水下无人系统学报

Study on Water Entry Process of Vehicle Under Restriction of Underwater Ice Hole

HU Xinyu, WANG Cong, WEI Yingjie

2025, 33(6): 939-947. doi: 10.11993/j.issn.2096-3920.2025-0077

[Abstract](123) [FullText HTML] (57) [PDF 2447KB](17)

Abstract:
The water entry process of a vehicle passing through an underwater ice hole is of great engineering significance in the launching operation of polar ocean detectors and the deployment strategy of related equipment in polar regions. However, the research on the water entry behavior of the vehicle under the ice hole structure is still limited, especially the lack of a systematic understanding of the coupling relationship between the cavity evolution mechanism and the dynamic response of the vehicle under the ice hole constraint. Therefore, the numerical simulation method based on computational fluid dynamics(CFD) was adopted in this paper, and the water entry process of the vehicle passing through the underwater ice hole was studied, revealing the coupling characteristics between the flow field structure, cavity evolution, and the motion state of the vehicle under the constraint of the ice hole. The results show that when the vehicle passes through the underwater ice hole, the cavity undergoes the evolution process of contraction first and then expansion, and the fluid resistance increases first and then decreases. As the vehicle gradually passes through the hole, the velocity around the wall increases significantly, and the asymmetry of the tail flow field intensifies. In addition, the velocity of the vehicle decreases when it passes through the hole, and its turning point is basically consistent with the time of cavity collapse. When the vehicle passes through the hole completely, the motion trajectory deflects. The above findings not only enrich the understanding of water entry dynamics under the constraint of the ice hole but also provide a theoretical basis for the launch path design and structural optimization of polar detectors.

Analysis of Spatiotemporal Characteristics for Underwater Target’s Comprehensive Magnetic Field

DONG Xinyu, WANG Honglei, YANG Yixin

2025, 33(6): 948-955. doi: 10.11993/j.issn.2096-3920.2025-0073

[Abstract](151) [FullText HTML] (60) [PDF 1327KB](23)

Abstract:
The accurate modeling of the radiated magnetic field of underwater targets is of great significance to the development of magnetic detection technology. The radiated magnetic field of targets mainly consists of the magnetic anomaly field and wake magnetic field, while the magnetic sensor usually receives the total magnetic field signal during detection. Current research mainly focuses on the simulation analysis of magnetic anomaly fields and wake magnetic fields, lacking systematic studies on the radiation mechanism, propagation model, spatiotemporal characteristics, and attenuation laws after their integration. This makes it difficult to effectively promote the development of underwater target magnetic detection technology. To this end, this paper proposed a method for analyzing the spatiotemporal characteristics of the comprehensive magnetic field of underwater targets. COMSOL and MATLAB software were used to model and study the magnetic anomaly field and wake magnetic field, respectively. By integrating the two magnetic field models through vector superposition, the spatiotemporal characteristics and attenuation laws of the target’s radiated magnetic field were comprehensively analyzed, which improved the solution efficiency and model accuracy of the comprehensive magnetic field. At the same time, it revealed the influence law of the target motion parameters on the comprehensive magnetic field, providing theoretical support for the high-precision modeling of underwater target magnetic detection.

Research on Distribution Characteristics of Induced Electromagnetic Field in Undersea Vehicle Wake

WANG Xiangjin, ZHANG Jiansheng, WANG Xintong, YAN Linbo, LAN Qing

2025, 33(6): 956-962. doi: 10.11993/j.issn.2096-3920.2025-0082

[Abstract](82) [FullText HTML] (24) [PDF 2571KB](17)

Abstract:
The induced electromagnetic field generated by the undersea vehicle wake cutting through the geomagnetic field provides a new approach for the non-acoustic detection. However, existing research has primarily focused on surface ships or environments with finite water depth and has not thoroughly revealed the influence law of submersion depth on the wake’s electromagnetic field in infinitely deep waters. To address this issue, this study employed numerical simulations based on Maxwell’s equations and fundamental hydrodynamic theories, utilizing a mathematical model of the induced electromagnetic field in the undersea vehicle wake. The distribution characteristics of the field at two typical depths, namely 10 m and 50 m, were specifically compared and analyzed. The results indicate that when the underwater vehicle is sailing, its wake velocity field exhibits a typical V-shaped distribution. The induced electromagnetic field of the wake decays exponentially along the trajectory. As the submersion depth increases, the peak induced magnetic field strength significantly decreases (from 0.3 nT to 0.1 nT), while the peak induced electric field strength increases(from 1 μV/m to 3 μV/m). This study elucidates the influence of submersion depth on the electromagnetic field through theory and simulation, confirms the feasibility of adopting differentiated detection strategies for targets at different depths, and provides a new theoretical basis for deep-sea target detection.

Horizontal Trajectory Tracking Control of Underactuated AUV Backstepping Sliding Mode Based on RBF Neural Network

WANG Chu, WANG Lei, HU Zhen, HU Baoqiang

2025, 33(6): 963-970, 978. doi: 10.11993/j.issn.2096-3920.2025-0076

[Abstract](67) [FullText HTML] (31) [PDF 4055KB](10)

Abstract:
A backstepping integral sliding mode control(BISMC) trajectory tracking control method for underactuated autonomous undersea vehicle(AUV) based on radial basis function(RBF) neural network was proposed to address the challenges of difficult horizontal trajectory tracking control and weak anti-interference ability in complex marine environments. Firstly, a kinematic controller was designed by employing the backstepping control method to obtain virtual control laws and actual control inputs. In the dynamic controller, integral sliding mode control was introduced to account for the uncertainty factors and possible external disturbances of the system. Meanwhile, an RBF neural network was adopted to approximate the unknown nonlinear terms of the system online, effectively resolving the contradiction between the chattering effect and parameter uncertainty in traditional sliding mode control. By taking the error as the input of the RBF neural network and using the output of the RBF neural network as the switching control, the online adjustment of the sliding mode control law was achieved. The simulation results show that compared with the traditional BISMC, the proposed method can effectively eliminate the chattering problem caused by the switching terms in traditional sliding mode control, enabling the system to exhibit strong robustness.

Underwater Target Electric Field Positioning Method Based on Particle Swarm Optimization and Differential Evolution Hybrid Algorithm

BAI Xiaofan, WANG Honglei, YANG Yixin

2025, 33(6): 971-978. doi: 10.11993/j.issn.2096-3920.2025-0070

[Abstract](22) [FullText HTML] (1) [PDF 2987KB](5)

Abstract:
To achieve long-distance and high-precision positioning of underwater targets in shallow sea environments, a novel underwater target electric field positioning method based on the particle swarm optimization and differential evolution(PSODE) hybrid algorithm was proposed. Starting from the three-layer medium electric field radiation model, the underwater target was equivalent to a constant current electric dipole source. The electric field measurement data were obtained by using the irregularly arranged three-axis electric field sensor array, and a target function based on the dynamic weight of the signal-to-noise ratio and the robust Huber loss was constructed. The positioning problem was transformed into the minimization problem of the target function. To address the premature convergence of the traditional differential evolution(DE) algorithm and the insufficient local search ability of the particle swarm optimization(PSO) algorithm, a collaborative optimization mechanism was proposed. This mechanism generated diverse solution sets through DE mutation and crossover and combined the dynamic weight update strategy of PSO to enhance the local search ability. Meanwhile, an adaptive parameter adjustment and probability selection mechanism was introduced to achieve a better balance between global exploration and local exploitation, thereby effectively reducing the risk of the algorithm getting trapped in local optimal solutions. Simulation experiment results show that the proposed method has the advantages of being insensitive to initial values, strong anti-noise ability, and fast convergence speed. Compared with the traditional PSO and DE algorithms, it has higher positioning accuracy, providing an effective solution for high-precision positioning of underwater targets in shallow sea environments.

Relative Localization Error Correction Method Based on SDP-Optimized Range Measurements

XING Jiayi, DENG Kai, WANG Changhong, RAO Liang

2025, 33(6): 979-987. doi: 10.11993/j.issn.2096-3920.2025-0099

[Abstract](47) [FullText HTML] (27) [PDF 1936KB](7)

Abstract:
Most of the existing research on cooperative localization focuses on absolute position estimation, with relatively little attention paid to the relative positioning among nodes in clusters. To simplify the ranging model and provide a more intuitive evaluation of algorithm performance, this paper assumed that nodes within the cluster remain relatively stationary, and it proposed an inertial navigation system(INS) error correction method based on semi-definite programming(SDP)-optimized ranging. At the time of ranging, global SDP optimization was performed on the original ranging data to correct the positioning error of the corrected INS, followed by error compensation updates for the inherent biases of the INS, which effectively enhanced the relative positioning accuracy among the nodes. The paper established a cooperative localization model for the cluster, derived a nonlinear least squares formulation for node positioning, and provided an analysis of INS error compensation. Multiple simulation results indicate that compared with the method of directly using the original ranging data to correct the INS, the proposed method can reduce the relative positioning error by more than 40% on average, and its advantage in suppressing INS errors becomes even more pronounced as the ranging update interval increases.

Application of Ensemble Learning Algorithms on Ship Radiation Noise Prediction

QIANG Yiming, CHEN Yihong, PEI Yuqing, PANG Yezhen, XIE Shuo

2025, 33(6): 988-994. doi: 10.11993/j.issn.2096-3920.2025-0111

[Abstract](63) [FullText HTML] (26) [PDF 1747KB](9)

Abstract:
The radiation noise generated by multiple vibration sources on ships can seriously affect their comfort and stealth performance. Accurately predicting the radiation noise level and distribution can provide crucial support for the vibration and noise reduction optimization during the ship design stage. In response to the problem of numerous vibration sources in ships and the complex noise radiation mechanism, this paper first employed the random forest and gradient boosting tree algorithms from the ensemble learning algorithms to conduct rapid prediction of the 1/3 octave band noise sound pressure level under different operating conditions and at different measurement points. The prediction results were then compared and verified with those of the Bayesian ridge regression model. The verification results of the four test conditions show that the ensemble learning algorithm outperforms the Bayesian ridge regression in all three conditions, with an average absolute error of less than 5 dB. Further optimization of the above model is conducted by constructing the basic units of the ensemble learning algorithm and the linear algorithm at different levels and combining them to form a joint radiation noise prediction scheme. Its accuracy is improved by 1.5 dB compared to the single ensemble learning algorithm. The ensemble learning algorithm and the joint prediction scheme proposed in this paper can provide effective technical tools for the rapid and accurate analysis of ship radiation noise.

Blind Source Separation of Single-Channel Ship Radiated Noise Based on VMD-FastICA

LI Yuwei, WANG Huiyuan

2025, 33(6): 995-1005. doi: 10.11993/j.issn.2096-3920.2025-0089

[Abstract](57) [FullText HTML] (25) [PDF 2064KB](9)

Abstract:
To address the challenge of separating different target ship radiated noise signals from mixed signals under extreme conditions where only a single-channel signal is available, a blind source separation algorithm under single-channel conditions was researched. A ship radiated noise blind source separation algorithm based on the improved fast independent component analysis(Fast-ICA) using variational mode decomposition(VMD) was proposed. Under single-channel conditions, the single-channel signal was first decomposed into multiple modes featuring relatively independent frequency components through VMD, initially achieving the separation of independent frequency components. Then, these modes were combined into virtual multi-channel signals to solve the issue that Fast-ICA cannot process a single-channel signal. Finally, the virtual multi-channel signals were processed using Fast-ICA to further separate independent signal components, thereby achieving blind source separation of single-channel ship radiated noises. Simulation and experimental data analysis results show that the similarity between the target signals separated by the proposed VMD-FastICA algorithm and the original target signals is improved compared to the singular spectrum analysis-independent component analysis(SSA-ICA) algorithm. This demonstrates that the VMD-FastICA algorithm has good performance for separating bind sources of single-channel ship radiated noise signals and can achieve effective separation of different target ship radiated noise signals under single-channel conditions.

Experimental Study on Load Sharing Characteristics of Fixed Axis Tri-Branching Gear Transmission System

YAN Hai, YANG Sheng, WEN Lihua, MENG Fanming, CAO Hao

2025, 33(6): 1006-1013. doi: 10.11993/j.issn.2096-3920.2025-0085

[Abstract](39) [FullText HTML] (30) [PDF 2361KB](5)

Abstract:
The current load sharing characteristic test of gear transmission systems does not consider the influence of processing and installation errors such as backlash and shaft eccentricity angle on load sharing characteristics. To address this issue, a load sharing characteristic test bench for a gear transmission system was built for a fixed axis power tri-branching gear transmission system. The backlash was accurately adjusted by adding a thin gasket at the bearing seat, and the shaft eccentricity angle was adjusted by designing the eccentric sleeve structure. The tooth root stress of the center gears of the split and combiner stages was tested under different operating conditions to explore the influence laws of the load sharing characteristics. Temperature compensation strain gauges were adopted to eliminate the influence of temperature interference on the test accuracy. The correlation between load, backlash, and shaft eccentricity angle and the load sharing characteristic was analyzed in detail. The results indicate that the load sharing characteristics of the combiner stage are superior to those of the split stage. The load sharing effect of the two-stage gears improves as the load increases; the shaft eccentricity angle has a significant impact on the load sharing characteristics of the gears.

Simulation of PEMFC Voltage Stabilization System for Underwater Unmanned Power Platform Based on Fuzzy Control

BIAN Yangzhen, XIAO Zongliang, YANG Jian, ZHONG Quanming, DING Yi, ZHANG Lin

2025, 33(6): 1014-1023. doi: 10.11993/j.issn.2096-3920.2025-0061

[Abstract](67) [FullText HTML] (32) [PDF 1667KB](6)

Abstract:
Aiming at the demand of underwater unmanned power platform for an efficient and stable energy system, this paper focused on the problem of strong nonlinearity and easy fluctuation of the output voltage of proton exchange membrane fuel cell(PEMFC) and proposed a DC-DC converter voltage stabilization strategy based on the fuzzy proportional-integral-derivative(PID) adaptive control. Due to the strong nonlinear characteristics of the output voltage of the PEMFC and its fluctuation trend, the traditional control methods have limitations in the dynamic response and robustness. Therefore, a mathematical model of PEMFC, including Nernst voltage and activation, ohmic, and concentration loss and a Boost boost circuit model were established to analyze the voltage fluctuation mechanism. A fuzzy PID controller was designed, with a rule base that deeply coupled the PID control principle with the nonlinear characteristics of PEMFC, which realized the online dynamic self-tuning of PID parameters to optimize the duty cycle of the DC-DC converter in real time. The simulation results show that compared with the traditional PID control, the fuzzy PID control can shorten the system regulation time, and the steady-state error tends to be close to zero; the output voltage fluctuation range is narrowed to within ±0.5 V under the sudden current change condition, and the duty cycle response is more accurate. The fuzzy PID adaptive strategy significantly enhances the dynamic response speed and robustness of the system, providing a reliable theoretical cornerstone and solution for the efficient and stable operation of the energy system of the underwater unmanned platform.

Numerical Simulation Study on Release Process of Underwater Towed Bodies under Different Parameters

TIAN Yiwei, LÜ Rui, WANG Menghao, LI Kui, ZHANG Kai, WANG Leilei

2025, 33(6): 1024-1032. doi: 10.11993/j.issn.2096-3920.2025-0072

[Abstract](74) [FullText HTML] (33) [PDF 2979KB](7)

Abstract:
The underwater towed body is an important component of underwater vehicles. For the requirements such as the design of the towing cable for underwater towed bodies and stable attitude during the release process, this paper constructed the fluid dynamics model of the towed body by the overlapping mesh technology and the achievable k-ε turbulence model. It also carried out the unsteady numerical simulation of the release process. After the simulation, the paper verified the effectiveness of the grid division and numerical methods through the experimental results. The paper systematically analyzed the influence of towing speed, the position of the barycenter and the buoyant center, and the towing point on the release process of the underwater towed body. The simulation results show that towing speed affects the stabilization time and attitude stabilization process of the towed body, and the optimal towing speed needs to be determined according to the structure of the towed body. The positions of the barycenter and the buoyant center have a significant effect on the release dynamic characteristics of the towed body, and the design of moving the barycenter forward can reduce the oscillation of the towed body and improve the stability of the system. When the barycenter is close to the buoyant center, the attitude adjustment time of the towed body is shorter, and the movement is more stable. The towing point should be under the head of the towed body to reduce the change in pitch angle during the release process and improve the stability of the release process. The results provide an important theoretical basis for the engineering design and release strategy of underwater towed bodies.

Research on Hydrodynamic Characteristics of Self-Propelled DeployedUUV Based on MRF and Overset Mesh Technology

JIN Cegang, YANG Zhuangtao, ZHANG Tao, DUAN Hao, YUAN Sihuan, ZHU Min, CHEN Weixin

2025, 33(6): 1033-1043. doi: 10.11993/j.issn.2096-3920.2025-0109

[Abstract](54) [FullText HTML] (25) [PDF 2882KB](8)

Abstract:
To address the problem that self-propelled deployed unmanned undersea vehicle(UUV) are significantly disturbed by the wake field of the mother platform and deployment device during the two-body separation process, resulting in remarkable changes in maneuverability, based on the Reynolds average Navier-Stokes(RANS) method, this paper combined multi-reference frame(MRF) with the overset mesh technology to establish a numerical calculation method suitable for studying two-body separation. This paper further researched the hydrodynamic characteristics of a self-propelled deployed UUV. Multiple steady-state conditions were selected to compare and analyze the hydrodynamic characteristics of a typical rotary UUV in the deployment state and the free state. The research results show that under the wake field of the deployment device, the UUV is significantly disturbed, with position force coefficients including resistance coefficient, lift coefficient, and pitching moment coefficient changes ranging from 7.12% to 343.04%, rotational force coefficient changes ranging from 22.81% to 97.16%, and steering force coefficient changes ranging from 11.83% to 164.98%; the maneuverability of the UUV is significantly less than that in the free state. The research results of this paper can provide a certain theoretical basis for the optimization of the deployment scheme and the design of control strategies for self-propelled deployed UUVs.

Design of Cross-Domain Relay Buoy Communication System Based on Multi-Source Communication Links

LI Guangsheng, FENG Jie, BAI Jun, LI Yalan

2025, 33(6): 1044-1056. doi: 10.11993/j.issn.2096-3920.2025-0069

[Abstract](65) [FullText HTML] (32) [PDF 3860KB](10)

Abstract:
Aiming at the problems of limited communication modes, low reliability, weak scalability, and high power consumption existing in deep-sea submersible communication methods, this paper proposed a cross-domain relay buoy communication system design method based on multi-source communication links. Firstly, the composition, working principle, and working mode of the buoy communication system were introduced, and the system hardware design scheme with multiple communication methods and high scalability was described. Secondly, an optimal communication link selection strategy was proposed, which could dynamically select the optimal communication link according to the real-time status of each link, so as to improve the reliability and stability of system communication. Additionally, the data retransmission mechanism was introduced to effectively address the abnormal communication problems such as communication interruption and data packet loss, so as to ensure the accuracy and integrity of system communication. Finally, the system power management and power consumption optimization were designed, and a low-power control strategy was proposed to realize the refined management of system power supply and efficient low-power operation. Experimental results demonstrate that the design method of the buoy communication system proposed in this paper is effective and feasible, which can effectively solve the problems existing in the deep-sea submersible communication, achieve real-time data transmission over long distances, and provide technical support for improving the information transmission ability of underwater detection equipment.

A Fast Calibration Method for Intrinsic Parameters of Underwater CamerasBased on Refraction Model

CHEN Junfeng, JIA Guotao, LI Xueyan, LI Yantian, WANG Xian

2025, 33(6): 1057-1064. doi: 10.11993/j.issn.2096-3920.2025-0064

[Abstract](99) [FullText HTML] (33) [PDF 2483KB](15)

Abstract:
To address the low operational precision caused by inaccurate intrinsic parameters of cameras in underwater visual tasks, a fast calibration method for underwater cameras was proposed. A single image containing two sets of mutually orthogonal parallel lines was used in the proposed method. By solving the vanishing points of these lines on the image plane, an orthogonal relationship related to the equivalent focal length was established. This enabled the intrinsic parameters of the camera to be determined. To address the underwater imaging distortion problem, the distortion coefficients were solved using the second-order radial distortion model with the minimum reprojection error as the optimization objective, thereby achieving the distortion calibration of underwater images and improving the accuracy of intrinsic parameter calibration. Furthermore, the accuracy of the method in restoring images was demonstrated by comparing in-air target images with their equivalent air images of underwater targets. Experimental results indicate that the proposed method is simple to operate, significantly reduces environmental requirements during camera calibration, effectively enhances calibration speed while maintaining a certain level of accuracy, and is suitable for calibration tasks of underwater cameras.

Lightweight Multi-Scale CNN-Based Underwater Image Enhancement Algorithm and Edge Deployment

ZHANG Jun, LUO Fan, YUAN Zheng

2025, 33(6): 1065-1073. doi: 10.11993/j.issn.2096-3920.2025-0094

[Abstract](76) [FullText HTML] (35) [PDF 2302KB](8)

Abstract:
This paper proposed a lightweight multi-scale convolutional neural network(CNN)-based underwater image enhancement algorithm to address the problems of noise interference, texture blur, color distortion, and high computational complexity and long time consumption of traditional enhancement algorithms caused by water scattering and absorption in underwater visible light images. The U-Net structure was used, which combined shallow texture features with deep semantic features to effectively restore the texture and color information of the image. A lightweight feature extraction module was introduced, which not only simplified the model parameters but also accelerated the convergence speed of the network. A multi-scale pyramid pooling was embedded in the backbone network for extracting multi-scale features and compensating for the shortcomings of traditional algorithms in detail restoration. By combining L1 loss with structural similarity index loss for joint optimization, the restoration effect of image brightness and contrast was improved. To meet the low latency requirements of engineering applications, the algorithm was quantized and then deployed on an embedded platform. By calling the embedded neural processing unit resources to accelerate the inference process, the forward inference on the Atlas200IA2 took only 28 ms. Through experiments on publicly available underwater datasets, the algorithm proposed in this paper achieved an underwater image quality measure of 4.33 and the underwater color image quality evaluation index of 0.63, respectively, on the test set, demonstrating the effectiveness of the proposed enhancement algorithm.

Maximum Efficiency Tracking and Wide Power Regulation Composite Control Method for Underwater MC-WPT System

LI Hao, QIAN Linjun, LI Shenghong, WANG Feng, LI Zhiqiang

2025, 33(6): 1074-1083. doi: 10.11993/j.issn.2096-3920.2025-0065

[Abstract](70) [FullText HTML] (56) [PDF 2371KB](8)

Abstract:
A composite control method was proposed to achieve both maximum efficiency tracking and adjustable output power for unmanned undersea vehicle wireless charging systems. First, the factors affecting the power transmission efficiency of the underwater magnetically coupled wireless power transfer(MC-WPT) system were analyzed. Considering the eddy current loss in the coupling mechanism within the seawater environment, the equivalent eddy current resistance was obtained through magnetic-field and circuit co-simulation, and the optimal load was calculated. Second, a Cuk converter was cascaded on the receiver side for impedance matching to achieve maximum efficiency tracking, while a wide power range was regulated by controlling the phase-shift angle on the transmitter side. The two control loops for efficiency and power operated independently. Finally, a system simulation model was constructed, and an experimental prototype was built to validate the theoretical analysis and the proposed method. The experimental results show that the maximum efficiency tracking method improves the efficiency under various load conditions. For instance, at 2 kW output with a 5 Ω load, the system efficiency increases from 84.8% to 93.1%. When the input voltage varies, the output power is regulated from 1 to 3 kW while maintaining maximum efficiency by adjusting the phase-shift angle. Both simulation and experimental results demonstrate that the system can operate consistently with high efficiency and adjust the output power in real time according to demand.

Human Factors Engineering Analysis for Underwater Carriers

ZHOU Junyu, LI Yaolong, ZHANG Ou

2025, 33(6): 1084-1090. doi: 10.11993/j.issn.2096-3920.2025-0058

[Abstract](52) [FullText HTML] (31) [PDF 2199KB](5)

Abstract:
Human factors engineering is a core support for optimizing human-machine interaction efficiency and improving system operational safety and efficiency. Integrating it into the design and operation of underwater carriers is of great practical significance for expanding equipment application scenarios and ensuring operational reliability. This paper, grounded in human factors engineering theory, examined three key human factors, namely center of gravity distribution, diving equipment type, and fatigue levels, when divers operate these vehicles. Using an underwater carrier as a test case, the study conducted theoretical research and experimental analysis. The research results show that reasonable center of gravity layout, suitable diving equipment, and controllable operational fatigue can significantly improve the speed stability and heading accuracy of underwater carries. The human factors engineering optimization directions summarized in the article provide new research ideas for the future design of underwater carriers and the formulation of operation specifications.

Research and Implementation of Aperture Measurement Method for Irregular Broken Hole on Target Plate

ZHANG Jianting, JIANG Xiaopeng, QU Chunliang, ZHANG Xitong, XU Bo

2025, 33(6): 1091-1096, 1110. doi: 10.11993/j.issn.2096-3920.2025-0051

[Abstract](59) [FullText HTML] (39) [PDF 4647KB](3)

Abstract:
Aiming at the technical problems of accurately measuring the aperture of irregular broken holes on target plates, this paper proposed a measurement device scheme based on the flow comparison method. The scheme equated irregular broken holes to regular holes for aperture characterization, which was close to the actual working condition, and it was simple and easy to implement, reliable, and low-cost. It has special characterization significance for underwater damage effectiveness evaluation. The core principle can also provide important reference for other industries to address similar irregular aperture measurement requirements.

Development and Application of Underwater Biomimetic Sensing Technology

LIU Yihan, WANG Siyuan, XU Peng

2025, 33(6): 1097-1110. doi: 10.11993/j.issn.2096-3920.2025-0075

[Abstract](99) [FullText HTML] (42) [PDF 5967KB](20)

Abstract:
With the continuous advancement of underwater technologies, underwater biomimetic sensing technology has become one of the key means to promote the advancement of marine science and technology. By mimicking the sensory mechanisms of aquatic organisms, such as seal whisker sensing, fish lateral line systems, and octopus tentacle sensing, this technology enables underwater robots, wearable devices, and other underwater systems to achieve more precise target recognition, positioning, and information acquisition capabilities. This paper reviewed the current research status and developmental trajectory of underwater biomimetic sensing, focusing on the design principles and material selection of bio-inspired sensors, as well as their applications in underwater target detection, robot navigation and obstacle avoidance, and wearable devices. It also explored the practical application prospects and existing challenges of the technology, while highlighting its broad potential in future fields such as underwater robotics, marine exploration, and environmental monitoring. Finally, potential directions for enhancing the performance of underwater biomimetic sensing and expanding its application scope were proposed.

Research Status and Development of Intelligent Optimization Methods for Mission Schemes

WANG Zhaochen, YANG Huadong, SUN Haiwen, JIN Zirong

2025, 33(6): 1111-1122. doi: 10.11993/j.issn.2096-3920.2025-0066

[Abstract](50) [FullText HTML] (33) [PDF 1063KB](9)

Abstract:
The mission environment has become more and more complex, and the tempo has obviously accelerated. As a result, the traditional manual decision-making can no longer meet the requirements. There is a strong need for an advanced decision-making system to assist decision makers in carrying out on-the-spot mission command. To better carry out the research on artificial intelligent recommendation methods for mission schemes, this paper collated the research articles in this direction in China and abroad in recent years and divided the intelligent recommendation methods into three categories, namely intelligent analysis, intelligent matching, and intelligent learning. It elaborated on the core principles, technical paths, and typical applications of various methods and simultaneously analyzed the advantages and disadvantages of the three types of methods. It identified the deficiencies of the existing methods in terms of dynamic adaptability, autonomous decision-making ability, data dependence, and credibility. Finally, the future development direction was prospected, providing valuable references for subsequent research in this field.

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2025, Volume 33, Issue 6

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Current Issue 2025, Volume 33, Issue 6

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Current Issue
2025, Volume 33, Issue 6