• 中国科技核心期刊
  • JST收录期刊
  • Scopus收录期刊
  • DOAJ收录期刊

Latest Articles

Articles in press have been peer-reviewed and accepted, which are not yet assigned to volumes/issues, but are citable by Digital Object Identifier (DOI).
Display Method:
Intelligent Perception Algorithms for Sonar Images: A Survey
JIAO Wenpei, LI Jie, ZHANG Chunyan, XIE Guangming, XIAO Wendong, Zhang Jianlei
, Available online  , doi: 10.11993/j.issn.2096-3920.2024-0127
[Abstract](13) [FullText HTML] (4) [PDF 765KB](1)
Abstract:
Intelligent perception algorithms for sonar images are vital in ocean exploration and underwater rescue. In recent years, deep learning has achieved remarkable advancements in intelligent perception tasks related to sonar images. This paper provides a comprehensive review of the field, focusing on sonar image datasets, data augmentation techniques, and the progression of sonar image processing algorithms, from classical approaches to deep learning-based methods. By summarizing open-source datasets and commonly used data augmentation techniques, we aim to support future research efforts. Additionally, this paper systematically examines the application and evolution of both classical and deep learning algorithms across various tasks, offering researchers an overview of the current state of the field. Finally, we explore potential future research directions, suggesting ways to enhance sonar image interpretation through larger datasets, more robust algorithms, and task settings better suited to real-world underwater environments.
Numerical simulation based variable speed control strategy for bionic undulating fins
XU Chuanxin, LIU Guijie, Ma Penglei, LI Guanghao, YAO Bing, Zeng Jiajun
, Available online  , doi: 10.11993/j.issn.2096-3920.2025-0001
[Abstract](16) [FullText HTML] (5) [PDF 4199KB](5)
Abstract:
The bionic undulating fin robot has unique hydrodynamic properties. This paper investigates the hydrodynamics of the undulating fin during frequency change through numerical simulation, revealing the relationship between the propulsive force and the control frequency during the acceleration and deceleration phases. The results show that when just stepping into the high-frequency stage, the vortices generated in the low-frequency stage merge with the newly generated vortices, resulting in a higher-than-normal propulsive force, which can be controlled by appropriately increasing the frequency. When just stepping into the low-frequency phase, when the frequency drop is small, the vortices come off too late, producing a long period of irregular higher thrust, and the frequency gradient can be appropriately reduced to minimise this effect. This effect is significantly reduced when the drop is too large. This research will provide support for precise control of undulating fin robots when shifting speeds and improve control system stability.
Test Method for Surface and Underwater Condition of Deep-sea Special Pressure Structure
CHEN Shagu, GAO Yuan, WU Zhirui, WANG Kun, ZHOU Cheng
, Available online  , doi: 10.11993/j.issn.2096-3920.2024-0153
[Abstract](41) [FullText HTML] (19) [PDF 1893KB](7)
Abstract:
The head cover is a special pressure structure for deep-sea unmanned systems, which needs to balance long-term underwater pressure and rapid separation function on the water surface. In order to study the stress characteristics and separation performance of deep-sea special pressure structure under surface and underwater condition, full-scale model of the head cover was developed for hydraulic and separation testing. Firstly, based on the existing deep-sea environment simulation test system, a test method is proposed to simulate the deep seawater pressure environment using a cabin device with skin balloons in response to the long-term seawater pressure environment testing requirements faced by the head cover during underwater. Furthermore, a safe and reliable inclined flange connection structure model rapid separation test system was established to meet the separation test requirements of head cover when in the water surface state. The results of the full-scale model test showed that the special pressure structure surface and underwater condition test method is reasonable and feasible. It can not only be used for pressure test and separation test research of the head cover, but also provide some reference for the design and testing of similar pressure structures in other deep-sea equipment.
Fuzzy Model Based Sliding Mode Control for AUVs
LI Rongchang, BAI Huajun, ZHANG Jingxi, ZHANG Yi
, Available online  , doi: 10.11993/j.issn.2096-3920.2024-0149
[Abstract](80) [FullText HTML] (35) [PDF 1538KB](14)
Abstract:
Autonomous underwater vehicles (AUVs) have many characteristics such as highly nonlinearities、strongly coupling of variables and parameter uncertainties of the model, meanwhile it is also affected by unmeasurable disturbances in the marine environment, which makes it difficult to design the controller for AUVs. In addition, most existing results adopt AUV simplified linear models or only consider single dimensional models. Since the strongly coupling of variables, the designed controllers are only suitable for simplified systems and cannot be extended to original complex AUV systems. To solve the above problems, this paper proposes a T-S fuzzy method based adaptive sliding mode controller for AUV system. The controller has high versatility and strong robustness, and is suitable for complex AUV systems. Firstly, the T-S fuzzy modeling method is used to linearize the AUV systems, and a global linearized model is obtained. Meanwhile, the parameters of the system that are difficult to obtain are transformed into uncertainties, and their reconstruction expressions are obtained. Secondly, considering the presence of internal actuator faults and external environmental disturbances, an adaptive sliding mode controller is designed, which can estimate unknown parameters and adaptively update the control law to stabilize the system. Finally, the stability and state reachability of the closed-loop system are ensured through the Lyapunov stability theory. Simulations verified the effectiveness of the designed controller.
A Deep Learning-Based Solver for Underwater Explosion Shock Response Spectrum
Wang Shuang, Lv Feng, Ma Feng, Chen Si, Zhu Wei, Han Feng, Huang Qinyi
, Available online  , doi: 10.11993/j.issn.2096-3920.2024-0144
[Abstract](74) [FullText HTML] (77) [PDF 1490KB](12)
Abstract:
Due to the short-duration and complexity of shock responses, Shock Response Spectrum(SRS) is commonly used as a tool for analyzing these responses. To address the trade-off between calculation speed and accuracy inherent in traditional SRS solving methods, this paper proposes a deep learning-based fast solver for shock response spectra. An adaptive threshold selection mechanism tailored to the characteristics of shock response spectra is designed to improve the solver's accuracy. A comparison between the SRS obtained by the proposed solver and the results calculated using traditional methods demonstrates a high degree of consistency, validating the effectiveness of the solver. Additionally, L2 regularization is introduced in the solution process, effectively preventing overfitting and further enhancing the robustness of the solver.
Multi-Degree-of-Freedom Equipment Shock Response Model Based on Deep Learning
HUANG Qinyi, ZHU Wei, MA Feng, CHEN Si, WANG Shuang
, Available online  , doi: 10.11993/j.issn.2096-3920.2024-0143
[Abstract](73) [FullText HTML] (82) [PDF 1516KB](12)
Abstract:
To address the challenge of analyzing the response of multi-degree-of-freedom naval equipment under explosive shock loads, this study proposes a deep learning-based shock response prediction model. Traditional single-degree-of-freedom models cannot effectively analyze the complex shock responses of multi-degree-of-freedom systems. Leveraging deep learning technology, particularly the data feature extraction and nonlinear modeling capabilities of neural networks, this model learns the relationship between the shock spectrum and input shock loads from numerical simulation data, achieving efficient and accurate calculation of shock response spectra at critical points within naval structures. This approach fills the gaps of existing models in handling multi-degree-of-freedom equipment and meets the demand for rapid, accurate analysis of complex system shock responses. Experimental results demonstrate that the model can accurately predict the shock response spectra of multi-degree-of-freedom equipment, with a relative error of less than 8% compared to simulation data, effectively overcoming the limitations of traditional models in multi-degree-of-freedom system analysis.
Service
Subscribe
Copyright：陕ICP备09015163号Address:No. 96, Jinye Road, Xi'an, Shaanxi
Code：710077Tel: 029-88327279QQ: 767358370
Email: bianjibu705@sohu.com 767358370@qq.com
Email Alert RSS
Taobao
Micro