School of Mechanical & Production Engineering, Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"affiliations":[{"raw_affiliation_string":"Robotics Research Centre and School of Mechanical & Production Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008694652","display_name":"M.W.S. Lau","orcid":"https://orcid.org/0000-0003-2786-6261"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"M.W.S. Lau","raw_affiliation_strings":["Robotics Research Centre and School of Mechanical & Production Engineering, Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"affiliations":[{"raw_affiliation_string":"Robotics Research Centre and School of Mechanical & Production Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076044364","display_name":"Eicher Low","orcid":"https://orcid.org/0000-0003-1107-1122"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"E. Low","raw_affiliation_strings":["Robotics Research Centre and School of Mechanical & Production Engineering, Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"affiliations":[{"raw_affiliation_string":"Robotics Research Centre and School of Mechanical & Production Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013176711","display_name":"Gerald Seet","orcid":"https://orcid.org/0000-0002-1505-2167"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"G. Seet","raw_affiliation_strings":["Robotics Research Centre and School of Mechanical & Production Engineering, Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"affiliations":[{"raw_affiliation_string":"Robotics Research Centre and School of Mechanical & Production Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113502237","display_name":"Shan-Min Swei","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"S. Swei","raw_affiliation_strings":["Robotics Research Centre and School of Mechanical & Production Engineering, Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"affiliations":[{"raw_affiliation_string":"Robotics Research Centre and School of Mechanical & Production Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064335113","display_name":"P.L. Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"P.L. Cheng","raw_affiliation_strings":["Robotics Research Centre and School of Mechanical & Production Engineering, Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"affiliations":[{"raw_affiliation_string":"Robotics Research Centre and School of Mechanical & Production Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5113489038"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":3.3325,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.90300184,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"1042","last_page":"1047"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9961000084877014,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9775000214576721,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.9779839515686035},{"id":"https://openalex.org/keywords/remotely-operated-vehicle","display_name":"Remotely operated vehicle","score":0.8439281582832336},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6314353942871094},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.5704542398452759},{"id":"https://openalex.org/keywords/barrel","display_name":"Barrel (horology)","score":0.4742932617664337},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.387969970703125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3493204712867737},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2828567624092102},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1641712188720703},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.16136696934700012},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1525329351425171},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15106093883514404},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13420552015304565},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.06362947821617126}],"concepts":[{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.9779839515686035},{"id":"https://openalex.org/C64228939","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated vehicle","level":2,"score":0.8439281582832336},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6314353942871094},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.5704542398452759},{"id":"https://openalex.org/C172227984","wikidata":"https://www.wikidata.org/wiki/Q1400397","display_name":"Barrel (horology)","level":2,"score":0.4742932617664337},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.387969970703125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3493204712867737},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2828567624092102},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1641712188720703},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.16136696934700012},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1525329351425171},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15106093883514404},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13420552015304565},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.06362947821617126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2002.1238568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1238568","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1519539062","https://openalex.org/W1576943098","https://openalex.org/W1988166371","https://openalex.org/W1997710910","https://openalex.org/W2121610747","https://openalex.org/W2133691532","https://openalex.org/W2176569996","https://openalex.org/W2467390056","https://openalex.org/W2584648668","https://openalex.org/W6634479442","https://openalex.org/W6647252713"],"related_works":["https://openalex.org/W2746169463","https://openalex.org/W2071768959","https://openalex.org/W2927959334","https://openalex.org/W4382394583","https://openalex.org/W1484067751","https://openalex.org/W4383047418","https://openalex.org/W2254436626","https://openalex.org/W4312769026","https://openalex.org/W2532182032","https://openalex.org/W2951419801"],"abstract_inverted_index":{"An":[0],"eyeball-class":[1],"remotely":[2],"operated":[3],"vehicle":[4,139],"(ROV)":[5],"is":[6,47,81],"currently":[7],"being":[8,48],"developed":[9],"by":[10],"the":[11,17,23,26,36,55,111,122],"Robotic":[12],"Research":[13],"Centre":[14],"(RRC),":[15],"in":[16,41,62,83],"Nanyang":[18],"Technological":[19],"University":[20],"(NTU).":[21],"From":[22],"experience":[24],"of":[25,59,113,135],"first":[27],"generation":[28],"single-cylinder":[29],"vehicle,":[30],"RRC":[31],"ROV":[32,46,50,60,65,79,88,114,129],"I,":[33,89],"modified":[34],"from":[35],"Super":[37],"Safir,":[38],"originally":[39],"manufactured":[40],"France,":[42],"a":[43],"\"Twin":[44],"Barrel\"":[45],"developed-RRC":[49],"II.":[51,115,132],"This":[52,116],"paper":[53,117],"discusses":[54],"modelling":[56],"and":[57,74,100,105,120,131,144],"control":[58,108],"II":[61,80],"comparison":[63,134],"to":[64,87,92,96],"I.":[66],"Both":[67],"vehicles":[68],"are":[69,147],"underactuated,":[70],"utilising":[71],"identical":[72],"thrusters":[73],"with":[75],"similar":[76],"thruster":[77],"configurations.":[78],"larger":[82],"size,":[84],"as":[85,91],"compared":[86],"so":[90],"facilitate":[93],"its":[94],"need":[95],"mount":[97],"additional":[98,103],"sensors":[99,104],"equipment.":[101],"The":[102],"improved":[106,110],"intelligent":[107],"significantly":[109],"performances":[112],"briefly":[118],"describes":[119],"demonstrates":[121],"PD":[123],"station-keeping":[124],"controllers":[125],"designed":[126],"for":[127,138],"both":[128],"I":[130],"A":[133],"simulation":[136],"results,":[137],"yawing":[140],"at":[141],"60/spl":[142],"deg/":[143],"90/spl":[145],"deg/,":[146],"also":[148],"shown.":[149]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}