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Subsea Robotics
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Subsea 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: closed (25 September 2023) | Viewed by 7476

Special Issue Editors

Dr. Jing Zhou

E-Mail Website
Guest Editor
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China
Interests: underwater vehicles, wireless power transfer
Dr. Yulin Si

E-Mail Website
Guest Editor
Institute of Ocean Engineering and Technology, Ocean College, Zhejiang University, Zhoushan 316021, China
Interests: Intelligent control technology for ocean equipment
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Ying Chen

E-Mail Website
Guest Editor
Ocean College, Zhejiang University, Zhoushan, China
Interests: instrumentation; ocean observing; underwater technology; deep-sea sampling technology; AUV

Special Issue Information

Dear Colleagues,

The demand for ocean exploration down to the deep seafloor (e.g., ocean resource exploration and ocean observations) has promoted innovations in underwater technology. As most underwater vehicles are unable to operate on the seafloor and even have difficulty reaching there at current stage, subsea robotics are urgently required to be deployed and operate on the seafloor. The purpose of this Special Issue is to publish the most exciting research with respect to the design, control, optimization and implementation of subsea robotics, to provide a rapid turn-around time regarding reviewing and publishing, and to disseminate the articles freely for research, teaching, and reference purposes.

Dr. Jing Zhou
Dr. Yulin Si
Prof. Dr. Ying Chen
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

  • subsea
  • underwater vehicle
  • robotics
  • ocean technology
  • intelligent control

Published Papers (4 papers)

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Research

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30 pages, 1790 KiB  
Article
Disturbance Observer-Based Model Predictive Control for an Unmanned Underwater Vehicle
by Yang Hu, Boyang Li, Bailun Jiang, Jixuan Han and Chih-Yung Wen
J. Mar. Sci. Eng. 2024, 12(1), 94; https://doi.org/10.3390/jmse12010094 - 02 Jan 2024
Viewed by 965
Abstract
This work addresses the motion control problem for a 4-degree-of-freedom unmanned underwater vehicle (UUV) in the presence of nonlinear dynamics, parametric uncertainties, system constraints, and time-varying external disturbances. A disturbance observer-based control scheme is proposed, which is structured around the model predictive control [...] Read more.
This work addresses the motion control problem for a 4-degree-of-freedom unmanned underwater vehicle (UUV) in the presence of nonlinear dynamics, parametric uncertainties, system constraints, and time-varying external disturbances. A disturbance observer-based control scheme is proposed, which is structured around the model predictive control (MPC) method integrated with an extended active observer (EAOB). Compared to the conventional disturbance observer, the developed EAOB has the ability to handle both external disturbances and system/measurement noises simultaneously. The EAOB leverages a combination of sensor measurements and a system dynamic model to estimate disturbances in real-time, which allows continuous estimation and compensation of time-varying disturbances back to the controller. The proposed disturbance observer-based MPC is implemented by feeding the estimated disturbances back into the MPC’s prediction model, which forms an effective adaptive controller with a parameter-varying model. The proposed control strategy is validated through simulations in a Gazebo and robot operating system environment. The results show that the proposed method can effectively reject unpredictable disturbances and improve the UUV’s control performance. Full article
(This article belongs to the Special Issue Subsea Robotics)
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24 pages, 7526 KiB  
Article
Binocular Vision-Based Non-Singular Fast Terminal Control for the UVMS Small Target Grasp
by Tao Jiang, Yize Sun, Hai Huang, Hongde Qin, Xi Chen, Lingyu Li, Zongyu Zhang and Xinyue Han
J. Mar. Sci. Eng. 2023, 11(10), 1905; https://doi.org/10.3390/jmse11101905 - 30 Sep 2023
Viewed by 777
Abstract
Autonomous underwater manipulation is very important for the robotic and intelligence operations of oceanic engineering. However, a small target often involves limited features and results in inaccurate visual matching. In order to improve visual measurement accuracy, this paper has proposed an improved unsharp [...] Read more.
Autonomous underwater manipulation is very important for the robotic and intelligence operations of oceanic engineering. However, a small target often involves limited features and results in inaccurate visual matching. In order to improve visual measurement accuracy, this paper has proposed an improved unsharp masking algorithm to further enhance the weak texture region of blurred and low contrast images. Moreover, an improved ORB feature-matching method with adaptive threshold, non-maximum suppression and improved random sample consensus has also been proposed. To overcome unknown underwater disturbances and uncertain system parameters in the underwater robotic manipulations, an adaptive non-singular terminal sliding mode controller has been proposed with a quasi-barrier function to suppress the chattering problem and improve grasp accuracy for small target. Oceanic experiments have been conducted to prove the performance of the proposed method. Full article
(This article belongs to the Special Issue Subsea Robotics)
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35 pages, 7242 KiB  
Article
Analytical and Numerical Study of Underwater Tether Cable Dynamics for Seabed Walking Robots Using Quasi-Static Approximation
by Asghar Khan, Xiangyu Wang, Zhenyu Li, Liquan Wang, Ahsan Elahi and Muhammad Imran
J. Mar. Sci. Eng. 2023, 11(8), 1539; https://doi.org/10.3390/jmse11081539 - 01 Aug 2023
Cited by 2 | Viewed by 1215
Abstract
In this study, the dynamics of tether cables (TCs) that connect a surface ship and a walking robotic vehicle on the seabed are numerically investigated. The main aim of this study is to develop a reliable prediction model for the dynamic behavior of [...] Read more.
In this study, the dynamics of tether cables (TCs) that connect a surface ship and a walking robotic vehicle on the seabed are numerically investigated. The main aim of this study is to develop a reliable prediction model for the dynamic behavior of TCs attached to a seabed walking robot. This system consists of a surface ship, underwater manned seabed walking robot (UMSWR), TC, and winch. The study is comprised of mathematical modeling and numerical simulations of the developed governing equations for the TC dynamics. A relatively simple and efficient mathematical analysis method is proposed to determine the configuration and forces on the TC under a steady state. The problem is solved using the quasi-static technique and lumped mass parameters for discretizing and modeling the dynamics of the TC. Based on the static analysis of the Morrison equation and finite segment method, analytical formulas of the steady-state equation of TC were obtained and solved. The effects of variable water density and variable underwater currents are included in the cable behavior. Consequently, the two-dimensional TC profile and axial tension were estimated in a steady-state configuration. The developed equations were simulated in MATLAB software. Several numerical simulation examples were worked out, demonstrating the accurate performance of the method. Various input parameters of the system and their relationships with the output values were investigated, thereby demonstrating the versatility of the method. Full article
(This article belongs to the Special Issue Subsea Robotics)
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Review

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14 pages, 6430 KiB  
Review
A Review of Subsea AUV Technology
by Jing Zhou, Yulin Si and Ying Chen
J. Mar. Sci. Eng. 2023, 11(6), 1119; https://doi.org/10.3390/jmse11061119 - 25 May 2023
Cited by 8 | Viewed by 3822
Abstract
The observation and detection of the subsea environment urgently require large-scale and long-term observation platforms. The design and development of subsea AUVs involve three key points: the subsea-adapted main body structure, agile motion performance that adapts to complex underwater environments, and underwater acoustic [...] Read more.
The observation and detection of the subsea environment urgently require large-scale and long-term observation platforms. The design and development of subsea AUVs involve three key points: the subsea-adapted main body structure, agile motion performance that adapts to complex underwater environments, and underwater acoustic communication and positioning technology. This paper discusses the development and evolution of subsea AUVs before proposing solutions to underwater acoustic communication and positioning navigation schemes. It also studies key technologies for the agile motion of subsea AUVs and finally gives an example of a solution for implementing underwater AUVs, i.e., the disk-shaped autonomous underwater helicopter (AUH). This paper will provide guidance for the design of subsea AUVs and the development of corresponding observation and detection technologies. Full article
(This article belongs to the Special Issue Subsea Robotics)
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