• 中国科技核心期刊
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2023 Vol. 31, No. 2

Display Method:
Progress of AUV Intelligent Swarm Collaborative Task
HU Qiao, ZHAO Zhenyi, FENG Haobo, JIANG Chuan
2023, 31(2): 189-200. doi: 10.11993/j.issn.2096-3920.2023-0002
Abstract:
With developments in the intelligent swarm technology, the cooperation of autonomous undersea vehicle (AUV) swarms in performing underwater tasks has become an inevitable trend for the future development of such tasks. However, owing to the particularity of underwater environments, collaborative tas...
CPG Motion Control for a Bionic Manta Ray Robot Fish Propelled by Flexible Pectoral Fin
NAN Kaigang, JIANG Sheng, ZHANG Jinhua, CHENG Haiyan
2023, 31(2): 201-210. doi: 10.11993/j.issn.2096-3920.202203009
Abstract:
Considering a manta ray as the bionic object, this paper proposes a design scheme for a bionic manta-ray robot fish with flexible pectoral fin propulsion. A motion control strategy is designed based on a central pattern generator(CPG), the influence of control parameters is analyzed, and the perform...
Effect of Material Density on the Tail-slapping Characteristics ofSupercavitating Projectiles
HUANG Baozhu, LI Daijin, HUANG Chuang, GU Jianxiao, LUO Kai
2023, 31(2): 211-220. doi: 10.11993/j.issn.2096-3920.202204014
Abstract:
Generally, the tail-slapping motion of underwater supercavitating projectiles has a significant impact on their ballistic stability and operational performance. In this study, a numerical model of such supercavitating projectiles integrating a dynamic mesh is established to investigate the impacts o...
Adaptive Flocking Control for Crowded UUV Swarm with Time-Delay Constraint
LIANG Hongtao, KANG Fengju
2023, 31(2): 221-228, 258. doi: 10.11993/j.issn.2096-3920.202112012
Abstract:
To address the flocking control problem of a crowded unmanned undersea vehicle (UUV) swarm under time-delay constraints, an adaptive flocking control approach was investigated using a multiscale bio-inspired mechanism. First, an adaptive flocking interaction model with a bio-inspired optimal neighbo...
Inversion Estimation of AUV Attitude Based on Pressure Sensor Array
WANG Chongyang, YU Huapeng, LI Ziyuan, ZHAO Dexin
2023, 31(2): 229-236. doi: 10.11993/j.issn.2096-3920.202202011
Abstract:
Attitude is an essential parameter in autonomous navigation. Existing high-precision navigation sensors are expensive and large. Therefore, miniaturized and low-cost autonomous navigation technologies have become the research focus. Inspired by biomimetics, an inversion estimation model of autonomou...
Energy-optimal Path Planning Algorithm for Unmanned Surface Vessel Based on Reinforcement Learning
LI Peijuan, YAN Tingwu, YANG Shutao, LI Rui, DU Junfeng, QIAN Fufu, LIU Yiting
2023, 31(2): 237-243. doi: 10.11993/j.issn.2096-3920.202203002
Abstract:
To address path planning for unmanned surface vessels(USVs) in ocean environments affected by physical disturbances, such as ocean currents and obstacles, an energy-optimal algorithm based on improved reinforcement learning is proposed. First, a two-dimensional ocean-current model comprising multipl...
Route Optimization of on Call Submarine Search Based on Genetic Algorithm
ZHANG Ning, KOU Xiaoming, LI Bin, LI Qian, ZHOU Jingjun
2023, 31(2): 244-251. doi: 10.11993/j.issn.2096-3920.2022-0002
Abstract:
To address the situation wherein an enemy submarine maneuvers in an unknown course when an anti-submarine surface ship is called, a genetic algorithm-based submarine search method is proposed. The method combines the ship sonar detection model, enemy submarine target motion model, ship search motion...
Pressure Sensor Error Compensation Algorithm Based on MEA-BP Neural Network
SHI Hao, FAN Hui, LI Jianchen, ZHAO Runhui, LI Ya
2023, 31(2): 252-258. doi: 10.11993/j.issn.2096-3920.202205002
Abstract:
Piezoresistive pressure sensors are sensitive to environmental changes. Ambient temperature changes would produce thermal drift, which affects sensor performance. This study entailed the use of the mind evolutionary algorithm(MEA)-back propagation(BP) neural network algorithm to establish an error c...
Treatment Method for Multi-AUV Cooperative Positioning Underwater Acoustic Propagation Delay Based on IMM Algorithm
CHEN Shijie, LIU Xixiang, HUANG Yongjiang, ZHANG Caixia, TAO Yujie, TONG Jinwu
2023, 31(2): 259-268, 277. doi: 10.11993/j.issn.2096-3920.202204011
Abstract:
To address the delay problem of underwater acoustic detection and communication in a master-slave autonomous undersea vehicle(AUV) cooperative positioning system, a time-delay processing method based on an interacting multiple model(IMM) algorithm is proposed. First, a cooperative positioning calcul...
A Detection Method of Magnetic Anomaly Signal in Offshore Waters
DU Defeng, CHEN Shuai, WANG Lei, MENG Fankai
2023, 31(2): 269-277. doi: 10.11993/j.issn.2096-3920.202203008
Abstract:
Magnetic anomaly signal detection has broad application prospects in offshore defense, which is an urgent problem for realizing remote and long-term monitoring. In this paper, an underwater magnetic anomaly detection model is proposed, and wavelet domain analysis and orthogonal basis decomposition d...
Velocity Estimation of Moving Acoustic Source Based on Acoustic Intensity Interference with Dual Hydrophones in Shallow Water
YAO Yuan, SUN Chao, XIE Lei, LIU Xionghou
2023, 31(2): 278-284. doi: 10.11993/j.issn.2096-3920.2022-0068
Abstract:
Considering the difficulty in estimating the acoustic source motion velocity using an interference striation pattern of a broadband continuum spectrum in a low-frequency analysis and recording(LOFAR) spectrum at a low signal-to-noise ratio(SNR), a moving sound source velocity estimation method based...
Subsea Broadband Reverberation Modeling and Simulation of High-speed Motion Sonar
YANG Jiayi, YANG Yunchuan, LI Yongsheng, SHI Lei, YANG Xiangfeng
2023, 31(2): 285-290. doi: 10.11993/j.issn.2096-3920.2022-0003
Abstract:
Subsea reverberation is the main source of interference when torpedoes detect targets in shallow waters where the sound velocity approximately satisfies the negative gradient distribution. In order to obtain the reverberation signal accurately, conveniently and reproducibly, and study its statistica...
Single-loop Robust Control of Permanent Magnet Synchronous Motors Based on Generalized Predictive Control
YANG Xi, LIU Guohai, LIU Yabing, CUI Jialun
2023, 31(2): 291-297. doi: 10.11993/j.issn.2096-3920.202203007
Abstract:
To improve the dynamic performance and robustness of the control system of permanent magnet synchronous motors (PMSMs) for unmanned undersea vehicles (UUVs) and simplify the structure of the control system, a single-loop control strategy based on generalized predictive control (GPC) is proposed. A n...
Simulation Analysis of Fuel Pump Piston Oil Film Friction Heat Generation Based on CFD Method
CHEN Wenjie, LI Yongdong, BAI Changqing
2023, 31(2): 298-304, 315. doi: 10.11993/j.issn.2096-3920.202111003
Abstract:
Aiming at the friction heat generation of fuel pump piston oil films for underwater gas turbines, combined with the computational fluid dynamics dynamic grid and slip grid methods, user-defined function programming is performed according to the piston motion equation. Furthermore, a fuel-pump piston...
Water-jet Propulsion Characteristics of Vehicle Planing
LIU Fuqiang, ZHOU Linyi, SUN Yuan, YAN Kao
2023, 31(2): 305-315. doi: 10.11993/j.issn.2096-3920.202201007
Abstract:
This study employed the shear stress transport(SST) k-ω turbulence model, multiple reference frame(MRF) model, and ideal pump model to construct a numerical simulation model of water-jet propulsion for vehicle planing. The model was implemented in STAR-CCM+ software, and its feasibility was verified...
Quality Control of Ocean Observation Data Based on Wave Glider
ZHOU Ying, YU Peiyuan, SUN Xiujun, SANG Hongqiang
2023, 31(2): 316-322, 328. doi: 10.11993/j.issn.2096-3920.202202003
Abstract:
The accuracy and reliability of observation data form the core of data quality control for wave gliders. An effective data quality control method is essential to promote the popularization and application of wave glider observation data. To improve the data quality of a wave glider, a new marine obs...
Demand and Method Discussions for Intelligent Decisions of Torpedo Attacking by Unmanned Undersea Vehicle
MA Liang, GUO Liqiang, ZHANG Hui, YANG Jing, LIU Jian
2023, 31(2): 323-328. doi: 10.11993/j.issn.2096-3920.202201003
Abstract:
The autonomous technology of unmanned equipment is currently the most dynamic frontier technology field. Therefore, improving the intelligence of decision-making is an inevitable trend in the development of future unmanned undersea vehicles (UUVs). Torpedo attack decision-making is a critical aspect...
Initial Trajectory of Wire-guided Torpedo Launched byBattery-Activated Outside Tube
DING Hao, SUN Naiwei, HUANG Bo
2023, 31(2): 329-332, 348. doi: 10.11993/j.issn.2096-3920.202204002
Abstract:
To study the initial trajectory of a wire-guided torpedo launched by a battery-activated outside tube, hydrodynamic theory was used to analyze the dynamics of the torpedo when sailing outside the tube. Subsequently, a dynamic model of the torpedo movement in the vertical plane was built based on the...
Coupling Effect of Environmental Stress and Working Stress for Torpedo
SHE Yang, WANG Douhui, XIE Zhangyong, LU Jiale, LI Jin, CHEN Huan
2023, 31(2): 333-338. doi: 10.11993/j.issn.2096-3920.2022-0042
Abstract:
The coupling effect of environmental stress and working stress directly affects the reliability, working life, and operational effectiveness of torpedo equipment. The research on the coupling effect for torpedoes is still in its infancy, and no systematic research has been conducted on the failure m...
Underwater Target Detection Based on Sonar Image
HAO Zixiao, WANG Qi
2023, 31(2): 339-348. doi: 10.11993/j.issn.2096-3920.202205004
Abstract:
Underwater target detection by processing sonar images is of great military and civil significance. This paper comprehensively describes the principles, methods, algorithms, and development trends in underwater target detection based on sonar images. Initially, we divide the underwater target detect...
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