{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T14:24:39Z","timestamp":1777559079424,"version":"3.51.4"},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2020,1,2]],"date-time":"2020-01-02T00:00:00Z","timestamp":1577923200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,1,2]],"date-time":"2020-01-02T00:00:00Z","timestamp":1577923200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100009329","name":"Scientific Research and Technology Development Program of Guangxi","doi-asserted-by":"crossref","award":["2015AA043202"],"award-info":[{"award-number":["2015AA043202"]}],"id":[{"id":"10.13039\/501100009329","id-type":"DOI","asserted-by":"crossref"}]},{"name":"SPS KAKENHI","award":["15K2120"],"award-info":[{"award-number":["15K2120"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2020,5]]},"DOI":"10.1007\/s10514-019-09895-8","type":"journal-article","created":{"date-parts":[[2020,1,2]],"date-time":"2020-01-02T12:37:51Z","timestamp":1577968671000},"page":"759-771","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":69,"title":["A highly stable and efficient spherical underwater robot with hybrid propulsion devices"],"prefix":"10.1007","volume":"44","author":[{"given":"Shuoxin","family":"Gu","sequence":"first","affiliation":[]},{"given":"Shuxiang","family":"Guo","sequence":"additional","affiliation":[]},{"given":"Liang","family":"Zheng","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2020,1,2]]},"reference":[{"key":"9895_CR1","doi-asserted-by":"crossref","unstructured":"Bhattacharyya, S., Asada, H. (2016). Single jet impinging verticial motion analysis of an underwater robot in the vicinity of a submerged surface. In Proceedings of 2016 IEEE oceans conference, pp. 1\u20138.","DOI":"10.1109\/OCEANSAP.2016.7485718"},{"key":"9895_CR2","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1016\/j.oceaneng.2016.03.034","volume":"119","author":"Z Chen","year":"2016","unstructured":"Chen, Z., Yu, J., Zhang, A., & Zhang, F. (2016). Design and analysis of folding propulsion mechanism for hybrid-driven underwater gliders. Ocean Engineering,119, 125\u2013134.","journal-title":"Ocean Engineering"},{"issue":"2","key":"9895_CR3","doi-asserted-by":"publisher","first-page":"642","DOI":"10.1109\/TMECH.2013.2250987","volume":"19","author":"O Chocron","year":"2014","unstructured":"Chocron, O., Prieur, U., & Pino, L. (2014). A validated feasibility prototype for AUV reconfigurable magnetic coupling thruster. IEEE\/ASME Transactions on Mechatronics,19(2), 642\u2013650.","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"9895_CR4","doi-asserted-by":"crossref","unstructured":"Claus, B., Bachmayer, R., Cooney, L. (2012). Analysis and Development of a buoyancy pitch based depth control algorithm for a hybrid underwater glider. In Proceedings of 2012 IEEE\/OES autonomous underwater vehicles (AUV), pp. 1\u20136.","DOI":"10.1109\/AUV.2012.6380742"},{"issue":"2012","key":"9895_CR5","doi-asserted-by":"publisher","first-page":"769","DOI":"10.1016\/j.proeng.2012.01.1100","volume":"31","author":"Y Dong","year":"2012","unstructured":"Dong, Y., Duan, X., Feng, S., & Shao, Z. (2012). Numerical simulation of the overall flow field for underwater vehicle with pump jet thruster. Procedia Engineering,31(2012), 769\u2013774.","journal-title":"Procedia Engineering"},{"key":"9895_CR6","unstructured":"Drap, P., Scaradozzi, D., Gambogi, P., Gauch, F. (2008). Underwater cartography for archaeology in the VENUS project. (pp. 485\u2013491). GRAPP."},{"key":"9895_CR7","unstructured":"Drap, P., Seinturier, J., Scaradozzi, D., Gambogi, P., Long, L., Gauch, F. (2007). Photogrammetry for virtual exploration of underwater archeological sites. In Proceedings of the 21st international symposium, (p. 1e6). CIPA."},{"issue":"2","key":"9895_CR8","doi-asserted-by":"publisher","first-page":"79","DOI":"10.1504\/IJMA.2011.040038","volume":"1","author":"B Gao","year":"2011","unstructured":"Gao, B., Guo, S., & Ye, X. (2011). Motion-control analysis of ICPF-actuated underwater biomimetic microrobots. International Journal of Mechatronics and Automation,1(2), 79\u201389.","journal-title":"International Journal of Mechatronics and Automation"},{"key":"9895_CR9","doi-asserted-by":"crossref","unstructured":"Gasparoto, H., Chocron, O., Benbouzid, M., Meirelles, P. (2017). Magnetic design and analysis of a radial reconfigurable magnetic coupling thruster for vectorial AUV propulsion. In 2017 industrial electronics society, IECON 2017-43rd annual conference of the IEEE, pp. 2876\u20132881.","DOI":"10.1109\/IECON.2017.8216485"},{"key":"9895_CR10","doi-asserted-by":"crossref","unstructured":"Georgiades, C., German, A., Hogue, A., Liu, H., Prahacs, C., Ripsman, A., & Dudek, G. (2004). AQUA: an aquatic walking robot. In Proceedings of 2004 IEEE\/RSJ international conference on intelligent robots and systems (IROS). 4, pp. 3525\u20133531.","DOI":"10.1109\/IROS.2004.1389962"},{"issue":"11","key":"9895_CR11","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3390\/app7111196","volume":"7","author":"S Gu","year":"2017","unstructured":"Gu, S., & Guo, S. (2017). Performance evaluation of a novel propulsion system for the spherical underwater robot (SUR III). Applied Science,7(11), 1\u201319.","journal-title":"Applied Science"},{"key":"9895_CR12","doi-asserted-by":"crossref","unstructured":"Gu, S., Guo, S., & Yao, Y. (2017). A hybrid propulsion device for the spherical underwater robot (SUR III). In Proceedings of 2017 IEEE international conference on mechatronics and automation (pp. 387\u2013392).","DOI":"10.1109\/ICMA.2017.8015848"},{"key":"9895_CR13","doi-asserted-by":"crossref","unstructured":"Hanff, H., Kloss, P., Wehbe, B., Kampmann, P., Kroffke, S., Sander, A., Firvida, M., Einem, M., Bode, J., Kirchner, F. (2017). AUVx\u2014a novel miniaturized autonomous underwater vehicle. In Proceedings of 2017 IEEE oceans conference, pp. 1\u201310.","DOI":"10.1109\/OCEANSE.2017.8084946"},{"key":"9895_CR14","doi-asserted-by":"crossref","unstructured":"Li, Y., & Guo, S. (2016). Communication between spherical underwater robots based on the acoustic communication methods. In Proceedings of 2016 IEEE international conference on mechatronics and automation (pp. 403\u2013408).","DOI":"10.1109\/ICMA.2016.7558597"},{"key":"9895_CR15","doi-asserted-by":"publisher","first-page":"17","DOI":"10.1016\/j.rcim.2016.06.005","volume":"44","author":"M Li","year":"2016","unstructured":"Li, M., Guo, S., Hirata, H., & Ishihara, H. (2016). A roller-skating\/walking mode-based amphibious robot. Robotics and Computer-Integrated Manufacturing,44, 17\u201329.","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"9895_CR16","doi-asserted-by":"publisher","first-page":"61","DOI":"10.1016\/j.robot.2017.03.014","volume":"94","author":"Y Li","year":"2017","unstructured":"Li, Y., Guo, S., & Wang, Y. (2017). Design and characteristics evaluation of a novel spherical underwater robot. Robotics and Autonomous Systems,94, 61\u201374.","journal-title":"Robotics and Autonomous Systems"},{"issue":"1","key":"9895_CR17","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1504\/IJMA.2015.068449","volume":"5","author":"Y Li","year":"2015","unstructured":"Li, Y., Guo, S., & Yue, C. (2015). Preliminary concept of a novel spherical underwater robot. International Journal of Mechatronics and Automation,5(1), 11\u201321.","journal-title":"International Journal of Mechatronics and Automation"},{"issue":"3","key":"9895_CR18","doi-asserted-by":"publisher","first-page":"307","DOI":"10.1007\/s10846-012-9651-3","volume":"67","author":"X Lin","year":"2012","unstructured":"Lin, X., & Guo, S. (2012). Development of a spherical underwater robot equipped with multiple vectored water-jet-based thrusters. Journal of Intelligent and Robotic Systems,67(3), 307\u2013321.","journal-title":"Journal of Intelligent and Robotic Systems"},{"issue":"1","key":"9895_CR19","doi-asserted-by":"publisher","first-page":"1","DOI":"10.5772\/52938","volume":"10","author":"X Lin","year":"2013","unstructured":"Lin, X., Guo, S., Yue, C., & Du, J. (2013). 3D modelling of a vectored water jet-based multi-propeller propulsion system for a spherical underwater robot. International Journal of Advanced Robotic Systems,10(1), 1\u20138.","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"4","key":"9895_CR20","doi-asserted-by":"publisher","first-page":"523","DOI":"10.1016\/S1001-6058(14)60059-7","volume":"26","author":"X Lv","year":"2014","unstructured":"Lv, X., Zhou, Q., & Fang, B. (2014). Hydrodynamic performance of distributed pump-jet propulsion system for underwater vehicle. Journal of Hydrodynamics,26(4), 523\u2013530.","journal-title":"Journal of Hydrodynamics"},{"key":"9895_CR21","doi-asserted-by":"crossref","unstructured":"Mai C., Pedersen S., Hansen L., Jepsen K., Yang Z. (2016). Subsea infrastructure inspection: a review study. In Proceedings of 2016 IEEE international conference on underwater system technology: theory and applications (USYS), pp. 71\u201376.","DOI":"10.1109\/USYS.2016.7893928"},{"key":"9895_CR22","doi-asserted-by":"crossref","unstructured":"Mazumdar, A., Fittery, A., Ubellacker, W., Asada, H. (2013), A ball-shaped underwater robot for direct inspection of nuclear reactor and other water-filled infrastructure. In Proceedings of 2013 IEEE international conference on robotics and automation, pp. 3415\u20133422.","DOI":"10.1109\/ICRA.2013.6631054"},{"issue":"1","key":"9895_CR23","doi-asserted-by":"publisher","first-page":"60","DOI":"10.1504\/IJMA.2011.039156","volume":"1","author":"Q Pan","year":"2011","unstructured":"Pan, Q., Guo, S., & Okada, T. (2011). A novel hybrid wireless microrobot. International Journal of Mechatronics and Automation,1(1), 60\u201369.","journal-title":"International Journal of Mechatronics and Automation"},{"key":"9895_CR24","doi-asserted-by":"publisher","first-page":"451","DOI":"10.1016\/j.margeo.2014.03.012","volume":"352","author":"B Russell","year":"2014","unstructured":"Russell, B., Veerle, A., Timothy, P., Bramley, J., Douglas, P., Brian, J., et al. (2014). Autonomous underwater vehicles (AUVs): their past, present and future contributions to the advancement of marine geoscience. Marine Geology,352, 451\u2013468.","journal-title":"Marine Geology"},{"key":"9895_CR25","doi-asserted-by":"crossref","unstructured":"Salum\u00e4e, T., Raag, R., Rebane, J., Ernits, A., Toming, G., Ratas, M., Kruusmaa, M. (2014). Design principle of a biomimetic underwater robot U-CAT. In Proceedings of 2014 oceans-St. John\u2019s, (pp. 1\u20135). IEEE.","DOI":"10.1109\/OCEANS.2014.7003126"},{"key":"9895_CR26","doi-asserted-by":"publisher","first-page":"437","DOI":"10.1016\/j.oceaneng.2016.11.055","volume":"130","author":"D Scaradozzi","year":"2017","unstructured":"Scaradozzi, D., Palmieri, G., Costa, D., & Pinelli, A. (2017a). BCF swimming locomotion for autonomous underwater robots: a review and a novel solution to improve control and efficiency. Ocean Engineering,130, 437\u2013453.","journal-title":"Ocean Engineering"},{"issue":"3","key":"9895_CR27","doi-asserted-by":"publisher","first-page":"404","DOI":"10.20965\/ijat.2017.p0404","volume":"11","author":"D Scaradozzi","year":"2017","unstructured":"Scaradozzi, D., Palmieri, G., Costa, D., Zingaretti, S., Panebianco, L., Ciuccoli, N., et al. (2017b). UNIVPM BRAVe: a hybrid propulsion underwater research vehicle. International Journal of Automation Technology,11(3), 404\u2013414.","journal-title":"International Journal of Automation Technology"},{"issue":"6","key":"9895_CR28","doi-asserted-by":"publisher","first-page":"2892","DOI":"10.1109\/TMECH.2016.2590141","volume":"21","author":"E Vega","year":"2016","unstructured":"Vega, E., Chocron, O., & Benbouzid, M. (2016). A flat design and a validated model for an AUV reconfigurable magnetic coupling thruster. IEEE\/ASME Transactions on Mechatronics,21(6), 2892\u20132901.","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"2","key":"9895_CR29","doi-asserted-by":"publisher","first-page":"325","DOI":"10.1007\/s10846-015-0177-3","volume":"80","author":"C Yue","year":"2015","unstructured":"Yue, C., Guo, S., Li, M., Li, Y., Hirata, H., & Ishihara, H. (2015a). Mechatronic system and experiments of a spherical underwater robot: SUR-II. Journal of Intelligent and Robotic Systems,80(2), 325\u2013340.","journal-title":"Journal of Intelligent and Robotic Systems"},{"issue":"247","key":"9895_CR30","first-page":"1","volume":"10","author":"C Yue","year":"2013","unstructured":"Yue, C., Guo, S., & Shi, L. (2013). Hydrodynamic analysis of the spherical underwater robot SUR-II. International Journal of Advanced Robotic Systems,10(247), 1\u201312.","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"4","key":"9895_CR31","doi-asserted-by":"publisher","first-page":"831","DOI":"10.1007\/s00542-015-2471-1","volume":"22","author":"C Yue","year":"2015","unstructured":"Yue, C., Guo, S., & Shi, L. (2015b). Design and performance evaluation of a biomimetic microrobot for the father\u2013son underwater intervention robotic system. Microsystem Technologies,22(4), 831\u2013840.","journal-title":"Microsystem Technologies"},{"key":"9895_CR32","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s00542-017-3603-6","volume":"24","author":"L Zheng","year":"2018","unstructured":"Zheng, L., Guo, S., & Gu, S. (2018). The communication and stability evaluation of amphibious spherical robots. Microsystem Technologies,24, 1\u201312.","journal-title":"Microsystem Technologies"},{"key":"9895_CR33","doi-asserted-by":"publisher","first-page":"9","DOI":"10.4028\/www.scientific.net\/JBBBE.32.9","volume":"32","author":"P Zhou","year":"2017","unstructured":"Zhou, P., Liu, T., Zhou, X., Mou, J., Zheng, S., Gu, Y., et al. (2017). Overview of progress in development of the bionic underwater propulsion system. Journal of Biomimetics, Biomaterials and Biomedical Engineering,32, 9\u201319.","journal-title":"Journal of Biomimetics, Biomaterials and Biomedical Engineering"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-019-09895-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-019-09895-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-019-09895-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:35:04Z","timestamp":1609461304000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-019-09895-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,1,2]]},"references-count":33,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2020,5]]}},"alternative-id":["9895"],"URL":"https:\/\/doi.org\/10.1007\/s10514-019-09895-8","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,1,2]]},"assertion":[{"value":"30 November 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 December 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 January 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}