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Object Detection and Multiple Objective Optimization Manipulation Planning for underwater Autonomous Capture in Oceanic Natural Aquatic Farm

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Journal of Field Robotics 2025年第0期

作者： Hai, Huang Tao, Jiang Xinyu, Bian Hao, Zhou Xu, Yang Gang, Wang Hongde, Qin Xinyue, Han National Key Laboratory of Science and Technology on Underwater Vehicle Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Science Bei Jing China

underwater autonomous capture operations offer significant potential for reducing labor and health risks in sea organism industries. This study presents a comprehensive solution for cross-domain underwater object detection and autonomous capture. A novel unsupervised domain adaptive learning method is proposed, integrating multiscale domain adaptive modules and attention mechanisms into a Faster Region-Convolutional Neural Network framework. This approach enhances feature alignment across diverse aquatic domains without parameter tuning. Additionally, an efficient, parameterless constrained multiobjective optimization algorithm is introduced for underwater autonomous mobile capture, integrating parameterized trajectory planning with innovative features, such as adaptive mutation strategies and constraint violation tolerance. The proposed approaches are extensively validated through simulations, tank experiments, and real-world oceanic trials in the Natural Aquatic Farm of Zhangzidao Island. Results demonstrate the system's robustness in complex underwater environments with varying currents, with experimental outcomes validating the accuracy and reliability of detection and capture capabilities. This research significantly advances autonomous underwater systems' capabilities in object detection and capture tasks, addressing complex challenges in realistic organism capture applications across diverse aquatic environments. © 2025 Wiley Periodicals LLC.

关键词： Health risks

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Three-dimensional heterogeneous electro-Fenton system with reduced graphene oxide based particle electrode for Acyclovir removal

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Chinese Chemical Letters 2024年第1期35卷 424-430页

作者： Nan Cai Ge Bai Ting Zhang Yongqian Lei Pengran Guo Zhiliang Chen Jingwei Xu Guangdong Provincial Key Laboratory of Chemical Measurement and Emergency Test Technology Guangdong Provincial Engineering Research Center for Online Monitoring of Water PollutionInstitute of AnalysisGuangdong Academy of Sciences(China National Analytical CenterGuangzhou)Guangzhou 510070China College of Petrochemical Engineering Lanzhou University of TechnologyLanzhou 730000China Guangdong Engineering Technology Research Center of Heavy Metal Pollution Control and Restoration in Farmland Soil South China Institute of Environmental SciencesMEEGuangzhou 510535China

New pollutant pharmaceutical and personal care products(PPCPs),especially antiviral drugs,have received increasing attention not only due to their increase in usage after the outbreak of COVID-19 epidemics but also due to their adverse impacts on water ecological ***-Fenton technology is an effective method to remove PPCPs from *** particle electrodes(MMT/rGO/Fe_(3)O_(4))were synthesized by depositing Fe3O4 nanoparticles on reduced graphene oxide modified montmorillonite and acted as catalysts to promote oxidation performance in a three-dimensional electro-Fenton(3D-EF)*** electrodes combined the catalytic property of Fe3O4,hydrophilicity of montmorillonite and electrical conductivity of graphene oxides,and applied for the degradation of Acyclovir(ACV)with high efficiency and ease of *** optimal condition,the degradation rate of ACV reached 100%within 120 min,and the applicable pH range could be 3 to 11 in the 3D-EF *** stability and reusability of MMT/rGO/Fe_(3)O_(4)particle electrodes were also studied,the removal rate of ACV remained at 92%after 10 cycles,which was just slightly lower than that of the first *** degradation mechanisms were also proposed by methanol quenching tests and FT-ICR-MS.

关键词： Advanced oxidation Three-dimensional electro-Fenton Reduced graphene oxide Acyclovir(ACV) Degradation

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Real-Time Checks for Radiated Emission Measurement System

Real-Time Checks for Radiated Emission Measurement System

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International Conference on Electronics technology (ICET)

作者： Jinlong Li Wenhui Zhao Shanyi Jin EMC Laboratory Fundamental Performance Test Center Shanghai Key Laboratory of Online Test and Control Technology Shanghai Institute of Measurement and Testing Technology Shanghai China

In radiation emission measurement, it is necessary to switch different types of measuring antennas or adjust the polarizations of the antennas. Therefore, there is a large risk of measurement data errors in the radiation emission measurement system. However, the current intermediate validation method used for the measurement system is time-consuming and not suitable for frequently checking the system compliance. In this paper, a real-time check method for radiated emission measurement system is proposed to achieve real-time validation of the measurement system during the measurement process. Meanwhile, the influences of the reference signals and electromagnetic wave reflections from the multi-frequency reference source device on measured data are avoided. The accuracy and reliability of the measured data can be ensured.

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Non-covalent interaction of atomically dispersed dual-site catalysts featuring Co and Ni nascent pair sites for efficient electrocatalytic overall water splitting

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Journal of Materials Science & technology 2024年第11期178卷 210-225页

作者： Imran Khan Yaogang Chen Zhiyang Li Wenjie Liu Salman Khan Sami Ullah Linlin Liu Amir Zada Sharafat Ali Shabana Shaheen Lei Yang State Key Laboratory of Urban Water Resource and Environment Shenzhen Key Laboratory of Organic Pollution Prevention and ControlSchool of Civil and Environmental EngineeringHarbin Institute of Technology ShenzhenShenzhen 518055China School of Physics and Electronics Central South UniversityChangsha 410083China CNAS Accredited Test Center Guangdong Engineering Technology Research Center of Air PurificationHealthlead Co.Ltd.Shenzhen 518055China Key laboratory of Functional Inorganic Material Chemistry Ministry of Education of the People's Republic of ChinaHeilongjiang UniversityHarbin 150080China K.A.CARE Energy Research&Innovation Center(ERIC) King Fahd University of Petroleum&Minerals(KFUPM)Dhahran 31261Saudi Arabia Department of Chemistry Abdul Wali Khan UniversityMardanKhyber Pakhtunkhwa 23200Pakistan School of Physics University of Electronic Science and Technology of ChinaChengdu 610054China

The scarcity of highly effective and economical catalysts is a major impediment to the widespread adop-tion of electrochemical water splitting for the generation of ***_(2),a low-cost candidate,suffers from inefficient catalytic ***,a captivating strategy has emerged,which involves the en-gineering of heteroatom doping to enhance electrochemical *** investigation demonstrates a successful implementation of the strategy by combining ultrathin MoS_(2) nanosheets with Co and Ni dual single multi-atoms(DSMAs)grown directly on 2D N-doped carbon nanosheets(CoNi-MoS_(2)/NCNs)for the purpose of improving hydrogen evolution reaction(HER)and oxygen evolution reaction(OER).With the aid of a dual-atom doped bifunctional electrocatalyst,effective water splitting has been achieved across a broad pH range in *** double doping of Co and Ni strengthens their interactions,thereby altering the electromagnetic composition of the host MoS_(2) and ultimately leading to improved electrocat-alytic ***,the synergistic effect between NCNs and MoS_(2) nanosheets provided efficient electron transport channels for ions and an ample surface area with open voids for ion ***-sequently,the CoNi-MoS_(2)/NCNs catalysts demonstrated exceptional stability and activity,producing low degree overpotentials of 180.5,124.9,and 196.4 mV for HER and 200,203,and 207 mV for OER in neu-tral,alkaline,and acidic mediums,respectively,while also exhibiting outstanding overall water-splitting performance,durability,and stability when used as an electrolyzer at universal pH.

关键词： Multifunctional catalyst Water splitting Functionalized carbon nanosheets Interface engineering pH-universal electrocatalysis

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A Dynamics Perspective of Defense-Intrusion Game 42

A Dynamics Perspective of Defense-Intrusion Game

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42nd Chinese control Conference, CCC 2023

作者： Wang, keyang Zhao, Rui Wang, Yintao School of Marine Science and Technology Northwestern Polytechnical University Xi'an710072 China National Key Laboratory of Underwater Information and Control Xi'an710072 China The 705 Research Institute of China State Shipbuilding Corporation Limited Xi'an710077 China

ISBN: (纸本)9789887581543

Defense-intrusion games are fascinating in both nature and the artificial world. In these games, the purpose of defender is to protect the target from being attacked by the intruder, and if possible, capture the intruder. This article solves the defense-intrusion game with considering the bio-inspired model adopted by two agents-a defender and an intruder, and obtains the attack and interception strategies. The intruder usually need to avoid the defender, so we provide attack strategy based on setting the intruder's emergency maneuver distance, and compare it with the strategy based on artificial potential field method proposed in our previous work. For the defender, we design a radical interception strategy and a conservative interception strategy according to different circumstances. Numerical simulations are conducted to illustrate the effectiveness of the proposed strategies. The results are consistent with natural observations and disclose some natural laws in the defense-intrusion scenario. This paper will provide a reference for the research of intrusion prevention related to marine robots. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Network security

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A Data Association Method Based on Azimuth Inverse Cotangent Value

A Data Association Method Based on Azimuth Inverse Cotangent...

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International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE)

作者： Nan Zou Muze Yin Guangpu Zhang Zhenqi Yang Pengbo Ma Dongyu Li National Key Laboratory of Underwater Acoustic Technology Harbin Engineering University Harbin China Key Laboratory of Marine Information Acquisition and Security (Harbin Engineering University) Ministry of Industry and Information Technology Harbin China College of Underwater Acoustic Engineering Harbin Engineering University Harbin China Science and Technology on Electronic Information Control Laboratory Chengdu China

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

In this paper, we address the challenge of data association in scenarios involving multiple observers for underwater non-cooperative localization, where it is unclear how measurement data from different stations corresponds to the same target. We propose a novel data association method that leverages the inverse cotangent of azimuthal sequence features. The method first calculates the sequence of cotangent values measured by each station's bearing in a limited time. Linearly analyzes the sequence to obtain the slope, and finally realizes the data association according to the characteristic that the inverse cotangent value of the slope corresponds to the target's motion heading. The simulation results show that the proposed method has better association localization ability compared with the traditional method, overcomes the problem of the conventional method that the computational volume is too large when the number of observation stations and targets is large, and ensures the association correctness under a certain error.

关键词： Location awareness Power engineering Accuracy Azimuth Simulation Noise Observers Time measurement

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Buck Circuit control Based on Interval Type II Fuzzy PI 17th

Buck Circuit Control Based on Interval Type II Fuzzy PI

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17th Annual Conference of China Electrotechnical Society, CES 2022

作者： Zhang, Tingsen Huang, Xiaorong Zhao, Yuyou Peng, Yiqiang Liu, Xinran School of Automobile and Transportation Xihua University Chengdu610039 China Vehicle Measurement Control and Safety Key Laboratory of Sichuan Province Chengdu610039 China Provincial Engineering Research Center for New Energy Vehicle Intelligent Control and Simulation Test Technology of Sichuan Chengdu610039 China

ISBN: (纸本)9789819904075

The existing BUCK circuit control strategy has difficulty in maintaining dynamic regulation over a wide voltage range and fast response during large load start-up and load throw. To address this problem, a dual closed-loop PI control strategy with an outer voltage loop and an inner current loop is proposed, and an interval type II fuzzy control is used to optimize the outer voltage loop so that the BUCK circuit can maintain fast response and high accuracy output even under sudden load changes. Finally, the effectiveness of the proposed control strategy is demonstrated by comparing the dual closed-loop PI and the type I fuzzy dual closed-loop PI by building a realistic simulation in MATLAB/SIMULINK. The results show that the transient output of the system is significantly improved when the load is suddenly changed. © 2023, Beijing Paike Culture Commu. Co., Ltd.

关键词： Timing circuits

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Numerical simulation, verification and experiment validation on hydrodynamic performance and radiated noise properties of skewed propeller 3

Numerical simulation, verification and experiment validation...

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3rd International Conference on Mechanical, Electric and Industrial Engineering, MEIE 2020

作者： Ma, Fuqiang Liu, Yansen Mu, Lin Jia, Bing Scientific and Technology on Underwater Test and Control Laboratory Dalian China

Numerical simulation of hydrodynamic performance and radiated noise properties of the standard propeller is carried out by computational fluid dynamics (CFD) approach and acoustic analogy equation, and verifying and validating the numerical result by experiments in cavitation tunnel. Taking Potsdam Propeller test Case (PPTC) propeller as an example, the geometric model, grid model and numerical simulation boundary conditions are established. The comparison between numerical calculation and experimental results of open water characteristics of propeller, including thrust coefficient, torque coefficient and efficiency shows that the numerical model is reliable. Under the condition of good agreement between numerical simulation and experimental results of unsteady hydrodynamic characteristics, which contains the pressure distribution of blades, cavitation properties, the wake vortex distribution of the propeller, the numerical calculation and characteristic analysis of propeller radiated noise are carried out. The results show that the relation between the radiated noise of the propeller and the inherent structure and the motion state is correlated. The research can provide a theoretical basis for the target detection and recognition based on such characteristics. © 2020 Published under licence by IOP Publishing Ltd.

关键词： Propellers

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Research on Feature Extraction and Recognition Method of underwater Acoustic Target Based on Deep Convolutional Network

Research on Feature Extraction and Recognition Method of Und...

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2020 IEEE International Conference on Advances in Electrical Engineering and Computer Applications, AEECA 2020

作者： Wang, Peibing Peng, Yuan Science and Technology on Underwater Test and Control Laboratory Dalian China

ISBN: (纸本)9781728165202

underwater acoustic target recognition technology is an important support technology for underwater acoustic information acquisition and underwater acoustic information confrontation. Its core includes target feature extraction and classification recognition. In this paper, deep convolution neural network is applied to feature extraction and classification of underwater acoustic target signal based on LOFAR spectrum. Firstly, the extraction method and preprocessing of LOFAR spectral features are introduced. Then, the applicability of deep convolution neural network in feature extraction and LOFAR spectrum of underwater acoustic target signal is briefly analyzed. Finally, the model construction and parameter optimization method of deep convolution neural network are explained in detail. Through analysis and research, this method has good applicability in the field of underwater acoustic target recognition. © 2020 IEEE.

关键词： Feature extraction

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Finite-Time Observer-Based Path-Following control of an Underactuated Surface Vehicle with Actuator Saturation and Fault

Finite-Time Observer-Based Path-Following Control of an Unde...

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International Conference on Fuzzy Theory and it's Applications (iFUZZY)

作者： Chengxiang Zhang Ning Wang School of Marine Engineering Dalian Maritime University Dalian China State Key Laboratory of Maritime Technology and Safety Dalian Key Laboratory of Green Power Control and Test for Intelligent Ships

ISBN: (数字)9798350352788

ISBN: (纸本)9798350352795

In this paper, a finite-time observer-based fault-tolerant control (F-FTC) scheme is proposed to address path following problem of an underactuated surface vehicle suffering from input saturation and actuator gain degradation. First, a finite-time observer is designed to accurately detect faults and complex system uncertainties within the faulty system. Second, a smooth dead-zone operator-based model is applied to avoid the potential non-differentiability in controller. Finally, the F-FTC is established by virtue of a first-order filtering system. Lyapunov theory is used to verify the closed-loop system stability while simulations experiments validate the merits of the proposed F-FTC scheme.

关键词： Degradation Actuators Fault tolerance Uncertainty Filtering Fault tolerant systems Observers

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