{"id":"https://openalex.org/W2010185804","doi":"https://doi.org/10.2478/s13230-012-0014-3","title":"Fuzzy Control of a Log Carrying Robot on Tree-Filled Steep-Sloping Terrains","display_name":"Fuzzy Control of a Log Carrying Robot on Tree-Filled Steep-Sloping Terrains","publication_year":2012,"publication_date":"2012-03-01","ids":{"openalex":"https://openalex.org/W2010185804","doi":"https://doi.org/10.2478/s13230-012-0014-3","mag":"2010185804"},"language":"en","primary_location":{"id":"doi:10.2478/s13230-012-0014-3","is_oa":true,"landing_page_url":"https://doi.org/10.2478/s13230-012-0014-3","pdf_url":"https://www.degruyter.com/document/doi/10.2478/s13230-012-0014-3/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2081-4836","issn":["2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.degruyter.com/document/doi/10.2478/s13230-012-0014-3/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017998469","display_name":"R. Beranek","orcid":null},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Richard Beranek","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023463699","display_name":"Aliasgar Morbi","orcid":"https://orcid.org/0000-0002-1254-4609"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Aliasgar Morbi","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003661568","display_name":"Mojtaba Ahmadi","orcid":"https://orcid.org/0000-0002-5679-7640"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Mojtaba Ahmadi","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Canada","institution_ids":["https://openalex.org/I67031392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5003661568"],"corresponding_institution_ids":["https://openalex.org/I67031392"],"apc_list":{"value":1000,"currency":"EUR","value_usd":1078},"apc_paid":{"value":1000,"currency":"EUR","value_usd":1078},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08838243,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":"1","first_page":"35","last_page":"44"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9975000023841858,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8298981189727783},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8150730133056641},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7171143889427185},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6222575902938843},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.606425404548645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5469142198562622},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5368156433105469},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5084913969039917},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.44728463888168335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4046480655670166},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3830846846103668},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3384370505809784},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2500932514667511},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2135406732559204},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07258191704750061}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8298981189727783},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8150730133056641},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7171143889427185},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6222575902938843},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.606425404548645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5469142198562622},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5368156433105469},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5084913969039917},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.44728463888168335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4046480655670166},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3830846846103668},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3384370505809784},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2500932514667511},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2135406732559204},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07258191704750061},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.2478/s13230-012-0014-3","is_oa":true,"landing_page_url":"https://doi.org/10.2478/s13230-012-0014-3","pdf_url":"https://www.degruyter.com/document/doi/10.2478/s13230-012-0014-3/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2081-4836","issn":["2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:f561762b72e4421080057d7dbad751a3","is_oa":true,"landing_page_url":"https://doaj.org/article/f561762b72e4421080057d7dbad751a3","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Paladyn, Vol 3, Iss 1, Pp 35-44 (2012)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.2478/s13230-012-0014-3","is_oa":true,"landing_page_url":"https://doi.org/10.2478/s13230-012-0014-3","pdf_url":"https://www.degruyter.com/document/doi/10.2478/s13230-012-0014-3/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2081-4836","issn":["2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2010185804.pdf","grobid_xml":"https://content.openalex.org/works/W2010185804.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W23582944","https://openalex.org/W86206252","https://openalex.org/W173476871","https://openalex.org/W1626375258","https://openalex.org/W1824470003","https://openalex.org/W2050435962","https://openalex.org/W2096078692","https://openalex.org/W2106667095","https://openalex.org/W2114323019","https://openalex.org/W2116423661","https://openalex.org/W2117171872","https://openalex.org/W2121826580","https://openalex.org/W2125409550","https://openalex.org/W2126357802","https://openalex.org/W2127607541","https://openalex.org/W2129817250","https://openalex.org/W2131505299","https://openalex.org/W2135367612","https://openalex.org/W2138058145","https://openalex.org/W2155413448","https://openalex.org/W2984588480","https://openalex.org/W6678136709","https://openalex.org/W6679970472"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W2069184433","https://openalex.org/W3044778482","https://openalex.org/W3040494141","https://openalex.org/W4384026392","https://openalex.org/W135622916"],"abstract_inverted_index":{"Abstract":[0],"A":[1,56],"modular":[2,33],"robotic":[3,35],"system":[4],"and":[5,88,112],"its":[6],"fuzzy":[7,57,134],"logic":[8],"based":[9],"controller":[10,58,99,119],"are":[11,100,140],"proposed":[12,98],"for":[13,148,161],"use":[14],"in":[15,18,102],"logging":[16],"operations":[17],"forest":[19],"environments":[20],"with":[21,37,108],"steep":[22],"slopes.":[23],"The":[24,94],"Log-Carrying":[25],"Robot":[26],"(LCR)":[27],"concept":[28],"is":[29],"composed":[30],"of":[31,46,63,70,80,91,96],"two":[32],"wheeled":[34],"agents":[36],"individual":[38],"wheel":[39],"steering":[40],"that":[41,117],"connect":[42],"to":[43,49,85,142],"the":[44,60,68,74,78,81,86,89,92,97,118,122,125,137],"ends":[45],"a":[47,50,52,105],"log":[48],"form":[51],"centrally":[53],"controlled":[54],"robot.":[55],"specifies":[59],"desired":[61],"direction":[62],"travel":[64,76,154],"using":[65,104,131],"four":[66,109],"factors:":[67],"presence":[69],"obstacles,":[71],"boundaries":[72],"limiting":[73],"robot\u2019s":[75],"space,":[77],"heading":[79],"goal":[82,126],"position":[83,127],"relative":[84],"robot,":[87],"slope":[90],"terrain.":[93],"capabilities":[95],"demonstrated":[101],"simulation":[103],"rectangular":[106],"robot":[107,123,163],"individually":[110],"actuated":[111],"steered":[113],"wheels.":[114],"Results":[115],"indicate":[116],"successfully":[120],"steers":[121],"towards":[124],"while":[128],"avoiding":[129,152],"obstacles":[130],"only":[132],"eleven":[133],"rules.":[135],"Additionally,":[136],"simple":[138],"rules":[139],"shown":[141],"be":[143],"effective":[144],"at":[145],"automatically":[146],"compensating":[147],"sloped":[149],"terrain":[150],"by":[151],"direct":[153],"down":[155],"hills,":[156],"as":[157,159],"well":[158],"adapting":[160],"various":[162],"lengths.":[164]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
