{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:53:32Z","timestamp":1777715612360,"version":"3.51.4"},"reference-count":11,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[1998,7,1]],"date-time":"1998-07-01T00:00:00Z","timestamp":899251200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1998,7]]},"abstract":"<jats:p>Hydrodynamic forces can be large, and hence have a significant effect on the dynamic performance of underwater manipulation sys tems. This paper investigates these forces for a cylindrical single- link arm undergoing motions that are characteristic of a robotic manipulator. Based on flow visualization, theoretical analysis, and experimental measurements, a new model is developed that describes these forces. This model differs from previous models in that the drag and added mass coefficients are state-dependentfunctions that depend on the distance traveled by the arm. A factor of four improve ment in accuracy is demonstrated over standard constant-coefficient models.<\/jats:p>","DOI":"10.1177\/027836499801700705","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T03:05:13Z","timestamp":1173582313000},"page":"748-759","source":"Crossref","is-referenced-by-count":46,"title":["Development and Experimental Validation of an Underwater Manipulator Hydrodynamic Model"],"prefix":"10.1177","volume":"17","author":[{"given":"Timothy W.","family":"McLain","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering 242 Clyde Building, Brigham Young University Provo, UT 84602 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stephen M.","family":"Rock","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics 250 Durand Building Stanford University Stanford, CA 94305 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1998,7,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499401300304"},{"key":"atypb2","volume-title":"Modeling of underwater manipulator hydrodynamics with application to the coordinated control of an arm\/vehicle system. Ph.D. Thesis","author":"McLain, Timothy W.","year":"1995"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/21.398681"},{"key":"atypb4","volume-title":"Theoretical Hydrodynamics","author":"Milne-Thomson, L.M.","year":"1960","edition":"4"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1017\/S0022112088002782"},{"key":"atypb6","volume-title":"Fluid flow: A first course in fluid mechanics","author":"Sabersky, Rolf H.","year":"1989","edition":"3"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1115\/1.3630062"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1115\/1.3605180"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1115\/1.2910029"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1115\/1.3630099"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1007\/BF00141159"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499801700705","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499801700705","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:39Z","timestamp":1777457739000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499801700705"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1998,7]]},"references-count":11,"journal-issue":{"issue":"7","published-print":{"date-parts":[[1998,7]]}},"alternative-id":["10.1177\/027836499801700705"],"URL":"https:\/\/doi.org\/10.1177\/027836499801700705","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1998,7]]}}}