{"id":"https://openalex.org/W4205492598","doi":"https://doi.org/10.23919/ecc54610.2021.9655100","title":"Modeling and Control of a Highly Modular Underwater Vehicle with Experimental Results","display_name":"Modeling and Control of a Highly Modular Underwater Vehicle with Experimental Results","publication_year":2021,"publication_date":"2021-06-29","ids":{"openalex":"https://openalex.org/W4205492598","doi":"https://doi.org/10.23919/ecc54610.2021.9655100"},"language":"en","primary_location":{"id":"doi:10.23919/ecc54610.2021.9655100","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc54610.2021.9655100","pdf_url":null,"source":{"id":"https://openalex.org/S4363608272","display_name":"2021 European Control Conference (ECC)","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":"2021 European Control Conference (ECC)","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/A5025506057","display_name":"Erik Rentzow","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Erik Rentzow","raw_affiliation_strings":["Institute of Automation, University of Rostock, Rostock, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, University of Rostock, Rostock, Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034286008","display_name":"Thilo Muller","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thilo Muller","raw_affiliation_strings":["Institute of Automation, University of Rostock, Rostock, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, University of Rostock, Rostock, Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058964232","display_name":"Matthias Golz","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Golz","raw_affiliation_strings":["Berlin Institute of Technology, Design and Operation of Maritime Systems, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Berlin Institute of Technology, Design and Operation of Maritime Systems, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001374210","display_name":"Sebastian Ritz","orcid":"https://orcid.org/0009-0004-5136-4290"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Ritz","raw_affiliation_strings":["Berlin Institute of Technology, Design and Operation of Maritime Systems, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Berlin Institute of Technology, Design and Operation of Maritime Systems, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039918588","display_name":"Martin Kurowski","orcid":null},"institutions":[{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]},{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Kurowski","raw_affiliation_strings":["Institute of Automation, University of Rostock, Rostock, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, University of Rostock, Rostock, Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002598775","display_name":"Torsten Jeinsch","orcid":"https://orcid.org/0000-0002-8287-2544"},"institutions":[{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]},{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Torsten Jeinsch","raw_affiliation_strings":["Institute of Automation, University of Rostock, Rostock, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, University of Rostock, Rostock, Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5025506057"],"corresponding_institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I4665924"],"apc_list":null,"apc_paid":null,"fwci":3.9442,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.9578918,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2245","last_page":"2250"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9954000115394592,"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":0.9954000115394592,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.98089998960495,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9664999842643738,"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/modular-design","display_name":"Modular design","score":0.8313779234886169},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7806961536407471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5766262412071228},{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.5295955538749695},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.45661845803260803},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4491998553276062},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.434914767742157},{"id":"https://openalex.org/keywords/hull","display_name":"Hull","score":0.41792556643486023},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3928874135017395},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3414197564125061},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.339123010635376},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.20783016085624695},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19910553097724915}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8313779234886169},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7806961536407471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5766262412071228},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.5295955538749695},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.45661845803260803},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4491998553276062},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.434914767742157},{"id":"https://openalex.org/C37423430","wikidata":"https://www.wikidata.org/wiki/Q6750281","display_name":"Hull","level":2,"score":0.41792556643486023},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3928874135017395},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3414197564125061},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.339123010635376},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.20783016085624695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19910553097724915},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc54610.2021.9655100","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc54610.2021.9655100","pdf_url":null,"source":{"id":"https://openalex.org/S4363608272","display_name":"2021 European Control Conference (ECC)","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":"2021 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.7099999785423279,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1597718947","https://openalex.org/W2077435664","https://openalex.org/W2093496278","https://openalex.org/W2122757995","https://openalex.org/W2164629089","https://openalex.org/W2492811885","https://openalex.org/W2904292254","https://openalex.org/W2969753053","https://openalex.org/W3154042442"],"related_works":["https://openalex.org/W2467926385","https://openalex.org/W2893068807","https://openalex.org/W161301265","https://openalex.org/W2483619716","https://openalex.org/W2515556373","https://openalex.org/W2349855979","https://openalex.org/W4206559583","https://openalex.org/W2291813429","https://openalex.org/W4389552621","https://openalex.org/W3197041827"],"abstract_inverted_index":{"This":[0],"paper":[1,91],"presents":[2],"methodologies":[3,62],"for":[4],"modeling,":[5],"parameterization":[6],"and":[7,48,52,71,88],"control":[8,73,81],"system":[9,82],"design":[10,66],"of":[11,15,31,44,50,59,67,79,103,126],"a":[12,32,99,104,114],"novel":[13],"class":[14],"underwater":[16,116,128],"vehicle":[17,37,86],"called":[18],"MUM":[19,25,107],"-":[20],"Large":[21],"Modifiable":[22],"Underwater":[23],"Mothership.":[24],"breaks":[26],"with":[27,93],"the":[28,60,64,69,72,77,80,85,111],"traditional":[29],"concept":[30],"fixed":[33],"hull":[34],"structure.":[35],"The":[36,56,90],"shape":[38],"is":[39,63,118],"completely":[40],"variable":[41],"in":[42],"consequence":[43],"mission":[45,53,117],"dependent":[46],"assembly":[47],"arrangement":[49],"basic":[51],"specific":[54],"modules.":[55],"key":[57],"feature":[58],"proposed":[61],"modular":[65],"both":[68],"model":[70,102],"system,":[74],"which":[75,120],"allows":[76],"adjustment":[78],"when":[83],"restructuring":[84],"modules":[87],"shape.":[89],"closes":[92],"experimental":[94],"trials":[95],"carried":[96],"out":[97],"using":[98],"scaled":[100],"functional":[101],"real":[105],"size":[106],"vehicle.":[108],"To":[109],"validate":[110],"generic":[112],"methods":[113],"complex":[115],"performed,":[119],"covers":[121],"different":[122,127],"relevant":[123],"operational":[124],"areas":[125],"vehicles.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
