水下无人系统学报

The Fourth Underwater Unmanned Systems Frontier Technology Forum Successfully Held in Zhuhai

On April 25th, the 2025 Zhuhai International Marine Intelligent Technology Exhibition - Fourth Underwater Unmanned Systems Frontier Technology Forum was successfully held at the Zhuhai International Airshow Center. The forum was organized by the Editorial Department of the Journal of Unmanned Undersea Systems (hereinafter referred to as the Journal), affiliated with the 705th Research Institute of China State Shipbuilding Corporation Limited. This event brought together over 100 experts and scholars from various universities, research institutes, and technology innovation companies. The participants engaged in in-depth discussions on the cutting-edge technologies, innovative applications, and future trends of underwater unmanned systems centered around the theme of "Large Model Technologies and Innovative Underwater Applications," injecting new momentum into the development of marine intelligent equipment.

1993 bimonthly

ISSN: 2096-3920

CN: 61-1509/TJ

Editor-in-chief：Chunpeng DONG

Executive Chief Editor：Weijun CAI

Sponsor：China State Shipbuilding Corporation Limited

Sponsored by：Xi’an Precision Machinery Research Institute
The Chinese Society of Naval Architects and Marine Engineers

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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).

Analysis of Damage Effectiveness for Underwater Vehicles Equipped with Terminal Guidance Mechanism

CAI Yi, MA Feng, ZHU Wei, JIA Xiyu, XUE Jianmin

doi: 10.11993/j.issn.2096-3920.2026-0037

Abstract(0) HTML(0) PDF(0)

Effects of Front-Side Angles of Floating Boxes on the Navigation Performance of an Amphibious Vehicle in Calm Water

ZHANG Zhewei, XU Xiaojun, FENG Yikun, ZHANG Guoqing, JIN Haobin, GE Qiqian, WANG Jiancheng, ZHANG Xin

doi: 10.11993/j.issn.2096-3920.2026-0092

Abstract(0) HTML(0) PDF(0)

A Review of Key Technologies for Underwater Resident AUV Docking

WANG Yun, WANG Meng, ZHANG Xilin, GUO Lei, SUN Zhilei

doi: 10.11993/j.issn.2096-3920.2026-0051

Abstract(2) HTML(0) PDF(0)

Loss Evolution Characteristics of a Micro Axial-Flow Turbine Under Variable Operating Conditions

LI Xiangyu, YI Jinbao, MA Weifeng, WEN Menggang, HUANG qilong, YANG jun

doi: 10.11993/j.issn.2096-3920.2026-0077

Abstract(10) HTML(5) PDF(2)

Research on path planning of underwater inspection robot based on improved ant colony algorithm

Shen Zhaowen, Pan Xinfeng, Huang Mengshi, Yang Tianci, Zhang Wenze, Yi Zhengyao

doi: 10.11993/j.issn.2096-3920.2026-0066

Abstract(40) HTML(21) PDF(0)

AUV Path Planning Method Based on RRT* and Improved Artificial Potential Field

LIU Yuqing, CHEN Mojiang, HAO Chengpeng

doi: 10.11993/j.issn.2096-3920.2026-0025

Abstract(45) HTML(18) PDF(7)

Hydrodynamic Characteristics of Underwater Vehicles Under the Flow Disturbance Condition of Submarine

HUANG Chuang, HAO Sihan, ZHANG Chenchen, QIN Kan, XU Haiyu

doi: 10.11993/j.issn.2096-3920.2025-0165

Abstract(289) HTML(101) PDF(5)

Entry-Exit Water Perception and Damage Monitoring of Rotors for Cross-Media Vehicle

Bo Fusen, Pan Deng, Fang Ziyi, Fu Bowei, Li Hanyang, Liu Zhihai

doi: 10.11993/j.issn.2096-3920.2026-0045

Abstract(76) HTML(36) PDF(0)

A UAV-USV Collaborative Water Depth Inversion Model Based on Multi-Modal Heterogeneous Sensors

Lin Zibo, Lai Yunshan, Zhang Runda

doi: 10.11993/j.issn.2096-3920.2026-0006

Abstract(104) HTML(47) PDF(0)

Design and Application of Vehicle Mounted Industrial CT Nondestructive Testing System and Underwater Unmanned Equipment Defect Recognition Software

MA Junli, WANG Shuai, LIU Wenbin, GAO Haoyang, LI Chenhui, ZHANG Xitong, SU Chenghai

doi: 10.11993/j.issn.2096-3920.2025-0171

Abstract(478) HTML(288) PDF(39)

A TCN-Attention-Based Pseudo-Velocity Measurement Generation Method for Loosely Coupled SINS/DVL Integrated Navigation

WANG Guoxiang, HAN Xingcheng, GAO Shengwen, WANG Ling

doi: 10.11993/j.issn.2096-3920.2026-0047

Abstract(508) HTML(290) PDF(56)

Research on Factors Affecting Leakage Current of Lithium Reserve Battery Packs

GAO Xinlong, JIA Bin, LIN Pei, CHENG Haichao, LI Xuehai

doi: 10.11993/j.issn.2096-3920.2026-0083

Abstract(478) HTML(257) PDF(74)

Catalog >> 2026year，34volume， 4issue

New Monitoring Mode for Deepwater Subsea Pipeline Laying and Key Underwater Wireless Optical Communication Technologies

LI Ziqing, HE Ning, CHEN Jianyi, WEI Jiaguang, FENG Xiaowei, HE Wenxuan, LIAO Peixuan, XIE Chenhua

2026, 34(4): 605-615.
doi: 10.11993/j.issn.2096-3920.2025-0159

Abstract(496) HTML(270) PDF(53)

Physics-Driven Trajectory Backtracking Method for Drifting Buoys Based on Uncertainty Quantification

LI Hui, WANG Shui, XIONG Xinquan, YUE Peng, MO Lihong, WAN Wanghua

2026, 34(4): 616-626.
doi: 10.11993/j.issn.2096-3920.2026-0014

Abstract(494) HTML(249) PDF(60)

Modeling of Wake-Induced Electromagnetic Fields of Undersea Vehicles and Analysis of Internal Wave Characteristics in Stratified Ocean

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

2026, 34(4): 627-634.
doi: 10.11993/j.issn.2096-3920.2025-0162

Abstract(471) HTML(327) PDF(68)

Cetacean Call Recognition and Classification Based on Multimodal MAE Data Augmentation Network

LIU Yueyue, NIU Qiuna, SUN Yue, WANG Jingjing, SHI Wei

2026, 34(4): 635-645.
doi: 10.11993/j.issn.2096-3920.2026-0052

Abstract(587) HTML(331) PDF(103)

A Fast Algorithm for Approximating High-Frequency Scattering Acoustic Field of Complex Multi-Target Based on the Planar Element Method

MENG Lining, ZHAO Jingshu, LI Zhenhui, LIU Rui

2026, 34(4): 646-655.
doi: 10.11993/j.issn.2096-3920.2026-0090

Abstract(587) HTML(326) PDF(91)

Cross-media Oblique Ice-Breaking Load and Motion Characteristics of Water-Exiting Vehicles

YE Yonghao, HE Baiyan, PEI Jinliang, ZHANG Yigan, QU Zehui, LIU Huaping, ZHANG Junhui, QI Runchao

2026, 34(4): 656-667.
doi: 10.11993/j.issn.2096-3920.2026-0002

Abstract(555) HTML(296) PDF(49)

Adaptive Modal Decomposition Method for Underwater Explosion-Induced Shock Vibrations

LONG Yiyang, ZHU Wei, WEN Jun, JIA Xiyu, MA Feng

2026, 34(4): 668-676.
doi: 10.11993/j.issn.2096-3920.2026-0004

Abstract(615) HTML(317) PDF(6)

Probability Estimation and Prediction Methods of Escape Area for Underwater Lost Targets

SUN Jihong, ZHENG Yi, YANG Xiangfeng

2026, 34(4): 677-686.
doi: 10.11993/j.issn.2096-3920.2025-0062

Abstract(487) HTML(282) PDF(59)

AUV Traversal Planning Method Based on AMDQN

PANG Zhouqi, LIN Xiaobo, GENG Shicheng, HAO Chengpeng

2026, 34(4): 687-700.
doi: 10.11993/j.issn.2096-3920.2026-0028

Abstract(429) HTML(277) PDF(37)

AUV Terrain-following Method Based on B-Spline Planning and Meta-learning-based LTV-MPC

ZHU Yingjiao, YAN Tianhong, LIU Yingying, LIU Yili

2026, 34(4): 701-711.
doi: 10.11993/j.issn.2096-3920.2026-0011

Abstract(468) HTML(266) PDF(45)

Multi-Agent Collaborative Search Path Planning Based on Reinforcement Learning

HE Congwei, XIE Yong, CHEN Yutao

2026, 34(4): 712-725.
doi: 10.11993/j.issn.2096-3920.2025-0163

Abstract(674) HTML(338) PDF(49)

A Cooperative Encirclement Method Based on Delay-Robust Multi-Agent Reinforcement Learning

FU Songchen, BAI Letian, ZHAO Shaojing, MENG Aomeng, LIANG Hong, LI Ta

2026, 34(4): 726-740.
doi: 10.11993/j.issn.2096-3920.2025-0173

Abstract(571) HTML(276) PDF(46)

Online Optimization and Tracking Control of AUVs for Piecewise Linear Paths

CHEN Shuwen, YAN Tianhong, ZHANG Yuxuan, WANG Rixian

2026, 34(4): 741-751.
doi: 10.11993/j.issn.2096-3920.2025-0166

Abstract(561) HTML(301) PDF(47)

Dual-Propulsion Motor Control Method of Unmanned Lifeboat Based on Sliding Mode Speed Distributor

WANG Zhen, TANG Yu

2026, 34(4): 752-758.
doi: 10.11993/j.issn.2096-3920.2025-0170

Abstract(505) HTML(268) PDF(45)

Disturbance Rejection Control for Underwater Propulsion Motor at Low Speed Based on Fusion Observation of Resolver and High-Frequency Injection

WANG Yu, DUAN Luobao, CUI Jialun, WANG Yuankui

2026, 34(4): 759-769.
doi: 10.11993/j.issn.2096-3920.2025-0144

Abstract(645) HTML(357) PDF(158)

Design and Simulation of Biomimetic Fish Caudal FinDriven by EAP Materials

WANG Sijiao, ZHANG Haoyi, CHEN Yanlin, CAO Kaiming

2026, 34(4): 770-777.
doi: 10.11993/j.issn.2096-3920.2025-0164

Abstract(673) HTML(403) PDF(175)

High-Fidelity 3D Seafloor Scene Reconstruction Based on Cross-dimensional Gaussian Normal Transition Field

ZHAO Ximan, CHU Xuanhe, CHEN Han, LIU Siyuan

2026, 34(4): 778-785.
doi: 10.11993/j.issn.2096-3920.2025-0167

Abstract(476) HTML(277) PDF(46)

A Review of Energy Power System Technology Development for Autonomous Undersea Vehicles

FENG Shuai, LIU Weijie, YANG Jian, WENG Weiguo

2026, 34(4): 786-800.
doi: 10.11993/j.issn.2096-3920.2025-0169

Abstract(1144) HTML(478) PDF(169)

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