{"id":"https://openalex.org/W3126857005","doi":"https://doi.org/10.3390/robotics10010028","title":"Autonomous Elbow Controller for Differential Drive In-Pipe Robots","display_name":"Autonomous Elbow Controller for Differential Drive In-Pipe Robots","publication_year":2021,"publication_date":"2021-02-02","ids":{"openalex":"https://openalex.org/W3126857005","doi":"https://doi.org/10.3390/robotics10010028","mag":"3126857005"},"language":"en","primary_location":{"id":"doi:10.3390/robotics10010028","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010028","pdf_url":"https://www.mdpi.com/2218-6581/10/1/28/pdf?version=1616036434","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/10/1/28/pdf?version=1616036434","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050071195","display_name":"Liam Brown","orcid":"https://orcid.org/0000-0001-9209-6270"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Liam Brown","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK"],"raw_orcid":"https://orcid.org/0000-0001-9209-6270","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024320684","display_name":"Joaqu\u00edn Carrasco","orcid":"https://orcid.org/0000-0002-7499-6408"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Joaquin Carrasco","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK"],"raw_orcid":"https://orcid.org/0000-0002-7499-6408","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080310566","display_name":"Simon Watson","orcid":"https://orcid.org/0000-0001-9783-0147"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Watson","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK"],"raw_orcid":"https://orcid.org/0000-0001-9783-0147","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, UK","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050071195"],"corresponding_institution_ids":["https://openalex.org/I28407311"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.9346,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.70733361,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"10","issue":"1","first_page":"28","last_page":"28"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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":0.9988999962806702,"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/T13715","display_name":"Power Line Inspection Robots","score":0.9980000257492065,"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":0.7572004795074463},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5366743206977844},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.5220872759819031},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49025920033454895},{"id":"https://openalex.org/keywords/impulse","display_name":"Impulse (physics)","score":0.4616362750530243},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4571026563644409},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44695788621902466},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3874503970146179},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3803498148918152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26944220066070557},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1484067142009735},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1435616910457611},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07918199896812439}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7572004795074463},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5366743206977844},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.5220872759819031},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49025920033454895},{"id":"https://openalex.org/C70836080","wikidata":"https://www.wikidata.org/wiki/Q837940","display_name":"Impulse (physics)","level":2,"score":0.4616362750530243},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4571026563644409},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44695788621902466},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3874503970146179},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3803498148918152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26944220066070557},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1484067142009735},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1435616910457611},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07918199896812439},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics10010028","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010028","pdf_url":"https://www.mdpi.com/2218-6581/10/1/28/pdf?version=1616036434","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire/ed95c4db-4051-4385-a1d0-066710af08c9","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/ed95c4db-4051-4385-a1d0-066710af08c9","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Brown, L, Carrasco, J & Watson, S 2021, 'Autonomous Elbow Controller For Differential Drive In-Pipe Robots', robotics, vol. 10, no. 1, 28, pp. 1-21. https://doi.org/10.3390/robotics10010028","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:doaj.org/article:2d4adddea117455499b8a59c52973bc3","is_oa":true,"landing_page_url":"https://doaj.org/article/2d4adddea117455499b8a59c52973bc3","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 10, Iss 1, p 28 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/10/1/28/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics10010028","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 10; Issue 1; Pages: 28","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics10010028","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010028","pdf_url":"https://www.mdpi.com/2218-6581/10/1/28/pdf?version=1616036434","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3126857005.pdf","grobid_xml":"https://content.openalex.org/works/W3126857005.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W1981742878","https://openalex.org/W2080262760","https://openalex.org/W2103365233","https://openalex.org/W2119044260","https://openalex.org/W2127098615","https://openalex.org/W2157893028","https://openalex.org/W2291008499","https://openalex.org/W2542475276","https://openalex.org/W2549165056","https://openalex.org/W2571356751","https://openalex.org/W2590356207","https://openalex.org/W2594595842","https://openalex.org/W2613721158","https://openalex.org/W2739005188","https://openalex.org/W2744147298","https://openalex.org/W2769530409","https://openalex.org/W2792420564","https://openalex.org/W2886238227","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2005824415","https://openalex.org/W2372999110","https://openalex.org/W3136493222","https://openalex.org/W65309699","https://openalex.org/W2997803326","https://openalex.org/W3176430321","https://openalex.org/W2394269979","https://openalex.org/W2054858771","https://openalex.org/W2019286687","https://openalex.org/W2000675896"],"abstract_inverted_index":{"The":[0,46,64],"inspection":[1],"of":[2,16,22,37,93,105],"legacy":[3],"nuclear":[4],"facilities":[5],"to":[6,53,68,72,116,122,135,150,155,163],"aid":[7],"in":[8,131,138],"decommissioning":[9],"is":[10,19,66,113,129,148],"a":[11],"world":[12],"wide":[13],"issue.":[14],"One":[15],"the":[17,20,35,55,70,85,94,99,103,106,118,123,126,132,136,139,146,152,156,164],"challenges":[18],"characterisation":[21],"pipe":[23,40],"networks":[24],"within":[25],"them.":[26],"This":[27,101],"paper":[28],"presents":[29],"an":[30,76],"autonomous":[31],"control":[32],"system":[33],"for":[34],"navigation":[36],"these":[38],"unknown":[39],"networks,":[41],"specifically":[42],"focusing":[43],"on":[44,78],"elbows.":[45,63],"controller":[47,65,147],"utilises":[48],"three":[49],"low-cost":[50],"feeler":[51],"sensors":[52],"navigate":[54,74],"FURO":[56],"II":[57],"robot":[58,71,124,157],"around":[59,75],"150":[60],"mm":[61],"short":[62],"shown":[67,149],"allow":[69],"safely":[73],"elbow":[77,133],"all":[79],"39":[80],"attempts":[81,96],"comparing":[82],"that":[83],"with":[84],"brute":[86,165],"force":[87,120,166],"method":[88],"which":[89],"only":[90],"completed":[91],"five":[92],"nine":[95],"and":[97],"damaging":[98],"robot.":[100],"shows":[102],"advantages":[104],"proposed":[107,115],"controller.":[108],"A":[109],"new":[110],"metric":[111],"(Impulse)":[112],"also":[114],"compare":[117],"extra":[119],"applied":[121,154],"over":[125],"time":[127],"it":[128],"slipping":[130],"due":[134],"errors":[137],"drive":[140],"unit":[141],"speeds.":[142],"Using":[143],"this":[144],"metric,":[145],"decrease":[151],"Impulse":[153],"by":[158],"213.97":[159],"Ns":[160],"when":[161],"compared":[162],"method.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
