{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,7]],"date-time":"2026-02-07T11:49:19Z","timestamp":1770464959893,"version":"3.49.0"},"reference-count":37,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2023,4,14]],"date-time":"2023-04-14T00:00:00Z","timestamp":1681430400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["871571"],"award-info":[{"award-number":["871571"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Machines"],"abstract":"<jats:p>In the present day, unmanned aerial vehicle (UAV) technology is being used for a multitude of inspection operations, including those in offshore structures such as wind-farms. Due to the distance of these structures to the coast, drones need to be carried to these structures via ship. To achieve a completely autonomous operation, the UAV can greatly benefit from an autonomous surface vehicle (ASV) to transport the UAV to the operation location and coordinate a successful landing between the two. This work presents the concept of a four-link parallel platform to perform wave-motion synchronization to facilitate UAV landings. The parallel platform consists of two base floaters connected with rigid rods, linked by linear actuators to a top mobile platform for the landing of a UAV. Using an inverse kinematics approach, a study of the position of the cylinders for greater range of motion and a workspace analysis is achieved. The platform makes use of a feedback controller to reduce the total motion of the landing platform. Using the robotic operating system (ROS) and Gazebo to emulate wave motions and represent the physical model and actuator system, the platform control system was successfully validated.<\/jats:p>","DOI":"10.3390\/machines11040478","type":"journal-article","created":{"date-parts":[[2023,4,14]],"date-time":"2023-04-14T02:28:12Z","timestamp":1681439292000},"page":"478","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["An Inverse Kinematics Approach for the Analysis and Active Control of a Four-UPR Motion-Compensated Platform for UAV\u2013ASV Cooperation"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1128-9108","authenticated-orcid":false,"given":"Pedro","family":"Pereira","sequence":"first","affiliation":[{"name":"Faculdade de Engenharia da Universidade do Porto, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4167-4434","authenticated-orcid":false,"given":"Raul","family":"Campilho","sequence":"additional","affiliation":[{"name":"Instituto Superior de Engenharia do Porto, 4200-072 Porto, Portugal"},{"name":"INEGI, P\u00f3lo FEUP, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2465-5813","authenticated-orcid":false,"given":"Andry","family":"Pinto","sequence":"additional","affiliation":[{"name":"Faculdade de Engenharia da Universidade do Porto, 4200-465 Porto, Portugal"},{"name":"INESC TEC, P\u00f3lo FEUP, 4200-465 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2023,4,14]]},"reference":[{"key":"ref_1","unstructured":"Lynch, K.M., and Park, F.C. (2017). Modern Robotics: Mechanics, Planning, and Control, Cambridge University Press. [1st ed.]."},{"key":"ref_2","unstructured":"Ghobakhloo, A., Eghtesad, M., and Azadi, M. (2006, January 27\u201329). Position control of a Stewart-Gough platform using inverse dynamics method with full dynamics. Proceedings of the 9th IEEE International Workshop on Advanced Motion Control, Istanbul, Turkey."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1016\/j.mechmachtheory.2014.03.008","article-title":"Type synthesis of parallel robotic mechanisms: Framework and brief review","volume":"78","author":"Meng","year":"2014","journal-title":"Mech. Mach. Theory"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"371","DOI":"10.1243\/PIME_PROC_1965_180_029_02","article-title":"A platform with six degrees of freedom","volume":"180","author":"Stewart","year":"1965","journal-title":"Proc. Inst. Mech. Eng."},{"key":"ref_5","unstructured":"Zhao, J., Feng, Z., Chu, F., and Ma, N. (2013). Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms, Academic Press."},{"key":"ref_6","unstructured":"Merlet, J.P. (2005). Parallel Robots, Springer Science & Business Media."},{"key":"ref_7","unstructured":"Kong, X., and Gosselin, C. (2007). Virtual-Chain Approach for the Type Synthesis of Parallel Mechanisms, Springer."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"288","DOI":"10.1007\/s00170-003-1705-z","article-title":"A new method to study the degree of freedom of spatial parallel mechanisms","volume":"23","author":"Zhao","year":"2004","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"ref_9","unstructured":"Guan, L.W., Wang, J.S., and Wang, L.P. (2004, January 26\u201331). Mobility analysis of the 3-UPU parallel mechanism based on screw theory. Proceedings of the 2004 International Conference on Intelligent Mechatronics and Automation, Chengdu, China."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1687814015610467","DOI":"10.1177\/1687814015610467","article-title":"Mobility analysis of parallel mechanisms based on screw theory and mechanism topology","volume":"7","author":"Wang","year":"2015","journal-title":"Adv. Mech. Eng."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"256","DOI":"10.1016\/j.mechmachtheory.2014.07.011","article-title":"Mobility analysis of generalized angulated scissor-like elements with the reciprocal screw theory","volume":"82","author":"Cai","year":"2014","journal-title":"Mech. Mach. Theory"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"620","DOI":"10.1177\/0954406212462947","article-title":"Kinematics and workspace analysis of a novel 3-DOF parallel manipulator with virtual symmetric plane","volume":"227","author":"Fang","year":"2013","journal-title":"Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"4769174","DOI":"10.1155\/2019\/4769174","article-title":"Forward kinematics and workspace determination of a novel redundantly actuated parallel manipulator","volume":"2019","author":"Zhang","year":"2019","journal-title":"Int. J. Aerosp. Eng."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"39","DOI":"10.1017\/S0263574704000347","article-title":"Kinematics and workspace analysis of a three-axis parallel manipulator: The Orthoglide","volume":"24","author":"Pashkevich","year":"2006","journal-title":"Robotica"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1007\/s40997-020-00346-9","article-title":"A forward, inverse kinematics and workspace analysis of 3RPS and 3RPS-R parallel manipulators","volume":"45","author":"Desai","year":"2021","journal-title":"Iran. J. Sci. Technol. Trans. Mech. Eng."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Laryushkin, P., Antonov, A., Fomin, A., and Essomba, T. (2022). Velocity and Singularity Analysis of a 5-DOF (3T2R) Parallel-Serial (Hybrid) Manipulator. Machines, 10.","DOI":"10.3390\/machines10040276"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Du, X., Wang, B., and Zheng, J. (2022). Geometric Error Analysis of a 2UPR-RPU Over-Constrained Parallel Manipulator. Machines, 10.","DOI":"10.3390\/machines10110990"},{"key":"ref_18","first-page":"285","article-title":"Analysis of rigid-body dynamics for closed-loop mechanisms\u2014Its application to a novel satellite tracking device","volume":"217","author":"Jones","year":"2003","journal-title":"Proc. Inst. Mech. Eng. Part I J. Syst. Control. Eng."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1191\/0142331203tm092oa","article-title":"A Stewart platform for precision surgery","volume":"25","author":"Wapler","year":"2003","journal-title":"Trans. Inst. Meas. Control"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"109711","DOI":"10.1016\/j.rser.2020.109711","article-title":"The offshore-onshore conundrum: Preferences for wind energy considering spatial data in Denmark","volume":"121","author":"Ladenburg","year":"2020","journal-title":"Renew. Sustain. Energy Rev."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Campos, D.F., Pereira, M., Matos, A., and Pinto, A.M. (2021, January 20\u201323). DIIUS-Distributed Perception for Inspection of Aquatic Structures. Proceedings of the OCEANS 2021: San Diego\u2014Porto, San Diego, CA, USA.","DOI":"10.23919\/OCEANS44145.2021.9705939"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"16","DOI":"10.1016\/j.inffus.2019.07.014","article-title":"MARESye: A hybrid imaging system for underwater robotic applications","volume":"55","author":"Pinto","year":"2020","journal-title":"Inf. Fusion"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"971","DOI":"10.1007\/s10514-022-10060-x","article-title":"Multi-criteria metric to evaluate motion planners for underwater intervention","volume":"46","author":"Silva","year":"2022","journal-title":"Auton. Robots"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Shafiee, M., Zhou, Z., Mei, L., Dinmohammadi, F., Karama, J., and Flynn, D. (2021). Unmanned aerial drones for inspection of offshore wind turbines: A mission-critical failure analysis. Robotics, 10.","DOI":"10.3390\/robotics10010026"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Pereira, P.N.D.A.A.D.S., Campilho, R.D.S.G., and Pinto, A.M.G. (2022). Application of a Design for Excellence Methodology for a Wireless Charger Housing in Underwater Environments. Machines, 10.","DOI":"10.3390\/machines10040232"},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Aissi, M., Moumen, Y., Berrich, J., Bouchentouf, T., Bourhaleb, M., and Rahmoun, M. (2020, January 2\u20133). Autonomous solar USV with an automated launch and recovery system for UAV: State of the art and Design. Proceedings of the 2020 IEEE 2nd International Conference on Electronics, Control, Optimization and Computer Science (ICECOCS), Kenitra, Morocco.","DOI":"10.1109\/ICECOCS50124.2020.9314415"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Li, W., Ge, Y., Guan, Z., and Ye, G. (2022). Synchronized Motion-Based UAV\u2013USV Cooperative Autonomous Landing. J. Mar. Sci. Eng., 10.","DOI":"10.3390\/jmse10091214"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"104692","DOI":"10.1016\/j.mechmachtheory.2021.104692","article-title":"Design of a class of generalized parallel mechanisms for adaptive landing and aerial manipulation","volume":"170","author":"Liu","year":"2022","journal-title":"Mech. Mach. Theory"},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Guo, J., Li, G., Li, B., and Wang, S. (2014, January 28\u201330). A ship active vibration isolation system based on a novel 5-DOF parallel mechanism. Proceedings of the 2014 IEEE International Conference on Information and Automation (ICIA), Hailar, China.","DOI":"10.1109\/ICInfA.2014.6932761"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1016\/j.oceaneng.2019.02.049","article-title":"Simulation and experiment of a turbine access system with three-axial active motion compensation","volume":"176","author":"Chen","year":"2019","journal-title":"Ocean Eng."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"109477","DOI":"10.1016\/j.oceaneng.2021.109477","article-title":"Sliding-mode control of ship-mounted Stewart platforms for wave compensation using velocity feedforward","volume":"236","author":"Cai","year":"2021","journal-title":"Ocean Eng."},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Pinto, A.M., Marques, J.V.A., Campos, D.F., Abreu, N., Matos, A., Jussi, M., Berglund, R., Halme, J., Tikka, P., and Formiga, J. (2021, January 20\u201323). ATLANTIS\u2014The Atlantic Testing Platform for Maritime Robotics. Proceedings of the OCEANS 2021, San Diego\u2014Porto, San Diego, CA, USA.","DOI":"10.23919\/OCEANS44145.2021.9706059"},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Zhao, T.S., Li, Y.W., Chen, J., and Wang, J.C. (2006, January 7\u20139). A Novel Four-DOF Parallel Manipulator Mechanism and Its Kinematics. Proceedings of the 2006 IEEE Conference on Robotics, Automation and Mechatronics, Bangkok, Thailand.","DOI":"10.1109\/RAMECH.2006.252672"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Neves, F.S., Claro, R.M., and Pinto, A.M. (2023). End-to-End Detection of a Landing Platform for Offshore UAVs Based on a Multimodal Early Fusion Approach. Sensors, 23.","DOI":"10.3390\/s23052434"},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Bingham, B., Ag\u00fcero, C., McCarrin, M., Klamo, J., Malia, J., Allen, K., Lum, T., Rawson, M., and Waqar, R. (2019, January 27\u201331). Toward maritime robotic simulation in gazebo. Proceedings of the OCEANS 2019, Seattle, WA, USA.","DOI":"10.23919\/OCEANS40490.2019.8962724"},{"key":"ref_36","unstructured":"Thon, S., Dischler, J.M., and Ghazanfarpour, D. (2000, January 19\u201324). Ocean waves synthesis using a spectrum-based turbulence function. Proceedings of the Computer Graphics International 2000, Geneva, Switzerland."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"693","DOI":"10.1007\/s00773-020-00765-y","article-title":"Wave motion compensation in dynamic positioning of small autonomous vessels","volume":"26","author":"Halvorsen","year":"2021","journal-title":"J. Mar. Sci. Technol."}],"container-title":["Machines"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2075-1702\/11\/4\/478\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T19:15:39Z","timestamp":1760123739000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2075-1702\/11\/4\/478"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,4,14]]},"references-count":37,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2023,4]]}},"alternative-id":["machines11040478"],"URL":"https:\/\/doi.org\/10.3390\/machines11040478","relation":{},"ISSN":["2075-1702"],"issn-type":[{"value":"2075-1702","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,4,14]]}}}