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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).
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Underwater Low-speed Small Target Recognition: A Comprehensive Overview and Prospects
LIU Xionghou, LAI Kai, YANG Yixin
, Available online  , doi: 10.11993/j.issn.2096-3920.2026-0042
[Abstract](16) [FullText HTML] (9) [PDF 1598KB](6)
Abstract:
Underwater low-speed small targets, represented by frogmen and unmanned underwater vehicles, have become major threats to nearshore military and economic facilities due to their strong concealment, high maneuverability, and significant destructive potential. Their recognition has emerged as a hot topic and a challenging issue in the field of underwater security. This paper focuses on three key aspects of acoustic recognition for underwater low-speed small targets: acoustic signal characteristic analysis, feature extraction, and feature classification. It systematically reviews the current research status, core challenges, and development trends in this field. First, the acoustic signal characteristics of underwater low-speed small targets are analyzed from the perspectives of active echo signals and passive radiated noise. Subsequently, mainstream feature extraction methods are summarized based on active and passive features. Then, two major classification approaches—statistical learning and deep learning—are introduced and compared. Following this, the main challenges faced in this field and corresponding countermeasures are discussed. Finally, in light of technological development trends, future research directions are prospected, aiming to provide references for the advancement of underwater low-speed small target recognition technologies.
, Available online  , doi: 10.1234/t
[Abstract](27)
Abstract:
Anti-Disturbance Control for Underwater Propulsion Motor at Low Speed Based on Hybrid Resolver and High-Frequency Injection Observation
WANG Yu, DUAN Luobao, CUI Jialun, WANG Yuankui
, Available online  , doi: 10.11993/j.issn.2096-3920.2025-0144
[Abstract](71) [FullText HTML] (36) [PDF 2247KB](45)
Abstract:
The low-speed control performance constitutes a fundamental prerequisite for unmanned underwater vehicle propulsion systems to execute critical missions such as deep-sea exploration and military reconnaissance effectively. To address the need for enhanced control capabilities during low-speed operations, this paper systematically examines limitations in permanent magnet synchronous motor drive systems employing both position-sensor-based schemes and sensorless schemes. Resolvers introduce position detection errors under harsh environmental conditions, while among dominant sensorless solutions, back-electromotive-force observers contain inherent observation dead zones near zero speed. Although high-frequency signal injection methods improve low-speed observation performance, their estimation accuracy remains susceptible to motor parameter variations. Crucially, the accuracy of all sensorless schemes exhibits critical dependence on current sampling precision, making such approaches vulnerable to severe engineering challenges in complex interference-intensive operating conditions. To resolve these issues, this paper proposes a hybrid observation-based low-speed anti-disturbance control strategy that integrates resolver technology with high-frequency square-wave injection. By applying hardware redundancy and information fusion techniques, the methodology achieves comprehensive integration between the absolute position reference provided by resolvers and dynamic observations generated through high-frequency square-wave injection. This synthesis establishes an advantage-complementary observation architecture that significantly enhances system robustness in difficult scenarios: low-speed operations, variable loading conditions, and signal interference contexts. Simulation results verify the capability of the method to suppress detection error interference arising from position sensors and current sensors concurrently, enabling stable and precise rotor position estimation. The framework therefore delivers a high-reliability control solution for underwater equipment propulsion systems.
Method of Vision-Task-Friendly Underwater Image Enhancement
CHENG Miao, WEI Yanhui, SUN Wenbin, HOU Tongtong
, Available online  , doi: 10.11993/j.issn.2096-3920.2026-0023
[Abstract](66) [FullText HTML] (31)
Abstract:
Underwater images suffer from severe color and structural distortions, which degrade the performance of various underwater vision tasks. Existing underwater image enhancement methods focus on improving visual appearance while ignoring the necessity of optimizing the downstream vision tasks. To address this issue, this paper proposes a Visual Task-Friendly underwater image enhancement Network(VTF-Net). Specifically, we first design a novel Spatial-Frequency Fusion enhancement module(SFF), which can significantly improve the model’s perception of texture details and image fidelity. Second, to achieve efficient information transmission between the encoder and decoder, we introduce a Multi-Scale Cross-Attention module(MSCA) and a Bottleneck Attention module(BNA), which enhance the perception of global gradients while ensuring efficient feature extraction, thereby effectively alleviating color cast and blurring. Finally, in line with the concept of visual task-friendliness, we propose a detection loss function that guides the optimization direction of the model by incorporating underwater object detection results. Experimental results demonstrate that the proposed method achieves superior performance in both qualitative and quantitative evaluations, and obtains the best result in the application experiment of underwater object detection.
Design and simulation of mechanical biomimetic fish tail driven by EAP material
WANG Sijiao, ZHANG Haoyi, CHENG Yanlin, CAO Kaiming
, Available online  , doi: 10.11993/j.issn.2096-3920.2025-0164
[Abstract](87) [FullText HTML] (65) [PDF 1812KB](52)
Abstract:
Against the backdrop of advancing marine conservation and exploration, traditional underwater propulsion systems are often hampered by inherent drawbacks such as structural complexity and low motion efficiency. In contrast, flexible materials have emerged as a research focus in underwater actuation due to their superior adaptability, high safety, and remarkable flexibility. Leveraging the favorable core properties of Electroactive Polymer (EAP), namely its high energy density and efficient electromechanical coupling, this study introduces a novel biomimetic caudal fin actuator. This design incorporates a spring element to harness flexural deformation and elastic recovery, effectively simulating the cyclic contraction and relaxation dynamics characteristic of the Body and/or Caudal Fin (BCF) propulsion mode in fish, thereby achieving continuous, compliant changes akin to tail musculature. Based on hydrodynamic theory, the coupled interaction mechanism between fin kinematics and thrust generation is systematically analyzed. An instantaneous mechanical model for fin-ray oscillation is developed and solved by incorporating experimental data. A three-dimensional numerical simulation model is established using Fluent software. The validity of the proposed mechanical model is confirmed through comparative analysis between the computational results from dynamic meshing and the model's predictions. This work provides reliable theoretical support and experimental evidence for the design and development of new biomimetic robotic fish driven by this innovative actuator.
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