{"id":"https://openalex.org/W4313294803","doi":"https://doi.org/10.3390/s23010359","title":"Misalignment-Resilient Propagation Model for Underwater Optical Wireless Links","display_name":"Misalignment-Resilient Propagation Model for Underwater Optical Wireless Links","publication_year":2022,"publication_date":"2022-12-29","ids":{"openalex":"https://openalex.org/W4313294803","doi":"https://doi.org/10.3390/s23010359","pmid":"https://pubmed.ncbi.nlm.nih.gov/36616955"},"language":"en","primary_location":{"id":"doi:10.3390/s23010359","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23010359","pdf_url":"https://www.mdpi.com/1424-8220/23/1/359/pdf?version=1672372640","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/1/359/pdf?version=1672372640","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101515430","display_name":"Jo\u00e3o Ara\u00fajo","orcid":"https://orcid.org/0000-0002-8558-6762"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o H. Ara\u00fajo","raw_affiliation_strings":["Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal","INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, 4200-465 Porto, Portugal"],"raw_orcid":"https://orcid.org/0000-0002-8558-6762","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090731607","display_name":"Joana S. Tavares","orcid":"https://orcid.org/0000-0002-7666-3738"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Joana S. Tavares","raw_affiliation_strings":["INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, 4200-465 Porto, Portugal"],"raw_orcid":"https://orcid.org/0000-0002-7666-3738","affiliations":[{"raw_affiliation_string":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036808367","display_name":"Veridiano M. Marques","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Veridiano M. Marques","raw_affiliation_strings":["INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, 4200-465 Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039326521","display_name":"H. M. Salgado","orcid":"https://orcid.org/0000-0003-1802-6033"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Henrique M. Salgado","raw_affiliation_strings":["Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal","INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, 4200-465 Porto, Portugal"],"raw_orcid":"https://orcid.org/0000-0003-1802-6033","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067749527","display_name":"L. M. Pessoa","orcid":"https://orcid.org/0000-0001-6805-7191"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Lu\u00eds M. Pessoa","raw_affiliation_strings":["Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal","INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, 4200-465 Porto, Portugal"],"raw_orcid":"https://orcid.org/0000-0001-6805-7191","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, 4200-465 Porto, Portugal","institution_ids":["https://openalex.org/I4210166615"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5067749527"],"corresponding_institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.3693,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.58726112,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"23","issue":"1","first_page":"359","last_page":"359"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10851","display_name":"Optical Wireless Communication Technologies","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10851","display_name":"Optical Wireless Communication Technologies","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"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/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9819999933242798,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/transmitter","display_name":"Transmitter","score":0.6911330819129944},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.6361749768257141},{"id":"https://openalex.org/keywords/optical-wireless","display_name":"Optical wireless","score":0.6108819842338562},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5474380850791931},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.5295406579971313},{"id":"https://openalex.org/keywords/optical-power","display_name":"Optical power","score":0.5104831457138062},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.503175675868988},{"id":"https://openalex.org/keywords/lens","display_name":"Lens (geology)","score":0.477075457572937},{"id":"https://openalex.org/keywords/common-emitter","display_name":"Common emitter","score":0.4630119800567627},{"id":"https://openalex.org/keywords/bit-error-rate","display_name":"Bit error rate","score":0.46163034439086914},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43484702706336975},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3941950500011444},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.38120225071907043},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3493441343307495},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.3272804021835327},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2737779915332794},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.23035863041877747},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13839387893676758},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.09350734949111938},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09287875890731812}],"concepts":[{"id":"https://openalex.org/C47798520","wikidata":"https://www.wikidata.org/wiki/Q190157","display_name":"Transmitter","level":3,"score":0.6911330819129944},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6361749768257141},{"id":"https://openalex.org/C2781305180","wikidata":"https://www.wikidata.org/wiki/Q7098907","display_name":"Optical wireless","level":3,"score":0.6108819842338562},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5474380850791931},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.5295406579971313},{"id":"https://openalex.org/C191161701","wikidata":"https://www.wikidata.org/wiki/Q559265","display_name":"Optical power","level":3,"score":0.5104831457138062},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.503175675868988},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.477075457572937},{"id":"https://openalex.org/C46918542","wikidata":"https://www.wikidata.org/wiki/Q1648344","display_name":"Common emitter","level":2,"score":0.4630119800567627},{"id":"https://openalex.org/C56296756","wikidata":"https://www.wikidata.org/wiki/Q840922","display_name":"Bit error rate","level":3,"score":0.46163034439086914},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43484702706336975},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3941950500011444},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.38120225071907043},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3493441343307495},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.3272804021835327},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2737779915332794},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.23035863041877747},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13839387893676758},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.09350734949111938},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09287875890731812},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23010359","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23010359","pdf_url":"https://www.mdpi.com/1424-8220/23/1/359/pdf?version=1672372640","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:36616955","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36616955","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:c42bb1170c364e3693c4ccca485928ed","is_oa":false,"landing_page_url":"https://doaj.org/article/c42bb1170c364e3693c4ccca485928ed","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 1, p 359 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/1/359/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23010359","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":"Sensors; Volume 23; Issue 1; Pages: 359","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9824780","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9824780","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23010359","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23010359","pdf_url":"https://www.mdpi.com/1424-8220/23/1/359/pdf?version=1672372640","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4313294803.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1600851620","https://openalex.org/W2043832411","https://openalex.org/W2055789678","https://openalex.org/W2057334693","https://openalex.org/W2080829915","https://openalex.org/W2104817101","https://openalex.org/W2157606583","https://openalex.org/W2167590781","https://openalex.org/W2286788142","https://openalex.org/W2333197714","https://openalex.org/W2698830627","https://openalex.org/W2727434010","https://openalex.org/W2885871905","https://openalex.org/W2920988094","https://openalex.org/W2939556008","https://openalex.org/W2941017518","https://openalex.org/W2996666220","https://openalex.org/W3017290121","https://openalex.org/W3046101450","https://openalex.org/W3137383542","https://openalex.org/W3208628208","https://openalex.org/W3212061478","https://openalex.org/W3214188517","https://openalex.org/W4244021003"],"related_works":["https://openalex.org/W2904244837","https://openalex.org/W2892361415","https://openalex.org/W2132952461","https://openalex.org/W2030697371","https://openalex.org/W2782551494","https://openalex.org/W2029884227","https://openalex.org/W2125299588","https://openalex.org/W4300954526","https://openalex.org/W2095185858","https://openalex.org/W2769147407"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,26,79,88,107,119,172,187],"multiple-lens":[4],"receiver":[5,193],"scheme":[6,109],"to":[7,85,116,134,145,164],"increase":[8],"the":[9,37,46,51,58,66,70,73,98,136,141,146,151,166,190],"misalignment":[10,56,170],"tolerance":[11],"of":[12,32,69,72,91,97,140,154,176,194],"an":[13,20],"underwater":[14,22],"optical":[15],"wireless":[16],"communications":[17],"link":[18],"between":[19,57,189],"autonomous":[21],"vehicle":[23],"(AUV)":[24],"and":[25,54,60,138,168,181,192,197],"sensor":[27,52],"plane.":[28],"An":[29],"accurate":[30],"model":[31],"photon":[33,48],"propagation":[34],"based":[35,149],"on":[36,150],"Monte":[38],"Carlo":[39],"simulation":[40],"is":[41,75,104,110,128,162],"presented":[42],"which":[43],"accounts":[44],"for":[45,78,87,131,186],"lens(es)":[47],"refraction":[49],"at":[50],"interface":[53],"angular":[55,169],"emitter":[59,74],"receiver.":[61],"The":[62,160],"results":[63],"show":[64],"that":[65,106],"ideal":[67],"divergence":[68],"beam":[71],"around":[76],"15\u00b0":[77],"1":[80,195],"m":[81,93,196],"transmission":[82],"length,":[83],"increasing":[84],"22\u00b0":[86],"shorter":[89],"distance":[90,188],"0.5":[92,198],"but":[94],"being":[95],"independent":[96],"water":[99],"turbidity.":[100],"In":[101],"addition,":[102],"it":[103],"concluded":[105],"seven-lense":[108],"approximately":[111],"three":[112],"times":[113],"more":[114],"tolerant":[115],"offset":[117,137,167],"than":[118],"single":[120],"lens.":[121],"A":[122],"random":[123],"forest":[124],"machine":[125],"learning":[126],"algorithm":[127,161],"also":[129],"assessed":[130],"its":[132],"suitability":[133],"estimate":[135,165],"angle":[139],"AUV":[142],"in":[143,157],"relation":[144],"fixed":[147],"sensor,":[148],"power":[152],"distribution":[153],"each":[155],"lens,":[156],"real":[158],"time.":[159],"able":[163],"with":[171],"mean":[173],"square":[174],"error":[175],"5":[177],"mm":[178],"(6":[179],"mm)":[180],"0.157":[182],"rad":[183],"(0.174":[184],"rad)":[185],"transmitter":[191],"m,":[199],"respectively.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}
