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Analysis of institutional authors

Suarez Fernández, RamónAuthorFernández RCorresponding AuthorDominguez SAuthorRossi CAuthor

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May 22, 2019
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Modeling and Control of Underwater Mine Explorer Robot UX-1

Publicated to: Ieee Access. 7 39432-39447 - 2019-01-01 7(), DOI: 10.1109/ACCESS.2019.2907193

Authors:

Fernandez R; Grande D; Martins A; Bascetta L; Dominguez S; Rossi C
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Affiliations

Institute for Systems and Computer Engineering, Technology and Science - Author
Politecnico di Milano - Author
Universidad Politécnica de Madrid - Author
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Abstract

© 2013 IEEE. This paper presents the design and experimental assessment of the control system for the UX-1 robot, a novel spherical underwater vehicle for flooded mine tunnel exploration. Propulsion and maneuvering are based on an innovative manifold system. First, the overall design concepts of the robot are presented. Then, a theoretical six degree-of-freedom (DOF) dynamic model of the system is derived. Based on the dynamic model, two control systems have been developed and tested, one based on the principle of nonlinear state feedback linearization and another based on a finite horizon linear quadratic regulator (LQR). A series of experimental tests have been carried out in a controlled environment to experimentally identify the complex parameters of the dynamic model. Furthermore, the two proposed controllers have been tested in underwater path tracking experiments designed to simulate navigation in mine tunnel environments. The experimental results demonstrated the effectiveness of both the proposed controllers and showed that the state feedback linearization controller outperforms the finite horizon LQR controller in terms of robustness and response time, while the LQR appears to be superior in terms of fall time.
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Keywords

Attitude controlAuvControl systemsManifoldsMathematical modelMine explorationPropulsionRobot controlRobotsSpherical robotUnderwater vehiclesUnexmin

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Ieee Access due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2019, it was in position 35/156, thus managing to position itself as a Q1 (Primer Cuartil), in the category Computer Science, Information Systems.

From a relative perspective, and based on the normalized impact indicator calculated from World Citations from Scopus Elsevier, it yields a value for the Field-Weighted Citation Impact from the Scopus agency: 1.38, which indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: ESI Nov 13, 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-12-20, the following number of citations:

  • WoS: 10
  • Scopus: 27
  • Google Scholar: 26
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Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-12-20:

  • The use, from an academic perspective evidenced by the Altmetric agency indicator referring to aggregations made by the personal bibliographic manager Mendeley, gives us a total of: 31.
  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 33 (PlumX).

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

  • The Total Score from Altmetric: 7.
  • The number of mentions in news outlets: 1 (Altmetric).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.
  • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://oa.upm.es/79307/

As a result of the publication of the work in the institutional repository, statistical usage data has been obtained that reflects its impact. In terms of dissemination, we can state that, as of

  • Views: 153
  • Downloads: 41
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Leadership analysis of institutional authors

This work has been carried out with international collaboration, specifically with researchers from: Italy; Portugal.

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (FERNANDEZ MARTIN, RAFAEL) and Last Author (ROSSI, CLAUDIO).

the author responsible for correspondence tasks has been FERNANDEZ MARTIN, RAFAEL.

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