{"id":"https://openalex.org/W4286306522","doi":"https://doi.org/10.23919/ascc56756.2022.9828337","title":"A Compliant-Rigid Underwater Manipulator for Enhanced Safety and Precision Performance","display_name":"A Compliant-Rigid Underwater Manipulator for Enhanced Safety and Precision Performance","publication_year":2022,"publication_date":"2022-05-04","ids":{"openalex":"https://openalex.org/W4286306522","doi":"https://doi.org/10.23919/ascc56756.2022.9828337"},"language":"en","primary_location":{"id":"doi:10.23919/ascc56756.2022.9828337","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ascc56756.2022.9828337","pdf_url":null,"source":{"id":"https://openalex.org/S4363607827","display_name":"2022 13th Asian Control Conference (ASCC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 13th Asian Control Conference (ASCC)","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/A5004409274","display_name":"Hamed Toubar","orcid":null},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Hamed Toubar","raw_affiliation_strings":["Khalifa University,Khalifa University Center for Autonomous Robotics (KUCARS),Department of Mechanical Engineering,Abu Dhabi,United Arab Emirates","Department of Mechanical Engineering, Khalifa University Center for Autonomous Robotics (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Khalifa University,Khalifa University Center for Autonomous Robotics (KUCARS),Department of Mechanical Engineering,Abu Dhabi,United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Khalifa University Center for Autonomous Robotics (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049903935","display_name":"Umer Hameed Shah","orcid":"https://orcid.org/0000-0001-9128-0447"},"institutions":[{"id":"https://openalex.org/I182000528","display_name":"Ajman University","ror":"https://ror.org/01j1rma10","country_code":"AE","type":"education","lineage":["https://openalex.org/I182000528"]},{"id":"https://openalex.org/I2799651553","display_name":"City University College of Ajman","ror":"https://ror.org/00zb4qh40","country_code":"AE","type":"education","lineage":["https://openalex.org/I2799651553"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Umer Hameed Shah","raw_affiliation_strings":["Ajman University,College of Engineering and Information Technology,Artificial Intelligence Research Center and Department of Mechanical Engineering,Ajman,United Arab Emirates","Artificial Intelligence Research Center and Department of Mechanical Engineering, College of Engineering and Information Technology, Ajman University, Ajman, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Ajman University,College of Engineering and Information Technology,Artificial Intelligence Research Center and Department of Mechanical Engineering,Ajman,United Arab Emirates","institution_ids":["https://openalex.org/I182000528","https://openalex.org/I2799651553"]},{"raw_affiliation_string":"Artificial Intelligence Research Center and Department of Mechanical Engineering, College of Engineering and Information Technology, Ajman University, Ajman, United Arab Emirates","institution_ids":["https://openalex.org/I182000528"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023802518","display_name":"Irfan Hussain","orcid":"https://orcid.org/0000-0003-2759-0306"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Irfan Hussain","raw_affiliation_strings":["Khalifa University,Khalifa University Center for Autonomous Robotics (KUCARS),Department of Mechanical Engineering,Abu Dhabi,United Arab Emirates","Department of Mechanical Engineering, Khalifa University Center for Autonomous Robotics (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Khalifa University,Khalifa University Center for Autonomous Robotics (KUCARS),Department of Mechanical Engineering,Abu Dhabi,United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Khalifa University Center for Autonomous Robotics (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5004409274"],"corresponding_institution_ids":["https://openalex.org/I176601375"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08554617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1505","last_page":"1510"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.996999979019165,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.996999979019165,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9957000017166138,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9957000017166138,"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/underwater","display_name":"Underwater","score":0.7216518521308899},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6181262135505676},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6133148074150085},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3950090706348419},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3222101628780365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2661990821361542},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22360476851463318},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16290920972824097},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14157149195671082},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1350945234298706}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7216518521308899},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6181262135505676},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6133148074150085},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3950090706348419},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3222101628780365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2661990821361542},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22360476851463318},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16290920972824097},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14157149195671082},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1350945234298706},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ascc56756.2022.9828337","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ascc56756.2022.9828337","pdf_url":null,"source":{"id":"https://openalex.org/S4363607827","display_name":"2022 13th Asian Control Conference (ASCC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 13th Asian Control Conference (ASCC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7699999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320330328","display_name":"Ajman University","ror":"https://ror.org/01j1rma10"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1975650479","https://openalex.org/W2020348052","https://openalex.org/W2055385926","https://openalex.org/W2068300731","https://openalex.org/W2111253117","https://openalex.org/W2113593135","https://openalex.org/W2131063775","https://openalex.org/W2167328109","https://openalex.org/W2183265029","https://openalex.org/W2807729139","https://openalex.org/W3033809666","https://openalex.org/W3128408433","https://openalex.org/W3193700645","https://openalex.org/W6686264374"],"related_works":["https://openalex.org/W4293702207","https://openalex.org/W2385165696","https://openalex.org/W2362551533","https://openalex.org/W2386777533","https://openalex.org/W2373581562","https://openalex.org/W2354638634","https://openalex.org/W1973860365","https://openalex.org/W2358412393","https://openalex.org/W2380159283","https://openalex.org/W4319156915"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"innovative":[4],"design":[5],"of":[6,15,34,41,68,83,99],"a":[7,38,72],"hybrid":[8],"compliant-rigid":[9],"underwater":[10,19],"manipulator":[11,102],"that":[12],"is":[13,44,47,62],"capable":[14],"performing":[16],"intervention":[17],"operations":[18],"with":[20],"high":[21],"safety":[22,95],"and":[23,75,86,96,106],"precision":[24,97],"by":[25],"instantly":[26],"shifting":[27],"it\u2019s":[28],"joint-compliance.":[29],"To":[30],"analyze":[31,93],"the":[32,35,42,51,66,69,81,94,100],"responses":[33,53],"said":[36],"system,":[37],"mathematical":[39],"model":[40],"system":[43,103],"developed,":[45],"which":[46],"used":[48],"to":[49,64,76,92],"simulate":[50],"system\u2019s":[52],"for":[54,104],"different":[55],"loading":[56],"conditions.":[57],"A":[58],"PD":[59],"control":[60],"law":[61],"developed":[63],"maintain":[65],"position":[67],"link":[70],"at":[71],"desired":[73],"value":[74],"suppress":[77],"its":[78],"vibrations":[79],"under":[80],"influence":[82],"hydrodynamic":[84],"forces":[85],"environmental":[87],"disturbances.":[88],"Simulations":[89],"are":[90],"performed":[91],"performance":[98],"proposed":[101],"compliant":[105],"rigid":[107],"joint":[108],"configurations.":[109]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}