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Advancements in New Concepts of Underwater Robotics
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Advancements in New Concepts of Underwater Robotics

A special issue of Journal of Marine Science and Engineering (ISSN 2077-1312). This special issue belongs to the section "Ocean Engineering".

Deadline for manuscript submissions: 25 August 2024 | Viewed by 2788

Special Issue Editors

Prof. Dr. Yunsai Chen

E-Mail Website
Guest Editor
College of Innovative Development, Harbin Engineering University, Qingdao 266000, China
Interests: deep-sea exploring and salvage; new-concept subsea robotics; autonomous underwater vehicles; reliability and safety
Prof. Dr. Xiufen Ye

E-Mail Website
Guest Editor
College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China
Interests: underwater optical and acoustic image processing; target detection and recognition; underwater intelligent robots

Special Issue Information

Dear Colleagues,

The ocean is rich in oil and gas energy reseves, rare minerals and sea creatures. As such, it is regarded as crucial object of reseach from a wide array of perspectives including scientific, environmental, as well as military. In this context, underwater robotic systems have emerged as a fascinating research area and a promising industry tool as advanced technologies are being increasingly explored to design various subsystems. Significant research efforts have been undertaken to develop new concepts of underwater robotics, such as the development of new materials, advanced computing and sensory technology, and new theories, to overcome the many engineering challenges engendered by the unstructured and hazardous ocean environment.

This Special Issue aims to collate research papers that provide an overview of the recent progress in the investigation and practical applications of new underwater robotics concepts. Potential topics include, but are not limited to, the following: design method; control algorithm; topological optimization; hydrodynamic analysis; prognosis and health management; practical applications and experiments; reliability and safety; and future perspectives for underwater robotics.

Prof. Dr. Yunsai Chen
Prof. Dr. Xiufen Ye
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Journal of Marine Science and Engineering is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • design method
  • control algorithm
  • topological optimization
  • hydrodynamic analysis
  • prognosis and health management
  • practical applications and experiments
  • safety and reliability
  • future perspectives for underwater robotics

Published Papers (3 papers)

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Research

26 pages, 7000 KiB  
Article
A Gaussian-Process-Based Model Predictive Control Approach for Trajectory Tracking and Obstacle Avoidance in Autonomous Underwater Vehicles
by Tao Liu, Jintao Zhao and Junhao Huang
J. Mar. Sci. Eng. 2024, 12(4), 676; https://doi.org/10.3390/jmse12040676 - 18 Apr 2024
Viewed by 481
Abstract
To achieve the efficient and precise control of autonomous underwater vehicles (AUVs) in dynamic ocean environments, this paper proposes an innovative Gaussian-Process-based Model Predictive Control (GP-MPC) method. This method combines the advantages of Gaussian process regression in modeling uncertainties in nonlinear systems, and [...] Read more.
To achieve the efficient and precise control of autonomous underwater vehicles (AUVs) in dynamic ocean environments, this paper proposes an innovative Gaussian-Process-based Model Predictive Control (GP-MPC) method. This method combines the advantages of Gaussian process regression in modeling uncertainties in nonlinear systems, and MPC’s constraint optimization and real-time control abilities. To validate the effectiveness of the proposed GP-MPC method, its performance is first evaluated for trajectory tracking control tasks through numerical simulations based on a 6-degrees-of-freedom, fully actuated, AUV dynamics model. Subsequently, for 3D scenarios involving static and dynamic obstacles, an AUV horizontal plane decoupled motion model is constructed to verify the method’s obstacle avoidance capability. Extensive simulation studies demonstrate that the proposed GP-MPC method can effectively manage the nonlinear motion constraints faced by AUVs, significantly enhancing their intelligent obstacle avoidance performance in complex dynamic environments. By effectively handling model uncertainties and satisfying motion constraints, the GP-MPC method provides an innovative and efficient solution for the design of AUV control systems, substantially improving the control performance of AUVs. Full article
(This article belongs to the Special Issue Advancements in New Concepts of Underwater Robotics)
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19 pages, 10947 KiB  
Article
Underwater Power Conversion and Junction Technology for Underwater Wireless Power Transfer Stations
by Lei Yang, Xinze Chen, Yuanqi Zhang, Baoxiang Feng, Haibing Wen, Ting Yang, Xin Zhao, Jingjing Huang, Darui Zhu, Yaopeng Zhao, Aimin Zhang and Xiangqian Tong
J. Mar. Sci. Eng. 2024, 12(4), 561; https://doi.org/10.3390/jmse12040561 - 27 Mar 2024
Viewed by 739
Abstract
Underwater wireless power transfer (UWPT) systems are appropriate for battery charging of compact, submerged devices without a complicated and expensive sealing structure or human contact because the power source and load are not physically connected. For the shore-based power supply situation, the underwater [...] Read more.
Underwater wireless power transfer (UWPT) systems are appropriate for battery charging of compact, submerged devices without a complicated and expensive sealing structure or human contact because the power source and load are not physically connected. For the shore-based power supply situation, the underwater power conversion and junction technology should be required to drop down shore-based voltage to the target voltage for the underwater energy supply of the UWPT system. This paper proposes a lightweight, high efficiency and power density underwater power conversion connector system for the UWPT system, in which the LLC resonant converter is constructed with SiC transistors. The full load range zero-voltage switching (ZVS) and load adaptive characteristics have been achieved. The optimized RC level shift driver is adopted to highly reduce the switching loss of SiC transistors. Shore-based voltage of 1000 V was converted to the target voltage of 375 V for the UWPT system. The highest measured efficiency is over 98% at a load power level of 1500 W underwater conditions. Full article
(This article belongs to the Special Issue Advancements in New Concepts of Underwater Robotics)
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22 pages, 8787 KiB  
Article
Leg Mechanism Design and Motion Performance Analysis for an Amphibious Crab-like Robot
by Shihao Hu, Xinmeng Ma, Xi Chen, Mingfei Xin, Changda Tian, Kaixin Liu, Sicen Li, Liquan Wang, Qinyun Tang, Zhaojin Liu, Mingxuan Ding and Jiawei Li
J. Mar. Sci. Eng. 2024, 12(1), 10; https://doi.org/10.3390/jmse12010010 - 19 Dec 2023
Viewed by 1056
Abstract
Bionic-legged robots draw inspiration from animal locomotion methods and structures, demonstrating the potential to traverse irregular and unstructured environments. The ability of Portunus trituberculatus (Portunus) to run flexibly and quickly in amphibious environments inspires the design of systems and locomotion methods for amphibious [...] Read more.
Bionic-legged robots draw inspiration from animal locomotion methods and structures, demonstrating the potential to traverse irregular and unstructured environments. The ability of Portunus trituberculatus (Portunus) to run flexibly and quickly in amphibious environments inspires the design of systems and locomotion methods for amphibious robots. This research describes an amphibious crab-like robot based on Portunus and designs a parallel leg mechanism for the robot based on biological observations. The research creates the group and sequential gait commonly used in multiped robots combined with the form of the robot’s leg mechanism arrangement. This research designed the parallel leg mechanism and modeled its dynamics. Utilizing the outcomes of the dynamics modeling, we calculate the force and torque exerted on each joint of the leg mechanism during group gait and sequential gait when the robot is moving with a load. This analysis aims to assess the performance of the robot’s motion. Finally, a series of performance evaluation experiments are conducted on land and underwater, which show that the amphibious crab-like robot has good walking performance. The crab-like robot can perform forward, backward, left, and right walking well using group and sequential gaits. Simultaneously, the crab-like robot showcases faster movement in group gaits and a more substantial load capacity in sequential gaits. Full article
(This article belongs to the Special Issue Advancements in New Concepts of Underwater Robotics)
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