{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T13:45:54Z","timestamp":1773841554733,"version":"3.50.1"},"reference-count":37,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE J. Oceanic Eng."],"published-print":{"date-parts":[[2021,4]]},"DOI":"10.1109\/joe.2020.3000703","type":"journal-article","created":{"date-parts":[[2020,7,14]],"date-time":"2020-07-14T20:56:26Z","timestamp":1594760186000},"page":"414-433","source":"Crossref","is-referenced-by-count":14,"title":["Variable Buoyancy or Propeller-Based Systems for Hovering Capable Vehicles: An Energetic Comparison"],"prefix":"10.1109","volume":"46","author":[{"given":"Joao Falcao","family":"Carneiro","sequence":"first","affiliation":[]},{"given":"Joao Bravo","family":"Pinto","sequence":"additional","affiliation":[]},{"given":"Fernando","family":"Gomes de Almeida","sequence":"additional","affiliation":[]},{"given":"Nuno A.","family":"Cruz","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/UT.2013.6519897"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/UT.2017.7890333"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21716"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2014.7003260"},{"key":"ref37","article-title":"Slocum G2 Glider Operators Manual, P\/N 4343, Rev. B.","year":"2012"},{"key":"ref36","first-page":"171","article-title":"Delphin2: An over actuated autonomous underwater vehicle for manoeuvring research","volume":"151","author":"phillips","year":"2009","journal-title":"Int J Maritime Eng"},{"key":"ref35","first-page":"1","article-title":"DART&#x2014;A portable deep water hovering AUV","author":"cruz","year":"2017","journal-title":"Proc OCEANS Conf"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2008.5152096"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/UT.2015.7108289"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2018.2875576"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.5220\/0005979903190326"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS-TAIPEI.2014.6964545"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/UT.2015.7108263"},{"key":"ref15","first-page":"401","article-title":"New buoyancy engine for autonomous vehicles observing deeper oceans","author":"kobayashi","year":"2010","journal-title":"Proc 20th Int Offshore Polar Eng Conf"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANSSYD.2010.5603909"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANSE.2007.4302317"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2016.2586802"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS-TAIPEI.2014.6964315"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/AUV.2012.6380735"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/AUV.2012.6380737"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/AUV.2010.5779645"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1080\/00207170701222921"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2012.6404989"},{"key":"ref29","doi-asserted-by":"crossref","first-page":"1307","DOI":"10.1007\/s10514-016-9555-3","article-title":"Energy optimal depth control for long range underwater vehicles with applications to a hybrid underwater glider","volume":"40","author":"bachmayer","year":"2016","journal-title":"Auton Robot"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANSE.2017.8084928"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2016.7761225"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.23919\/OCEANS.2015.7401980"},{"key":"ref2","first-page":"34","article-title":"The Argo program: Observing the global ocean with profiling floats","volume":"22","author":"goemmich","year":"2009"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980181"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1201\/9780203522301.ch3"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470300496X"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/48.972077"},{"key":"ref21","first-page":"3012","article-title":"Underwater robot with a buoyancy control system based on the spermaceti oil hypothesis","author":"inoue","year":"2006","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robot Syst"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/EVER.2016.7476353"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/APPEEC.2009.4918179"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2010.935791"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.energy.2016.06.008"}],"container-title":["IEEE Journal of Oceanic Engineering"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/48\/9404028\/09140358.pdf?arnumber=9140358","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T14:50:11Z","timestamp":1652194211000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9140358\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,4]]},"references-count":37,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/joe.2020.3000703","relation":{},"ISSN":["0364-9059","1558-1691","2373-7786"],"issn-type":[{"value":"0364-9059","type":"print"},{"value":"1558-1691","type":"electronic"},{"value":"2373-7786","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,4]]}}}