{"id":"https://openalex.org/W2137766735","doi":"https://doi.org/10.1109/robio.2009.4913164","title":"A multi-task fuzzy control for underwater welding manipulator","display_name":"A multi-task fuzzy control for underwater welding manipulator","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2137766735","doi":"https://doi.org/10.1109/robio.2009.4913164","mag":"2137766735"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913164","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","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/A5090037826","display_name":"Mohammad Jafar Sadigh","orcid":"https://orcid.org/0000-0002-3719-8861"},"institutions":[{"id":"https://openalex.org/I170013655","display_name":"Isfahan University of Technology","ror":"https://ror.org/00af3sa43","country_code":"IR","type":"education","lineage":["https://openalex.org/I170013655"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"M.J. Sadigh","raw_affiliation_strings":["Department of Mechanical Engineering, Isfahan University Of Technology, Isfahan, Iran","Department of Mechanical Engineering, Isfahan University of Technology, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Isfahan University Of Technology, Isfahan, Iran","institution_ids":["https://openalex.org/I170013655"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Isfahan University of Technology, Iran","institution_ids":["https://openalex.org/I170013655"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082601860","display_name":"Ehsan Arjmand","orcid":null},"institutions":[{"id":"https://openalex.org/I170013655","display_name":"Isfahan University of Technology","ror":"https://ror.org/00af3sa43","country_code":"IR","type":"education","lineage":["https://openalex.org/I170013655"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"E. Arjmand","raw_affiliation_strings":["Department of Mechanical Engineering, Isfahan University Of Technology, Isfahan, Iran","Department of Mechanical Engineering, Isfahan University of Technology, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Isfahan University Of Technology, Isfahan, Iran","institution_ids":["https://openalex.org/I170013655"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Isfahan University of Technology, Iran","institution_ids":["https://openalex.org/I170013655"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5090037826"],"corresponding_institution_ids":["https://openalex.org/I170013655"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.11666195,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1157","last_page":"1163"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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":0.9955000281333923,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.989300012588501,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.8305380344390869},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5345273017883301},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5050330758094788},{"id":"https://openalex.org/keywords/submarine","display_name":"Submarine","score":0.48210883140563965},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.47633224725723267},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.46490180492401123},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4505794048309326},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.447032630443573},{"id":"https://openalex.org/keywords/welding","display_name":"Welding","score":0.4311668872833252},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.42938801646232605},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3617081642150879},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2389831840991974},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.23181083798408508},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22327831387519836},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10753783583641052},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09835752844810486}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8305380344390869},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5345273017883301},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5050330758094788},{"id":"https://openalex.org/C121327165","wikidata":"https://www.wikidata.org/wiki/Q2811","display_name":"Submarine","level":2,"score":0.48210883140563965},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.47633224725723267},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.46490180492401123},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4505794048309326},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.447032630443573},{"id":"https://openalex.org/C19474535","wikidata":"https://www.wikidata.org/wiki/Q131172","display_name":"Welding","level":2,"score":0.4311668872833252},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.42938801646232605},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3617081642150879},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2389831840991974},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.23181083798408508},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22327831387519836},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10753783583641052},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09835752844810486},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.4913164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913164","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1905188325","https://openalex.org/W1969762550","https://openalex.org/W1982442957","https://openalex.org/W1984010993","https://openalex.org/W2018762417","https://openalex.org/W2042803738","https://openalex.org/W2072763216","https://openalex.org/W2102634754","https://openalex.org/W2113260111","https://openalex.org/W2124328365","https://openalex.org/W2140543234","https://openalex.org/W2153644387","https://openalex.org/W4249002385","https://openalex.org/W6675504513"],"related_works":["https://openalex.org/W2349909505","https://openalex.org/W2357608514","https://openalex.org/W2349590521","https://openalex.org/W2358326180","https://openalex.org/W2363174912","https://openalex.org/W3005439796","https://openalex.org/W2381042913","https://openalex.org/W2016407697","https://openalex.org/W2349649617","https://openalex.org/W1979481804"],"abstract_inverted_index":{"Manipulators":[0],"mounted":[1],"on":[2,21,105],"unmanned":[3],"submarines":[4],"are":[5,12,97],"inherently":[6],"kinematically":[7],"redundant.":[8],"Such":[9],"systems,":[10],"which":[11],"normally":[13],"controlled":[14],"by":[15,30,78,132],"operators":[16],"from":[17],"within":[18],"a":[19,26,102,113,117],"vessel":[20],"the":[22,35,45,51,60,82,86,121,146,154],"sea,":[23],"can":[24],"follow":[25],"desired":[27,52],"path":[28,53],"both":[29],"moving":[31],"its":[32,89],"manipulator":[33,70,79,87,114],"or":[34,92],"submarine":[36,83,131],"itself.":[37],"Due":[38,63],"to":[39,64,74,140],"this":[40],"redundancy":[41,109],"one":[42],"might":[43],"control":[44],"system":[46,115],"such":[47,112],"that":[48],"it":[49,71,138],"tracks":[50],"and":[54,69,80,144],"fulfil":[55],"some":[56,93],"secondary":[57,95,142],"tasks":[58,96,143],"at":[59],"same":[61],"time.":[62],"different":[65,149],"inertia":[66],"of":[67,111,151,153],"vehicle":[68],"is":[72],"convenient":[73],"perform":[75],"fast":[76],"manoeuvres":[77],"leave":[81],"uncontrolled":[84],"until":[85],"reaches":[88],"physical":[90],"limits":[91],"other":[94],"violated.":[98],"This":[99],"paper":[100],"presents":[101],"method":[103,124],"based":[104],"fuzzy":[106],"logic":[107],"for":[108,126],"resolution":[110],"during":[116],"welding":[118],"mission":[119],"under":[120],"sea.":[122],"The":[123],"accounts":[125],"velocity":[127],"disturbances":[128],"induced":[129],"in":[130,148],"underwater":[133],"stream.":[134],"It":[135],"also":[136,145],"makes":[137],"possible":[139],"prioritize":[141],"motion":[147],"degrees":[150],"freedom":[152],"system.":[155]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
