{"id":"https://openalex.org/W3004206399","doi":"https://doi.org/10.3390/robotics9010007","title":"Geometric Insight into the Control Allocation Problem for Open-Frame ROVs and Visualisation of Solution","display_name":"Geometric Insight into the Control Allocation Problem for Open-Frame ROVs and Visualisation of Solution","publication_year":2020,"publication_date":"2020-01-29","ids":{"openalex":"https://openalex.org/W3004206399","doi":"https://doi.org/10.3390/robotics9010007","mag":"3004206399"},"language":"en","primary_location":{"id":"doi:10.3390/robotics9010007","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9010007","pdf_url":"https://www.mdpi.com/2218-6581/9/1/7/pdf?version=1585222721","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/2218-6581/9/1/7/pdf?version=1585222721","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047662350","display_name":"Edin Omerdi\u0107","orcid":"https://orcid.org/0000-0001-9692-239X"},"institutions":[{"id":"https://openalex.org/I230495080","display_name":"University of Limerick","ror":"https://ror.org/00a0n9e72","country_code":"IE","type":"education","lineage":["https://openalex.org/I230495080"]}],"countries":["IE"],"is_corresponding":true,"raw_author_name":"Edin Omerdic","raw_affiliation_strings":["Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland"],"raw_orcid":"https://orcid.org/0000-0001-9692-239X","affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland","institution_ids":["https://openalex.org/I230495080"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036533277","display_name":"Petar Trsli\u0107","orcid":"https://orcid.org/0000-0002-1075-6296"},"institutions":[{"id":"https://openalex.org/I230495080","display_name":"University of Limerick","ror":"https://ror.org/00a0n9e72","country_code":"IE","type":"education","lineage":["https://openalex.org/I230495080"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Petar Trslic","raw_affiliation_strings":["Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland","institution_ids":["https://openalex.org/I230495080"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013911255","display_name":"Admir Kaknjo","orcid":"https://orcid.org/0000-0002-1811-4845"},"institutions":[{"id":"https://openalex.org/I230495080","display_name":"University of Limerick","ror":"https://ror.org/00a0n9e72","country_code":"IE","type":"education","lineage":["https://openalex.org/I230495080"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Admir Kaknjo","raw_affiliation_strings":["Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland","institution_ids":["https://openalex.org/I230495080"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007555248","display_name":"Anthony Weir","orcid":"https://orcid.org/0009-0004-9861-2482"},"institutions":[{"id":"https://openalex.org/I230495080","display_name":"University of Limerick","ror":"https://ror.org/00a0n9e72","country_code":"IE","type":"education","lineage":["https://openalex.org/I230495080"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Anthony Weir","raw_affiliation_strings":["Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland","institution_ids":["https://openalex.org/I230495080"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083277375","display_name":"Muzaffar Rao","orcid":"https://orcid.org/0000-0003-3271-043X"},"institutions":[{"id":"https://openalex.org/I230495080","display_name":"University of Limerick","ror":"https://ror.org/00a0n9e72","country_code":"IE","type":"education","lineage":["https://openalex.org/I230495080"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Muzaffar Rao","raw_affiliation_strings":["Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland"],"raw_orcid":"https://orcid.org/0000-0003-3271-043X","affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland","institution_ids":["https://openalex.org/I230495080"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089494217","display_name":"Gerard Dooly","orcid":"https://orcid.org/0000-0002-7589-1384"},"institutions":[{"id":"https://openalex.org/I230495080","display_name":"University of Limerick","ror":"https://ror.org/00a0n9e72","country_code":"IE","type":"education","lineage":["https://openalex.org/I230495080"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Gerard Dooly","raw_affiliation_strings":["Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland","institution_ids":["https://openalex.org/I230495080"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068165002","display_name":"Daniel Toal","orcid":"https://orcid.org/0000-0003-3601-9216"},"institutions":[{"id":"https://openalex.org/I230495080","display_name":"University of Limerick","ror":"https://ror.org/00a0n9e72","country_code":"IE","type":"education","lineage":["https://openalex.org/I230495080"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Daniel Toal","raw_affiliation_strings":["Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland"],"raw_orcid":"https://orcid.org/0000-0003-3601-9216","affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Centre for Robotics and Intelligent Systems, University of Limerick, V94 T9PX Limerick, Ireland","institution_ids":["https://openalex.org/I230495080"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5047662350"],"corresponding_institution_ids":["https://openalex.org/I230495080"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.3923,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60207985,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"9","issue":"1","first_page":"7","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9990000128746033,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9976999759674072,"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/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.9033927917480469},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5292011499404907},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5239277482032776},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4773676097393036},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4698677957057953},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4352138638496399},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42102357745170593},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.412497341632843},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3856084942817688},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34624961018562317},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33226174116134644},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24406588077545166},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24312612414360046},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1834937036037445}],"concepts":[{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.9033927917480469},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5292011499404907},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5239277482032776},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4773676097393036},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4698677957057953},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4352138638496399},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42102357745170593},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.412497341632843},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3856084942817688},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34624961018562317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33226174116134644},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24406588077545166},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24312612414360046},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1834937036037445},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics9010007","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9010007","pdf_url":"https://www.mdpi.com/2218-6581/9/1/7/pdf?version=1585222721","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:http://www.rian.ie/187215/","is_oa":false,"landing_page_url":"http://hdl.handle.net/10344/8706","pdf_url":null,"source":{"id":"https://openalex.org/S4306400033","display_name":"Arrow@dit (Dublin Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I115570527","host_organization_name":"Dublin Institute of Technology","host_organization_lineage":["https://openalex.org/I115570527"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"-05-004,","raw_type":"Journal article"},{"id":"pmh:oai:doaj.org/article:a647731622ce423091704985dcab3057","is_oa":true,"landing_page_url":"https://doaj.org/article/a647731622ce423091704985dcab3057","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":"Robotics, Vol 9, Iss 1, p 7 (2020)","raw_type":"article"},{"id":"pmh:oai:figshare.com:article/19812712","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Geometric_insight_into_the_control_allocation_problem_for_open-frame_ROVs_and_visualisation_of_solution/19812712","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics9010007","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9010007","pdf_url":"https://www.mdpi.com/2218-6581/9/1/7/pdf?version=1585222721","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":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7200000286102295}],"awards":[{"id":"https://openalex.org/G1159863759","display_name":null,"funder_award_id":"SFI/14/SP/2740","funder_id":"https://openalex.org/F4320320847","funder_display_name":"Science Foundation Ireland"},{"id":"https://openalex.org/G6655519074","display_name":null,"funder_award_id":"SFI/12/RC/2302","funder_id":"https://openalex.org/F4320320847","funder_display_name":"Science Foundation Ireland"},{"id":"https://openalex.org/G7000582308","display_name":null,"funder_award_id":"15/RI/3232","funder_id":"https://openalex.org/F4320320847","funder_display_name":"Science Foundation Ireland"},{"id":"https://openalex.org/G7736775806","display_name":null,"funder_award_id":"13/RC/2094","funder_id":"https://openalex.org/F4320320847","funder_display_name":"Science Foundation Ireland"},{"id":"https://openalex.org/G8165910632","display_name":null,"funder_award_id":"06/CP/E007","funder_id":"https://openalex.org/F4320320847","funder_display_name":"Science Foundation Ireland"}],"funders":[{"id":"https://openalex.org/F4320320847","display_name":"Science Foundation Ireland","ror":"https://ror.org/0271asj38"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3004206399.pdf"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W2047315863","https://openalex.org/W2050362873","https://openalex.org/W2054639902","https://openalex.org/W2064591510","https://openalex.org/W2114497410","https://openalex.org/W2130681076","https://openalex.org/W2135496390","https://openalex.org/W2418870943","https://openalex.org/W2468002300","https://openalex.org/W2492811885","https://openalex.org/W2517132711","https://openalex.org/W2533613627","https://openalex.org/W2562700329","https://openalex.org/W2790230201","https://openalex.org/W2794272961","https://openalex.org/W2947895051","https://openalex.org/W2964818246"],"related_works":["https://openalex.org/W2784470129","https://openalex.org/W2626513527","https://openalex.org/W2571549313","https://openalex.org/W2071279196","https://openalex.org/W4224213796","https://openalex.org/W1977860220","https://openalex.org/W3111520657","https://openalex.org/W2147090319","https://openalex.org/W1522672041","https://openalex.org/W2562364859"],"abstract_inverted_index":{"The":[0,22,74,110,154,184],"overall":[1],"control":[2,20,23,31,50,67,132,143,197],"system":[3,198],"for":[4,41,163,181],"an":[5],"open-frame":[6,34,164],"Remotely":[7],"Operated":[8],"Vehicle":[9],"(ROV)":[10],"is":[11,56,69,79,117,124,173],"typically":[12],"built":[13],"from":[14],"three":[15],"subsystems:":[16],"guidance,":[17],"navigation":[18],"and":[19,48,59,85,92,106,119,146,151,199,203,216],"(GNC).":[21],"allocation":[24,51],"plays":[25],"a":[26,70,82,86,95,103,127,193],"vital":[27],"role":[28,148],"in":[29,44,53,130,201],"the":[30,42,45,49,64,90,100,107,114,120,137,147,176,207],"subsystem.":[32],"Typically,":[33],"underwater":[35],"vehicles":[36],"have":[37],"p":[38],"actuators":[39],"(thrusters)":[40],"motion":[43],"horizontal":[46,170],"plane,":[47],"problem,":[52],"this":[54,77],"case,":[55],"very":[57],"complex":[58],"hard":[60],"to":[61,80,93,160],"visualise,":[62],"because":[63],"normalised":[65],"constrained":[66],"subset":[68],"p-dimensional":[71],"unit":[72],"cube.":[73],"aim":[75],"of":[76,89,102,113,136,149,175,210],"paper":[78],"give":[81],"clear":[83],"picture":[84],"geometric":[87,122],"interpretation":[88],"problem":[91],"introduce":[94],"hybrid":[96,115,186],"method,":[97],"based":[98],"on":[99],"integration":[101],"weighted":[104],"pseudoinverse":[105,150],"fixed-point":[108,152],"method.":[109],"main":[111],"idea":[112],"method":[116,187],"visualised,":[118],"deep":[121],"insight":[123],"provided":[125],"using":[126,212],"\u201cvirtual\u201d":[128],"ROV":[129,165,196,214,218],"low-dimensional":[131],"spaces,":[133],"including":[134],"visualisation":[135],"attainable":[138],"command":[139],"set,":[140],"solution":[141],"lines,":[142],"energy":[144],"spheres":[145],"iterations.":[153],"same":[155],"concepts":[156],"are":[157],"then":[158],"extended":[159],"higher-dimensional":[161],"cases,":[162],"with":[166],"four":[167],"X-shaped":[168],"(vectored)":[169],"thrusters,":[171],"which":[172],"one":[174],"most":[177],"common":[178],"thruster":[179],"configurations":[180],"commercial":[182],"ROVs.":[183],"proposed":[185],"has":[188],"been":[189],"developed,":[190],"integrated":[191],"into":[192],"generic":[194],"fault-tolerant":[195],"evaluated":[200],"virtual":[202],"real-world":[204],"environments":[205],"off":[206],"west":[208],"coast":[209],"Ireland":[211],"observation-class":[213],"Latis":[215],"work-class":[217],"\u00c9ta\u00edn.":[219]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}
