水下无人系统学报

Application of state estimation algorithm for UUV docking

CHEN Weixin, LIU Tao, ZHANG Tao, LIU Feng

, Available online , doi: 10.11993/j.issn.2096-3920.2024-0161

[Abstract](4) [FullText HTML] (2) [PDF 1317KB](1)

Abstract:
Underwater autonomous dynamic docking of unmanned undersea vehicle (UUV) is one of the key technologies for achieving long-range cooperative of UUV. Aiming at the problem of insufficient estimation of the motion state of the docking device in docking, an interacting multi-model adaptive unscented Kalman filter method is proposed to estimate the docking device motion state. Considering that the measurement error of the motion state of the docking device obtained by the UUV sensor is large, the UUV nonlinear observation model is established, and the adaptive unscented Kalman filter (AUKF) algorithm is used to update the observation noise model in real time to reduce the observation error. Considering that the difficulty of the describing the relative motion of UUV and docking device with a single model, the motion state model set of the docking device is established, and the interactive multi-model algorithm is used to describe the motion state of the docking device to improve the filtering accuracy and realize the accurate estimation of the motion state of the docking device by UUV in underwater docking. Based on UUV docking test data, the estimation results of unscented Kalman filter, adaptive unscented Kalman filter and interacting multi-model adaptive unscented Kalman filter are compared. The results show that the accuracy and stability of interacting multi-model adaptive unscented Kalman filter are better than the other two algorithms. It can be applied to underwater autonomous docking scenarios with UUV to improve the success rate.

System effectiveness evaluation of acoustic glider based on ADC model optimization

TANG Shuai, FAN Peiqin, ZHANG Chi, ZOU Jiayun

, Available online , doi: 10.11993/j.issn.2096-3920.2024-0175

[Abstract](1) [FullText HTML] (1) [PDF 711KB](0)

Abstract:
With the development of unmanned technology, acoustic glider is increasingly becoming an advantageous platform for the marine environment observation and underwater target detection. Evaluating the effectiveness has become one of the important topics. Based on the characters and key factors of mission and process, an acoustic glider system effectiveness assessment index system is constructed. This paper improves and optimizes ADC model by considering the effects of marine environment and comprehensive support on acoustic glider. The analytic hierarchy process(AHP)is used to determine the weights of three-level index. Finally, the feasibility of the model are verified by arithmetic examples, which show that the optimized ADC method makes the evaluation results more realistic and provide methodological reference for subsequent of the effectiveness of unmanned equipment.

Multi-objective point path planning for AUVs based on improved whale optimisation and fluid perturbation algorithms

MA Yuhong, PANG Wen, ZHU Daqi

, Available online , doi: 10.11993/j.issn.2096-3920.2025-0054

[Abstract](13) [FullText HTML] (7) [PDF 2430KB](1)

Abstract:
To address the challenges of low path planning efficiency for Autonomous Underwater Vehicles (AUVs) in multi-objective path planning in deep-sea environment, as well as the limitations of the traditional Whale Optimization Algorithm (WOA) in terms of susceptibility to local optima and inadequate adaptability to three-dimensional obstacle avoidance requirements, this study proposes a collaborative planning strategy that integrates an interfered fluid dynamic algorithm with an enhanced whale optimization approach. A hybrid population initialization method is developed by combining chaotic mapping to generate high-coverage initial solutions and a greedy algorithm to construct locally optimal sequences, effectively addressing the issue of poor solution quality caused by random initialization in traditional WOA. For the discrete characteristics of the Traveling Salesman Problem (TSP), a discrete position update strategy based on random insertion and local inversion is proposed, significantly enhancing the algorithm’s capability to escape local optima. An elite retention mechanism is introduced to ensure the global convergence of the algorithm through an iterative optimization framework that replaces the worst individuals with the optimal ones. During the path generation phase, a three-dimensional interfered fluid dynamic field model is established, where obstacle perturbation matrices adjust the original flow field direction to achieve continuous obstacle avoidance in complex environments. Simulation results demonstrate that the proposed algorithm reduces the average path length by 15.4% and 7.5% compared to traditional Genetic Algorithm (GA) and Particle Swarm Optimization (PSO), respectively, while improving computational efficiency by 45.5% and 16.8%.

Research Status and Development Trends of Deep-sea Unmanned Equipment Control System

WANG Biao, LUO Ruilong, WANG Fang, CUI Weicheng

, Available online , doi: 10.11993/j.issn.2096-3920.2025-0074

[Abstract](20) [FullText HTML] (7) [PDF 857KB](2)

Abstract:
Deep-sea unmanned equipment, as a strategic reflection of a nation's marine scientific and technological strength, has been widely integrated into core fields such as resource exploration, marine scientific research, military security, and economic development. The control system, serving as the neural center for complex underwater operations, directly determines the mission execution efficiency of the equipment. This paper systematically combs the control theory system of deep-sea unmanned equipment, including technical paths such as traditional PID control, model-based robust control, data-driven intelligent control, and multi-agent collaborative control. It deeply analyzes the technical characteristics and engineering applicability of centralized, hierarchical, distributed, and hybrid control architectures. By comparing and analyzing the research status of key technologies such as navigation and positioning, communication transmission, and energy supply, the paper reveals common challenges in the industry, including model uncertainty, robust control performance, and multi-equipment collaboration mechanisms. The study shows that future control systems will develop towards deep empowerment of artificial intelligence, clustered collaborative operations, integration of new communication and energy technologies, and interdisciplinary innovation, providing theoretical and technical support for the intelligent transformation of deep-sea equipment.

Prediction method for buckling of deepwater explosion cylindrical shell based on random forest

FU Gaojun, MA Feng, ZHU Wei, JIA Xiyu, WANG Shuang

, Available online , doi: 10.11993/j.issn.2096-3920.2024-0162

[Abstract](10) [FullText HTML] (7)

Abstract:
Under deep-water explosion conditions, pressure-resistant structures such as cylindrical shells will have a different failure mode from that in shallow water - instability buckling. In order to study the conditions for the occurrence of instability buckling of cylindrical shells under deep water explosion conditions and realize the prediction of the buckling state, a numerical simulation model was firstly established to simulate and analyze the results of the buckling of cylindrical shells under the conditions of different charge amount, blast distance and water depth. Based on the simulation results, a random forest model was designed to predict the buckling state. The results show that under the loading conditions of axial explosion in deep water environment, the cylindrical shell may present two macroscopic responses of unbuckling and buckling, and the prediction model constructed by the random forest algorithm can better realize the prediction of the instability state of the cylindrical shell under the specific structural parameters, and the prediction accuracies under the two structures reach 0.9375 and 0.875 respectively, which can provide references for the study of the buckling conditions of the cylindrical shell.

Numerical Simulation of Variable-Speed Propulsion Characteristics of 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](28) [FullText HTML] (14) [PDF 4199KB](5)

Abstract:
The hydrodynamic performance of bionic undulating fin robots is crucial for their precise control. This paper investigated the hydrodynamic response mechanism of the undulating fin during acceleration and deceleration through numerical simulation, revealing the relationship between the propulsive force and control frequency at variable-speed stages. The results show that at the acceleration stage, when the frequency increases from low to high, the vortices remaining at the low-frequency stage merge with newly generated vortices at the high-frequency stage, resulting in a propulsive force higher than steady value, which can be controlled by appropriately increasing the frequency; at the deceleration stage, when the frequency drop is small, the lagging vortices come off too late, producing a long period of irregular higher propulsive force, and the frequency gradient can be appropriately reduced to minimize this effect. This effect is significantly reduced when the frequency drop is too large. This research can provide theoretical support for the precise control of bionic undulating fin robots during speed changes, contributing to the improvement of control system stability.

Advances in multi-robot pursuit and its study in underwater environments

LEI Zhenkun, CHEN Mingzhi, ZHU Daqi

, Available online , doi: 10.11993/j.issn.2096-3920.2025-0032

[Abstract](15) [FullText HTML] (4) [PDF 1361KB](0)

Abstract:
This paper aims to review the research progress on multi-robot pursuit-evasion problems and their applications and challenges in underwater environments. By searching the Web of Science Core Collection database, over 2,200 relevant papers from 2004 to 2024 were selected. The paper comprehensively analyzes the definition, research status, and intelligent pursuit-evasion methods, with a focus on four key approaches: reinforcement learning, model predictive control, artificial potential fields, and Apollonius circles. It also explores their advantages, disadvantages, and applicability. The findings indicate that reinforcement learning optimizes strategies through training for complex environments but has a long training cycle. Model predictive control, known for its high accuracy in strategy formulation based on future state predictions, may face real-time challenges. Artificial potential fields guide robots using virtual force fields, while Apollonius circles optimize paths via geometric relationships. Underwater robot pursuit-evasion faces multiple challenges, such as ocean current disturbances and communication limitations. The paper summarizes the application potential and existing problems of current methods in underwater environments and proposes future research directions, including developing more efficient and adaptive intelligent pursuit-evasion algorithms to tackle complex underwater challenges.

The 3D Path Planning of AUVs in Dynamic Obstacle Environments

Chen Chaoyang, Tang Yute, Huang Yi, Liu Zhiqun

, Available online , doi: 10.11993/j.issn.2096-3920.2025-0008

[Abstract](18) [FullText HTML] (12) [PDF 2532KB](1)

Abstract:
Traditional algorithms face limitations such as high computational burden and insufficient accuracy in high-dimensional spaces and dynamic obstacle environments. To overcome the challenges posed by dynamic obstacles in complex three-dimensional scenarios, this study proposes an improved three-dimensional path planning method based on an enhanced Double Deep Q-Network(DDQN). By optimizing the neural network architecture and designing an efficient reward function, the path planning efficiency and accuracy are significantly improved. Moreover, dynamic obstacle trajectories are modeled using the Singer model combined with the Kalman filter algorithm to precisely predict obstacle states, thereby enhancing dynamic obstacle avoidance capabilities. Additionally, Basis spline functions are utilized to smooth the paths, thereby improving path continuity and stability. Simulation and experimental results demonstrate that the proposed approach effectively avoids collisions in complex dynamic environments and achieves real-time planning of safe and efficient paths. Compared to traditional methods, the proposed algorithm shows significant advantages in terms of path length, obstacle avoidance success rate, and computational efficiency, effectively addressing the challenges associated with three-dimensional path planning in dynamic obstacle environments.

Adaptive Multi-Objective Optimization-Based Coverage Path Planning Algorithm for UUVs

ZHAO Shaojing, FU Songchen, BAI Letian, GUO Yutong, LI Ta

, Available online , doi: 10.11993/j.issn.2096-3920.2025-0031

[Abstract](16) [FullText HTML] (6) [PDF 1169KB](3)

Abstract:
Coverage path planning for unmanned underwater vehicles (UUV) in unknown aquatic environments is a critical task, with wide applications in marine resource exploration, environmental monitoring, and underwater reconnaissance. However, due to environmental uncertainties, motion constraints, and energy limitations, traditional path planning methods struggle to adapt to complex scenarios. This paper proposes an adaptive multi-objective optimization-based UUV coverage path planning method, integrating Proximal Policy Optimization (PPO) with a dynamic weight adjustment mechanism. By analyzing the correlation between reward objectives and employing linear regression estimation, the proposed approach adaptively adjusts the weights of different optimization objectives, enabling UUVs to autonomously plan efficient coverage paths in environments with unknown obstacles and ocean currents. To validate the effectiveness of the proposed method, a two-dimensional simulation environment incorporating a simplified planar motion model based on a six-degree-of-freedom rigid-body motion framework and a sonar detection model was developed. Comparative experiments were conducted under various obstacle distributions and random ocean currents. Experimental results demonstrate that, compared with traditional methods, the proposed approach improves coverage while optimizing mission completion rate, trajectory length, energy consumption, and information latency. Specifically, it increases coverage by 4.03%, enhances mission completion rate by 10%, improves utility by 10.96%, reduces mission completion time by 14.13%, shortens trajectory length by 26.85%, lowers energy consumption by 10.3%, and decreases information latency by 19.34%. These results indicate that the proposed method significantly enhances the adaptability and robustness of UUVs in complex environments, providing a novel optimization strategy for autonomous underwater exploration tasks.

Analysis of influence of beam Angle of array sound source on sound propagation in typical shallow sea

LU Yanyang, CHEN Qinglang, LI Xun, WANG Zhaohong

, Available online , doi: 10.11993/j.issn.2096-3920.2024-0150

[Abstract](12) [FullText HTML] (5) [PDF 1828KB](0)

Abstract:
With the development of active sonar technology, the beam output capability of active sonar has become the focus of research. It is necessary to study the influence of the sound signal beam angle on sound propagation for a typical vertical linear array sonar. Based on the theory of normal modes, the paper derives the expression of the sound signal for an array sound source and discovers that the sound signal is mainly affected by the following two factors: the beam output of the array sound source at each modal mode and the modal amplitude sampling at the receiving depth. Simulation results show two phenomena: a clear distribution structure of the sound signal in the receiving depth and a deviation of the optimal beam angle from 0° as the sound source depth increases. The paper explains the mechanism of the two phenomena based on the derived sound field formula and gives design suggestions for the optimal beam angle under different sonar transmit and receive position relationships in typical neritic environment, providing reference for the active sonar sound beam design research and providing ideas for the rational deployment of the active sonar.

Analysis of the Impact of Shock Waves on the Safe Exit of the Rocket-assisted Vehicle Nose Cap during the Thermal Emission Process of a Concentric Canister Launcher

LIU Gangqi, YUAN Xin, GAO Shan, CUI Canli, HUANG Yuxuan

, Available online , doi: 10.11993/j.issn.2096-3920.2024-0156

[Abstract](9) [FullText HTML] (5) [PDF 1755KB](1)

Abstract:
In response to the impact of shock waves on the safety of the rocket-assisted vehicle nose cap during the concentric tube thermal launch process, computational fluid dynamics (CFD) software was used to numerically simulate the ignition and launch process. The propagation process of shock waves and gas generated by solid rocket motors in the concentric tube was analyzed in detail, and the force variation curve of the nose cap under the action of shock waves was obtained, revealing the force mechanism of the nose cap inside the tube under the action of shock waves. The test data of the shock wave opening process during the field test of a certain product further illustrates the force variation process of the nose cap in the shock wave environment. The research results contribute to a clear understanding of the mechanism of force changes on the nose cap under the shock wave during the thermal emission process of concentric cylinders, and can be used to guide the safety design of the nose cap exiting the cylinder.

Depth Control Strategy for Underwater Robots Based on Improved Model Predictive Control

YANG Shuo, WANG Honghui, LIU Xinyu, FANG Xin, LI Guanghao, LIU Guijie

, Available online , doi: 10.11993/j.issn.2096-3920.2024-0172

[Abstract](9) [FullText HTML] (6) [PDF 2601KB](1)

Abstract:
To address the issue of poor depth control stability in remotely operated vehicles (ROV) due to external disturbances in complex marine environments, a composite control strategy based on an improved Model Predictive Control (MPC) is proposed. This strategy aims to achieve high-precision depth control while significantly enhancing the robustness and disturbance rejection capability of the ROV under sudden external disturbances. First, a nonlinear marine predator algorithm(NMPA) is introduced to optimize key control parameters of the MPC, ensuring fast and precise depth tracking of the ROV in complex marine environments. Secondly, considering the impact of large external disturbances on traditional MPC performance, the strategy incorporates a nonlinear disturbance observer (NDO) to compensate for external disturbances in real-time, improving the ROV’s control performance and robustness. Simulation results demonstrate that the proposed improved MPC strategy reduces the steady-state time of the ROV by approximately 30% compared to traditional MPC, and decreases the overshoot by about 10%. Under disturbance conditions, the maximum overshoot is reduced by about 27.7%. The proposed strategy significantly enhances the ROV’s depth control performance, exhibiting higher tracking accuracy and better disturbance rejection capability.

Ore-collecting Characteristics Analysis of Deep-Sea Polymetallic Nodule Collection Device Based on Variable Cross Section Flow Channel

WEI Jiakang, ZHANG Xiuzhan, LIU Xixi, LIU Jiancheng, LI Lei, CHEN Fengluo, ZHANG Tiedong, LI Hao

, Available online , doi: 10.11993/j.issn.2096-3920.2025-0044

[Abstract](8) [FullText HTML] (6) [PDF 1874KB](2)

Abstract:
With the rapid advancement of deep-sea mineral resource exploitation, there is an escalating demand for enhanced technological capabilities in seabed mining equipment. This study addresses critical engineering challenges in hydraulic collection of polymetallic nodules, particularly focusing on inefficient nodule collection caused by suboptimal flow channel configurations that hinder commercial-scale deep-sea mining operations. Through comprehensive numerical analysis employing the SST K-Omega turbulence model coupled with Discrete Element Method (DEM) simulations, we systematically investigated flow field characteristics, particle transport dynamics, and collector-flow channel interactions in two distinct hydraulic collection approaches. Key findings reveal that while both collection methods exhibit increasing transport rates with elevated jet velocities, the collection efficiency demonstrates limited sensitivity to jet velocity variations within operational ranges. Flow channel geometry emerges as the dominant factor affecting collection performance. The dual-row jet configuration achieves only 80% collection efficiency due to vortex-induced flow field heterogeneity, particularly at the channel inlet region where complex vortical structures impede effective nodule transport. In contrast, the wall-attached jet configuration demonstrates superior performance with 95% collection efficiency, attributable to its uniform flow distribution and enhanced synergistic mining capability. Comparative analysis under identical structural and hydraulic parameters confirms the wall-attached jet's advantages in both ore collection capacity and flow channel compatibility. This study proposes that commercial applications of dual-row jet systems should prioritize vortex mitigation strategies in flow channel design. The presented findings provide valuable insights and practical guidelines for optimizing structural configurations of deep-sea polymetallic nodule collection devices, contributing to the development of commercially viable seabed mining technologies.

AUV plane track tracking control algorithm based on three-stage speed loops

SUN Haonan, WANG Lei

, Available online , doi: 10.11993/j.issn.2096-3920.2025-0029

[Abstract](10) [FullText HTML] (11) [PDF 1274KB](1)

Abstract:
Autonomous underwater vehicles often encounter the problem of track overshoot when moving underwater. To address this issue, this paper proposes a cooperative control strategy that integrates the adaptive line-of-sight guidance algorithm and the three-level hierarchical speed control architecture. In this study, the distance parameter at the end of the track is introduced into the control decision, and the dynamic allocation of the speed is achieved through a three-level hierarchical control strategy. The simulation results verify the effectiveness of the dynamic speed regulation mechanism based on the three-level hierarchical control strategy. By calculating the distance deviation between the AUV and the end of the expected track section in real time, the controller can actively implement the hierarchical deceleration strategy before the large curvature turning requirement is triggered, thereby effectively suppressing the trajectory offset phenomenon caused by momentum accumulation. Compared with the heading and speed double closed-loop algorithm, under the same trajectory, the overshoot of the method in this paper is reduced by 34.15%, enabling the AUV to still accurately travel along the predetermined trajectory when turning and significantly reducing the trajectory deviation.

A Real-time Motion Planning Algorithm for AUV based on IDVD Method

LIU Guoshun, GUO Wei, LAN Yanjun, FU Yifan

, Available online , doi: 10.11993/j.issn.2096-3920.2025-0033

[Abstract](17) [FullText HTML] (5) [PDF 1747KB](2)

Abstract:
To enhance the intelligence of autonomous underwater vehicles(AUVs), this paper proposes a real-time motion planning algorithm based on the IDVD method, ensuring safe navigation in unknown environments. To guarantee high computational efficiency for real-time planning, the motion planning algorithm adopts a hierarchical structure framework. First, a safe global path is generated using a path planning algorithm, followed by localized path optimization within the sensing range of the forward-looking sonar to produce smooth, safe, and dynamically feasible velocity and acceleration trajectories. Specially, given the kinematic constraints of underactuated AUV, the Hybrid A* algorithm is employed for global path search. Subsequently, a nonlinear optimization problem is formulated to enhance path smoothness and safety. The IDVD method is then applied to derive feasible velocity and acceleration trajectories, which serve as reference inputs to guide the AUV's navigation. To validate the proposed trajectory planning method, we conducted simulations and experiments on the Stingray-II AUV. The results show that the proposed method is capable of efficient online trajectory planning for AUV in unknown complex environments.

A data-driven algorithm for Autonomous Undersea Vehicle front tracking

LU Jieyang, WEN Yongpeng, GUO Qian, ZHU Xinke, JIAO Junsheng

, Available online , doi: 10.11993/j.issn.2096-3920.2024-0151

[Abstract](18) [FullText HTML] (11) [PDF 2187KB](0)

Abstract:
Addressing the requirement for adaptive observation of autonomous undersea vehicle (AUV), a data-driven ocean front tracking algorithm is designed. This algorithm constructs a hybrid temperature field prediction model based on gaussian process regression (GPR) and particle swarm optimization (PSO). Pre-collected data is utilized as prior information to train the model. The PSO algorithm is employed to iteratively optimize the hyperparameters within the kernel function, which are then substituted back into the GPR model to obtain predictions of the adjacent temperature field. By calculating the temperature gradient values between the AUV’s current position and the predicted region, the algorithm selects corresponding temperature gradient tracking strategies based on the AUV’s different positions within the front. This allows the AUV to maintain motion along the gradient direction or track along isotherms, enabling rapid tracking of the ocean front by the AUV. To validate the effectiveness of the algorithm, simulation tests were conducted using real ocean front data. The results indicate that, compared to other methods, this algorithm exhibits superior accuracy and speed in tracking ocean fronts, thereby satisfying the demand for efficient autonomous observation by underwater robots.

Research on Near-field High-frequency Echo Strength Characteristics of Small Undersea Vehicle

CAO Hao, ZHANG Xinze, ZHANG Jun, FAN Shuhong

, Available online , doi: 10.11993/j.issn.2096-3920.2024-0146

[Abstract](10) [FullText HTML] (4) [PDF 1327KB](2)

Abstract:
In response to the need for detecting and identifying incoming small undersea vehicles, research has been conducted on modeling and simulating the high-frequency echo intensity characteristics of small undersea vehicle in the near field. This article uses the plate element method to calculate and analyze the near-field echo intensity of small undersea vehicle based on a cylindrical small undersea vehicle target, and presents the spatial distribution characteristics of the echo intensity of the small undersea vehicle target. On this basis, a pool test was conducted to compare and analyze the consistency and variation characteristics of the measured results and simulation results. The results showed that the simulation results and pool test results were consistent in spatial distribution trends, with strong echo intensity at the head end face and transverse azimuth of the small undersea vehicle target, and the high-frequency echo intensity characteristics of the small undersea vehicle near field exhibited a butterfly-like distribution.

The 3D Reconstruction Method of Submarine Cables Based on High-Speed ROV Cruising with Multibeam Sonar

XU Haining, WANG Yong, JING Qiang, DING Tongzhen, YU Fei, SHEN Qingye, CAO Shengzhe

, Available online , doi: 10.11993/j.issn.2096-3920.2025-0036

[Abstract](20) [FullText HTML] (4)

Abstract:
Submarine cables, serving as the critical conduits for power transmission in offshore wind farms, are pivotal to the system's stability. However, due to their complex environments, three-dimensional (3D) reconstruction technology for these cables has become a key method for their inspection and maintenance. Currently, conventional 3D reconstruction methods for submarine cables are costly and less effective in deep-sea environments. Therefore, this paper proposes a 3D reconstruction method for submarine cables based on high-speed Remotely Operated Vehicle (ROV) cruising with sonar, drawing on the concept of synthetic aperture and simplifying calculations through spatial carving. This method comprehensively processes the multiple sonar observation information obtained during the ROV cruising to collectively reflect the spatial occupancy. In the simulation experiments of submarine cable 3D reconstruction, a comparison with mainstream methods was conducted. It is evident that the proposed method not only reduces the cost of submarine cable reconstruction by using conventional multibeam sonar but also achieves higher reconstruction accuracy, demonstrating significant application value and promotion potential.

ARV Nonlinear Disturbance Estimation Based on Extended State Observer

LIU Xiaohan, ZHAO Chenhao, NIE Haomiao, XIANG Feng, LI Chenguang, ZHAO Min

, Available online , doi: 10.11993/j.issn.2096-3920.2025-0035

[Abstract](14) [FullText HTML] (4) [PDF 2428KB](2)

Abstract:
Autonomous/Remotely-operated underwater vehicle (ARV) are susceptible to complex flow field disturbances during underwater path tracking missions, where traditional linear observers exhibit suboptimal performance in addressing nonlinear flow-induced disturbances. This paper proposes a dynamic high-gain extended observer method to resolve the nonlinear disturbance estimation challenge for the "Siyuan" ARV. Firstly, a nonlinear kinematic and dynamic model of the ARV is established, with external disturbance data acquired through sea trial path tracking experiments. Secondly, a dynamic gain compensation mechanism is introduced to address nonlinear system observation, effectively overcoming limitations in conventional methods such as the difficulty in determining Lipschitz coefficients and empirical dependence in parameter tuning. The convergence of dynamic gains is rigorously ensured through the incorporation of performance constraint parameters. To validate the proposed method, comparative simulation experiments are conducted against traditional Luenberger observer. Results demonstrate that the developed observer achieves superior convergence speed and steady-state accuracy in estimating disturbance forces, disturbance moments, surge velocity, heave velocity, and yaw angular velocity. This advancement significantly enhances state tracking capability under complex disturbances.

Research on the Stability Constraints of ROV Coordinated Shipwreck Hole Drilling

GUO Dongjun, WANG Xuyang

, Available online , doi: 10.11993/j.issn.2096-3920.2025-0037

[Abstract](14) [FullText HTML] (7) [PDF 1853KB](0)

Abstract:
Remote operated vehicle(ROV) Coordinated shipwreck drilling is a key technical component for achieving underwater drilling and oil extraction integration. Currently, research on this control scenario in the engineering field is limited, and effective methods for stabilizing the pose of ROV Coordinated shipwreck drilling are lacking. This paper addresses the pose stability requirements during the ROV Coordinated shipwreck drilling process. By drawing parallels with the stability principles of ground-based equipment, a stability criterion for ROV Coordinated shipwreck drilling is established. Based on this criterion, a thrust correction algorithm is proposed. By modifying the thrust of each thruster, the thrust distribution ensures that the force state of the collaborative system meets the stability criterion, thereby achieving the stability constraints for the collaborative system’s pose. Simulation results show that the proposed stability constraint method can effectively maintain the pose stability of the collaborative system during the operation. In terms of stability, compared with the pre-correction state, the collaborative system transitions from an unstable constraint state to a stable constraint state, fully verifying the effectiveness and feasibility of the stability constraint method proposed in this study.

Study on the Effect of Explosive Power in water of Tandem Charge with Different Charge Mass Ratio

ZHANG Wei, GUO Rui, CUI Hao

, Available online , doi: 10.11993/j.issn.2096-3920.2024-0142

[Abstract](16) [FullText HTML] (6) [PDF 2847KB](0)

Abstract:
In order to explore the influence of different charge mass ratios of tandem charges on the power of underwater explosion, theoretical analysis was carried out according to the empirical formula of underwater shock wave, and the underwater explosion power of different charge mass ratios of tandem charges is numerically simulated. Under the same charge mass condition, the impulse of explosion output and the damage effect on the target structure are compared and analyzed with different charge mass ratio of tandem charges and single charge. The results showed that the total charge was 400 g TNT, the underwater explosive power of tandem charges structure is obviously better than that of single charge, and the explosive power of tandem charges structure increases with the increase of the charge ratio.When the charge mass ratio ratio η was 1∶1, the impulse gain and the deflection of the target plate are the largest, the impulse gain was increased by 27.43% and the deflection of the target plate was increased by 23.58%. The experimental results of small charge showed good agreement with the theoretical analysis and numerical simulation results.

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](62) [FullText HTML] (18) [PDF 765KB](9)

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.

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](63) [FullText HTML] (29) [PDF 1893KB](8)

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](109) [FullText HTML] (45) [PDF 1538KB](16)

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](88) [FullText HTML] (95) [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

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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.

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