{"id":"https://openalex.org/W4389946200","doi":"https://doi.org/10.23919/sice59929.2023.10354218","title":"Wall-surface Running Control of a Tandem Type UAV with Tiltable Rotors","display_name":"Wall-surface Running Control of a Tandem Type UAV with Tiltable Rotors","publication_year":2023,"publication_date":"2023-09-06","ids":{"openalex":"https://openalex.org/W4389946200","doi":"https://doi.org/10.23919/sice59929.2023.10354218"},"language":"en","primary_location":{"id":"doi:10.23919/sice59929.2023.10354218","is_oa":false,"landing_page_url":"https://doi.org/10.23919/sice59929.2023.10354218","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd Annual Conference of the Society of Instrument and Control Engineers (SICE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5111518950","display_name":"Keigo Watanabe","orcid":null},"institutions":[{"id":"https://openalex.org/I136446963","display_name":"Okayama University of Science","ror":"https://ror.org/05aevyc10","country_code":"JP","type":"education","lineage":["https://openalex.org/I136446963"]},{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keigo Watanabe","raw_affiliation_strings":["Okayama Univ,Graduate School of Environmental, Life, Natural Sci. and Tech,Okayama,Japan","Graduate School of Environmental, Life, Natural Sci. and Tech, Okayama Univ, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Okayama Univ,Graduate School of Environmental, Life, Natural Sci. and Tech,Okayama,Japan","institution_ids":["https://openalex.org/I136446963","https://openalex.org/I163770644"]},{"raw_affiliation_string":"Graduate School of Environmental, Life, Natural Sci. and Tech, Okayama Univ, Okayama, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027889675","display_name":"Hideaki Komura","orcid":null},"institutions":[{"id":"https://openalex.org/I193666615","display_name":"Kawasaki Heavy Industries (Japan)","ror":"https://ror.org/01sggg367","country_code":"JP","type":"company","lineage":["https://openalex.org/I193666615"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hideaki Komura","raw_affiliation_strings":["Kawasaki Heavy Industries, Ltd,Kobe,Japan","Kawasaki Heavy Industries, Ltd, Kobe, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kawasaki Heavy Industries, Ltd,Kobe,Japan","institution_ids":["https://openalex.org/I193666615"]},{"raw_affiliation_string":"Kawasaki Heavy Industries, Ltd, Kobe, Japan","institution_ids":["https://openalex.org/I193666615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003013107","display_name":"Xiongshi Xu","orcid":"https://orcid.org/0009-0008-7924-5081"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiongshi Xu","raw_affiliation_strings":["Huazhong University of Science and Technology,Graduate School of Mechanical Sci. and Eng,Wuhan City,China","Graduate School of Mechanical Sci. and Eng, Huazhong University of Science and Technology, Wuhan City, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,Graduate School of Mechanical Sci. and Eng,Wuhan City,China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"Graduate School of Mechanical Sci. and Eng, Huazhong University of Science and Technology, Wuhan City, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112578084","display_name":"Isaku Nagai","orcid":null},"institutions":[{"id":"https://openalex.org/I136446963","display_name":"Okayama University of Science","ror":"https://ror.org/05aevyc10","country_code":"JP","type":"education","lineage":["https://openalex.org/I136446963"]},{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Isaku Nagai","raw_affiliation_strings":["Okayama Univ,Graduate School of Environmental, Life, Natural Sci. and Tech,Okayama,Japan","Graduate School of Environmental, Life, Natural Sci. and Tech, Okayama Univ, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Okayama Univ,Graduate School of Environmental, Life, Natural Sci. and Tech,Okayama,Japan","institution_ids":["https://openalex.org/I136446963","https://openalex.org/I163770644"]},{"raw_affiliation_string":"Graduate School of Environmental, Life, Natural Sci. and Tech, Okayama Univ, Okayama, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1428","last_page":"1435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"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":0.9979000091552734,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/control-theory","display_name":"Control theory (sociology)","score":0.5924570560455322},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5793322920799255},{"id":"https://openalex.org/keywords/coaxial","display_name":"Coaxial","score":0.563265323638916},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5581179261207581},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5505762100219727},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.5319419503211975},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.48014992475509644},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3955741822719574},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3949960768222809},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.38988542556762695},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3403775095939636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.316173791885376},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2578273415565491},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23920473456382751},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1723630428314209},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16999727487564087},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1343894600868225}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5924570560455322},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5793322920799255},{"id":"https://openalex.org/C51221625","wikidata":"https://www.wikidata.org/wiki/Q1751466","display_name":"Coaxial","level":2,"score":0.563265323638916},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5581179261207581},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5505762100219727},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.5319419503211975},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.48014992475509644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3955741822719574},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3949960768222809},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.38988542556762695},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3403775095939636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.316173791885376},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2578273415565491},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23920473456382751},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1723630428314209},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16999727487564087},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1343894600868225},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/sice59929.2023.10354218","is_oa":false,"landing_page_url":"https://doi.org/10.23919/sice59929.2023.10354218","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd Annual Conference of the Society of Instrument and Control Engineers (SICE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W352735206","https://openalex.org/W2089908769","https://openalex.org/W2140412568","https://openalex.org/W2326867559","https://openalex.org/W2557478284","https://openalex.org/W2744464459","https://openalex.org/W2783840519","https://openalex.org/W2897040213","https://openalex.org/W2907835116","https://openalex.org/W3094595298","https://openalex.org/W3101738542","https://openalex.org/W3176894072"],"related_works":["https://openalex.org/W2370734581","https://openalex.org/W2368484960","https://openalex.org/W4309462258","https://openalex.org/W2094011599","https://openalex.org/W1541746961","https://openalex.org/W2797553796","https://openalex.org/W2892019095","https://openalex.org/W2163045496","https://openalex.org/W4366779513","https://openalex.org/W2001422561"],"abstract_inverted_index":{"This":[0],"study":[1],"shows":[2],"how":[3],"to":[4,29,36],"prevent":[5],"the":[6,10,59,63,74,79],"rank":[7],"deficiency":[8],"in":[9,26,34,95],"thrust":[11],"allocation":[12],"matrix":[13],"by":[14,91],"giving":[15],"each":[16],"rotor":[17,23],"of":[18,45,57,62,86],"a":[19,24,38,42,51,55,66,100],"2-DOF":[20],"tiltable":[21],"coaxial":[22],"difference":[25],"rotational":[27],"speed":[28],"generate":[30],"counter-torque.":[31],"In":[32],"addition,":[33],"order":[35],"avoid":[37],"singular":[39,75],"attitude":[40,60,76],"at":[41],"pitch":[43],"angle":[44,61],"90":[46],"degrees":[47],"when":[48],"moving":[49],"along":[50],"wall,":[52],"we":[53],"propose":[54],"method":[56,88],"expressing":[58],"UAV":[64],"as":[65],"quaternion":[67],"and":[68,77],"controlling":[69,78],"translational":[70],"movement":[71],"while":[72],"maintaining":[73],"force":[80],"through":[81],"impedance":[82],"control.":[83],"The":[84],"usefulness":[85],"this":[87],"is":[89],"verified":[90],"simulating":[92],"wall":[93,101],"running":[94],"an":[96],"environment":[97],"that":[98],"includes":[99],"model.":[102]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
