Get quick answers to your questions about the article from our AI researcher chatbot
{'id': 'https://openalex.org/W1969553787', 'doi': 'https://doi.org/10.1007/s10015-012-0082-9', 'title': 'A discontinuous exponential stabilization law for an underactuated X4-AUV', 'display_name': 'A discontinuous exponential stabilization law for an underactuated X4-AUV', 'publication_year': 2012, 'publication_date': '2012-12-11', 'ids': {'openalex': 'https://openalex.org/W1969553787', 'doi': 'https://doi.org/10.1007/s10015-012-0082-9', 'mag': '1969553787'}, 'language': 'en', 'primary_location': {'is_oa': False, 'landing_page_url': 'https://doi.org/10.1007/s10015-012-0082-9', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S104439334', 'display_name': 'Artificial Life and Robotics', 'issn_l': '1433-5298', 'issn': ['1433-5298', '1614-7456'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319900', 'host_organization_name': 'Springer Science+Business Media', 'host_organization_lineage': ['https://openalex.org/P4310319965', 'https://openalex.org/P4310319900'], 'host_organization_lineage_names': ['Springer Nature', 'Springer Science+Business Media'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, 'type': 'article', 'type_crossref': 'journal-article', 'indexed_in': ['crossref'], 'open_access': {'is_oa': False, 'oa_status': 'closed', 'oa_url': None, 'any_repository_has_fulltext': False}, 'authorships': [{'author_position': 'first', 'author': {'id': 'https://openalex.org/A5037001707', 'display_name': 'Zainah Md. Zain', 'orcid': 'https://orcid.org/0000-0003-4570-336X'}, 'institutions': [{'id': 'https://openalex.org/I163770644', 'display_name': 'Okayama University', 'ror': 'https://ror.org/02pc6pc55', 'country_code': 'JP', 'type': 'education', 'lineage': ['https://openalex.org/I163770644']}], 'countries': ['JP'], 'is_corresponding': False, 'raw_author_name': 'Zainah Md. Zain', 'raw_affiliation_strings': ['Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University, Okayama, Japan 700-8530#TAB#'], 'affiliations': [{'raw_affiliation_string': 'Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University, Okayama, Japan 700-8530#TAB#', 'institution_ids': ['https://openalex.org/I163770644']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5074228666', 'display_name': 'Keigo Watanabe', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I163770644', 'display_name': 'Okayama University', 'ror': 'https://ror.org/02pc6pc55', 'country_code': 'JP', 'type': 'education', 'lineage': ['https://openalex.org/I163770644']}], 'countries': ['JP'], 'is_corresponding': False, 'raw_author_name': 'Keigo Watanabe', 'raw_affiliation_strings': ['Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University, Okayama, Japan 700-8530#TAB#'], 'affiliations': [{'raw_affiliation_string': 'Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University, Okayama, Japan 700-8530#TAB#', 'institution_ids': ['https://openalex.org/I163770644']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5101111525', 'display_name': 'Kiyotaka Izumi', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I177136067', 'display_name': 'Saga University', 'ror': 'https://ror.org/04f4wg107', 'country_code': 'JP', 'type': 'education', 'lineage': ['https://openalex.org/I177136067']}], 'countries': ['JP'], 'is_corresponding': False, 'raw_author_name': 'Kiyotaka Izumi', 'raw_affiliation_strings': ['Department of Mechanical Engineering, Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502#TAB#'], 'affiliations': [{'raw_affiliation_string': 'Department of Mechanical Engineering, Graduate School of Science and Engineering, Saga University, Saga, Japan 840-8502#TAB#', 'institution_ids': ['https://openalex.org/I177136067']}]}, {'author_position': 'last', 'author': {'id': 'https://openalex.org/A5035050503', 'display_name': 'Isaku Nagai', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I163770644', 'display_name': 'Okayama University', 'ror': 'https://ror.org/02pc6pc55', 'country_code': 'JP', 'type': 'education', 'lineage': ['https://openalex.org/I163770644']}], 'countries': ['JP'], 'is_corresponding': False, 'raw_author_name': 'Isaku Nagai', 'raw_affiliation_strings': ['Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University, Okayama, Japan 700-8530#TAB#'], 'affiliations': [{'raw_affiliation_string': 'Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University, Okayama, Japan 700-8530#TAB#', 'institution_ids': ['https://openalex.org/I163770644']}]}], 'countries_distinct_count': 1, 'institutions_distinct_count': 2, 'corresponding_author_ids': [], 'corresponding_institution_ids': [], 'apc_list': {'value': 2390, 'currency': 'EUR', 'value_usd': 2990, 'provenance': 'doaj'}, 'apc_paid': None, 'fwci': 3.835, 'has_fulltext': True, 'fulltext_origin': 'ngrams', 'cited_by_count': 11, 'citation_normalized_percentile': {'value': 0.880115, 'is_in_top_1_percent': False, 'is_in_top_10_percent': False}, 'cited_by_percentile_year': {'min': 86, 'max': 87}, 'biblio': {'volume': '17', 'issue': '3-4', 'first_page': '463', 'last_page': '469'}, 'is_retracted': False, 'is_paratext': False, 'primary_topic': {'id': 'https://openalex.org/T11615', 'display_name': 'Control of Nonholonomic Mobile Robots', 'score': 0.9999, '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'}}, 'topics': [{'id': 'https://openalex.org/T11615', 'display_name': 'Control of Nonholonomic Mobile Robots', 'score': 0.9999, '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/T10586', 'display_name': 'Sampling-Based Motion Planning Algorithms', 'score': 0.9896, '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/T12396', 'display_name': 'Bifurcations in Planar Polynomial Systems', 'score': 0.9537, 'subfield': {'id': 'https://openalex.org/subfields/2608', 'display_name': 'Geometry and Topology'}, 'field': {'id': 'https://openalex.org/fields/26', 'display_name': 'Mathematics'}, 'domain': {'id': 'https://openalex.org/domains/3', 'display_name': 'Physical Sciences'}}], 'keywords': [{'id': 'https://openalex.org/keywords/underactuation', 'display_name': 'Underactuation', 'score': 0.95149773}, {'id': 'https://openalex.org/keywords/nonholonomic-system', 'display_name': 'Nonholonomic system', 'score': 0.8868679}, {'id': 'https://openalex.org/keywords/linearization', 'display_name': 'Linearization', 'score': 0.5939352}, {'id': 'https://openalex.org/keywords/robust-stabilization', 'display_name': 'Robust Stabilization', 'score': 0.556029}, {'id': 'https://openalex.org/keywords/discontinuous-systems', 'display_name': 'Discontinuous Systems', 'score': 0.555765}, {'id': 'https://openalex.org/keywords/adaptive-control', 'display_name': 'Adaptive Control', 'score': 0.528471}], 'concepts': [{'id': 'https://openalex.org/C88337583', 'wikidata': 'https://www.wikidata.org/wiki/Q7883433', 'display_name': 'Underactuation', 'level': 3, 'score': 0.95149773}, {'id': 'https://openalex.org/C138632511', 'wikidata': 'https://www.wikidata.org/wiki/Q2478109', 'display_name': 'Nonholonomic system', 'level': 4, 'score': 0.8868679}, {'id': 'https://openalex.org/C47446073', 'wikidata': 'https://www.wikidata.org/wiki/Q5165890', 'display_name': 'Control theory (sociology)', 'level': 3, 'score': 0.78013825}, {'id': 'https://openalex.org/C11210021', 'wikidata': 'https://www.wikidata.org/wiki/Q1520713', 'display_name': 'Linearization', 'level': 3, 'score': 0.5939352}, {'id': 'https://openalex.org/C203479927', 'wikidata': 'https://www.wikidata.org/wiki/Q5165939', 'display_name': 'Controller (irrigation)', 'level': 2, 'score': 0.5862982}, {'id': 'https://openalex.org/C41008148', 'wikidata': 'https://www.wikidata.org/wiki/Q21198', 'display_name': 'Computer science', 'level': 0, 'score': 0.5805987}, {'id': 'https://openalex.org/C92757383', 'wikidata': 'https://www.wikidata.org/wiki/Q382497', 'display_name': 'Affine transformation', 'level': 2, 'score': 0.5486149}, {'id': 'https://openalex.org/C204241405', 'wikidata': 'https://www.wikidata.org/wiki/Q461499', 'display_name': 'Transformation (genetics)', 'level': 3, 'score': 0.5379034}, {'id': 'https://openalex.org/C208081375', 'wikidata': 'https://www.wikidata.org/wiki/Q274502', 'display_name': 'Degrees of freedom (physics and chemistry)', 'level': 2, 'score': 0.4953207}, {'id': 'https://openalex.org/C167964875', 'wikidata': 'https://www.wikidata.org/wiki/Q17011487', 'display_name': 'Exponential stability', 'level': 3, 'score': 0.43455526}, {'id': 'https://openalex.org/C33923547', 'wikidata': 'https://www.wikidata.org/wiki/Q395', 'display_name': 'Mathematics', 'level': 0, 'score': 0.32926345}, {'id': 'https://openalex.org/C2775924081', 'wikidata': 'https://www.wikidata.org/wiki/Q55608371', 'display_name': 'Control (management)', 'level': 2, 'score': 0.32745302}, {'id': 'https://openalex.org/C158622935', 'wikidata': 'https://www.wikidata.org/wiki/Q660848', 'display_name': 'Nonlinear system', 'level': 2, 'score': 0.24487245}, {'id': 'https://openalex.org/C90509273', 'wikidata': 'https://www.wikidata.org/wiki/Q11012', 'display_name': 'Robot', 'level': 2, 'score': 0.09134406}, {'id': 'https://openalex.org/C154945302', 'wikidata': 'https://www.wikidata.org/wiki/Q11660', 'display_name': 'Artificial intelligence', 'level': 1, 'score': 0.087608695}, {'id': 'https://openalex.org/C121332964', 'wikidata': 'https://www.wikidata.org/wiki/Q413', 'display_name': 'Physics', 'level': 0, 'score': 0.08076444}, {'id': 'https://openalex.org/C19966478', 'wikidata': 'https://www.wikidata.org/wiki/Q4810574', 'display_name': 'Mobile robot', 'level': 3, 'score': 0.07087836}, {'id': 'https://openalex.org/C55493867', 'wikidata': 'https://www.wikidata.org/wiki/Q7094', 'display_name': 'Biochemistry', 'level': 1, 'score': 0.0}, {'id': 'https://openalex.org/C185592680', 'wikidata': 'https://www.wikidata.org/wiki/Q2329', 'display_name': 'Chemistry', 'level': 0, '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/C202444582', 'wikidata': 'https://www.wikidata.org/wiki/Q837863', 'display_name': 'Pure mathematics', 'level': 1, 'score': 0.0}, {'id': 'https://openalex.org/C104317684', 'wikidata': 'https://www.wikidata.org/wiki/Q7187', 'display_name': 'Gene', 'level': 2, 'score': 0.0}, {'id': 'https://openalex.org/C6557445', 'wikidata': 'https://www.wikidata.org/wiki/Q173113', 'display_name': 'Agronomy', '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': 1, 'locations': [{'is_oa': False, 'landing_page_url': 'https://doi.org/10.1007/s10015-012-0082-9', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S104439334', 'display_name': 'Artificial Life and Robotics', 'issn_l': '1433-5298', 'issn': ['1433-5298', '1614-7456'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319900', 'host_organization_name': 'Springer Science+Business Media', 'host_organization_lineage': ['https://openalex.org/P4310319965', 'https://openalex.org/P4310319900'], 'host_organization_lineage_names': ['Springer Nature', 'Springer Science+Business Media'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}], 'best_oa_location': None, 'sustainable_development_goals': [], 'grants': [], 'datasets': [], 'versions': [], 'referenced_works_count': 8, 'referenced_works': ['https://openalex.org/W1590684588', 'https://openalex.org/W1960096875', 'https://openalex.org/W1971044547', 'https://openalex.org/W2001600801', 'https://openalex.org/W2033699235', 'https://openalex.org/W2092173740', 'https://openalex.org/W2099761232', 'https://openalex.org/W2602266403'], 'related_works': ['https://openalex.org/W587013945', 'https://openalex.org/W4288862394', 'https://openalex.org/W3125414203', 'https://openalex.org/W2802540229', 'https://openalex.org/W2347322976', 'https://openalex.org/W2323728105', 'https://openalex.org/W2106586754', 'https://openalex.org/W2036009937', 'https://openalex.org/W2032198329', 'https://openalex.org/W1485310626'], 'abstract_inverted_index': None, 'cited_by_api_url': 'https://api.openalex.org/works?filter=cites:W1969553787', 'counts_by_year': [{'year': 2019, 'cited_by_count': 1}, {'year': 2017, 'cited_by_count': 3}, {'year': 2015, 'cited_by_count': 2}, {'year': 2014, 'cited_by_count': 3}, {'year': 2013, 'cited_by_count': 2}], 'updated_date': '2024-09-08T18:00:30.950967', 'created_date': '2016-06-24'}