{"id":"https://openalex.org/W2894964978","doi":"https://doi.org/10.1631/fitee.1700382","title":"Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation","display_name":"Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2894964978","doi":"https://doi.org/10.1631/fitee.1700382","mag":"2894964978"},"language":"en","primary_location":{"id":"doi:10.1631/fitee.1700382","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.1700382","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology & Electronic Engineering","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/A5100448708","display_name":"Bo Li","orcid":"https://orcid.org/0000-0002-2108-5600"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Li","raw_affiliation_strings":["College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, 310027, China"],"raw_orcid":"https://orcid.org/0000-0002-2108-5600","affiliations":[{"raw_affiliation_string":"College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100841816","display_name":"Yuanxin Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuan-xin Xu","raw_affiliation_strings":["College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, 310027, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008815206","display_name":"Shuangshuang Fan","orcid":"https://orcid.org/0000-0003-3181-515X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang-shuang Fan","raw_affiliation_strings":["College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, 310027, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075398704","display_name":"Wen Xu","orcid":"https://orcid.org/0000-0001-9138-8773"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Xu","raw_affiliation_strings":["College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, 310027, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou, 310027, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100841816"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":2390,"currency":"USD","value_usd":2390},"apc_paid":null,"fwci":1.2324,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.77781044,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"19","issue":"8","first_page":"1024","last_page":"1041"},"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/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11698","display_name":"Underwater Acoustics Research","score":0.9671000242233276,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6709079742431641},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6508402824401855},{"id":"https://openalex.org/keywords/sea-trial","display_name":"Sea trial","score":0.562377393245697},{"id":"https://openalex.org/keywords/funnel","display_name":"Funnel","score":0.5597784519195557},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5117749571800232},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44567373394966125},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4349654018878937},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.4170975685119629},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39427292346954346},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39382731914520264},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3649112582206726},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.27498653531074524},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11576959490776062},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08553683757781982},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08228221535682678}],"concepts":[{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6709079742431641},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6508402824401855},{"id":"https://openalex.org/C19724227","wikidata":"https://www.wikidata.org/wiki/Q1988181","display_name":"Sea trial","level":2,"score":0.562377393245697},{"id":"https://openalex.org/C17435862","wikidata":"https://www.wikidata.org/wiki/Q29957","display_name":"Funnel","level":2,"score":0.5597784519195557},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5117749571800232},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44567373394966125},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4349654018878937},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.4170975685119629},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39427292346954346},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39382731914520264},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3649112582206726},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.27498653531074524},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11576959490776062},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08553683757781982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08228221535682678},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1631/fitee.1700382","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.1700382","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology & Electronic Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1140705606","https://openalex.org/W1554856851","https://openalex.org/W1988663579","https://openalex.org/W2010940524","https://openalex.org/W2017660981","https://openalex.org/W2024401827","https://openalex.org/W2026804214","https://openalex.org/W2047274780","https://openalex.org/W2069996442","https://openalex.org/W2075688903","https://openalex.org/W2077260248","https://openalex.org/W2080183706","https://openalex.org/W2083141733","https://openalex.org/W2092442977","https://openalex.org/W2101445338","https://openalex.org/W2102836891","https://openalex.org/W2109421241","https://openalex.org/W2131166695","https://openalex.org/W2137338847","https://openalex.org/W2144671652","https://openalex.org/W2156735381","https://openalex.org/W2163152311","https://openalex.org/W2327457343","https://openalex.org/W2472686038","https://openalex.org/W2528814379","https://openalex.org/W2908371837","https://openalex.org/W2950468698","https://openalex.org/W6758067284"],"related_works":["https://openalex.org/W2073875810","https://openalex.org/W2356551568","https://openalex.org/W2081113335","https://openalex.org/W2358635018","https://openalex.org/W2364686644","https://openalex.org/W2019434712","https://openalex.org/W1988424063","https://openalex.org/W2897499481","https://openalex.org/W2903900708","https://openalex.org/W3210202951"],"abstract_inverted_index":{"Underwater":[0],"docking":[1,28,42,90,194,239],"greatly":[2],"facilitates":[3],"and":[4,21,58,80,137,149,183,236,259],"extends":[5],"operation":[6],"of":[7,16,107,120,124,159,174,219,226],"an":[8,29,45,61],"autonomous":[9],"underwater":[10,34],"vehicle":[11,72],"(AUV)":[12],"without":[13],"the":[14,64,77,93,105,114,157,164,172,181,184,192,210,217,233,237,252,255],"support":[15],"a":[17,32,41,117,121,200,224],"surface":[18],"vessel.":[19],"Robust":[20],"accurate":[22],"control":[23,55,94,118,125,139,248],"is":[24,48,127,196],"critically":[25],"important":[26],"for":[27],"AUV":[30,47,202,253],"into":[31,254],"small":[33],"funnel-type":[35],"dock":[36,256],"station.":[37],"In":[38,187],"this":[39],"paper,":[40],"system":[43],"with":[44,50,104,113,133],"under-actuated":[46,62],"presented,":[49],"special":[51],"attention":[52],"paid":[53],"to":[54,84,87,163,180,189,231],"algorithm":[56],"design":[57],"implementation.":[59],"For":[60],"AUV,":[63],"cross-track":[65,78],"error":[66,79,82],"can":[67,96,145,250],"be":[68,85,97],"controlled":[69],"only":[70,155],"via":[71],"heading":[73,81],"modulation,":[74],"so":[75],"both":[76,147,175],"have":[83],"constrained":[86],"achieve":[88],"successful":[89],"operations,":[91],"while":[92],"problem":[95],"even":[98,215],"more":[99],"complicated":[100],"in":[101,166,199,216],"practical":[102],"scenarios":[103],"presence":[106,218],"unknown":[108],"ocean":[109],"currents.":[110],"To":[111],"cope":[112],"above":[115],"issues,":[116],"scheme":[119,195],"three-hierarchy":[122],"structure":[123],"loops":[126],"developed,":[128],"which":[129],"has":[130],"been":[131],"embedded":[132],"online":[134],"current":[135,143,151,211,221,234],"estimator/compensator":[136,212,235],"effective":[138],"parameter":[140],"tuning.":[141],"The":[142,241],"estimator":[144],"evaluate":[146],"horizontal":[148],"vertical":[150],"velocity":[152,161],"components,":[153],"based":[154],"on":[156],"measurement":[158],"AUV\u2019s":[160,176],"relative":[162,179],"ground;":[165],"contrast,":[167],"most":[168],"existing":[169],"methods":[170,249],"use":[171],"measurements":[173],"velocities":[177],"respectively":[178],"ground":[182],"water":[185],"column.":[186],"addition":[188],"numerical":[190],"simulation,":[191],"proposed":[193],"fully":[197],"implemented":[198],"prototype":[201],"using":[203],"MOOS-IvP":[204],"architecture.":[205],"Simulation":[206],"results":[207,244],"show":[208,245],"that":[209,246],"works":[213],"well":[214],"lateral":[220],"disturbance.":[222],"Finally,":[223],"series":[225],"sea":[227,242],"trials":[228],"are":[229],"conducted":[230],"validate":[232],"whole":[238],"system.":[240],"trial":[243],"our":[247],"drive":[251],"station":[257],"effectively":[258],"robustly.":[260]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}