Explanipedia

TGPSO: An Adaptive Gait Optimization Algorithm for Hexapod Robots in Multi-Terrain Environments Open

Guiqiang Bai, Weixu Chen, Jingang Du, Yang Liu, Yanting Luo , et al. · 2025

To address the limited adaptability of traditional fixed-parameter strategies for hexapod robots operating in multi-material terrain environments, this study proposes a terrain-aware gait optimization method based on an improved particle s…

Experimental investigation on loads of nets with different types under current Open

Lingyun Xu, Yuji Miao, Xiaofei Wu, Peng Li, Hongde Qin · 2025

AUV SLAM method based on SO-CFAR and ADT feature extraction Open

Xiaokai Mu, Haiyang Chen, Jiahao Wang, Hongde Qin, Zhongben Zhu · 2024

Due to the exceptional detection capabilities, the forward-looking sonar could be adopted in simultaneous localization and mapping (SLAM) for autonomous underwater vehicle (AUVs). This paper primarily investigates the application of the fa…

Adaptive fixed‐time fault‐tolerant fuzzy control of AUVs with asymmetric output constraints Open

Xiaojia Li, Hongde Qin, Zhongbao Guo, Yifan Xue · 2024

The fast and safe formation tracking problem for multiple autonomous underwater vehicle (AUV) systems (MAUVS) with asymmetric output constraints and actuator faults is studied in this article. Actuator faults are composed of loss of effect…

Cruise Speed Model Based on Self-Attention Mechanism for Autonomous Underwater Vehicle Navigation Open

Xiaokai Mu, Yuanhang Yi, Zhongben Zhu, Li Zhu, Zhuo Wang , et al. · 2024

This study proposes a cruise speed model based on the Self-Attention mechanism for speed estimation in Autonomous Underwater Vehicle (AUV) navigation systems. By utilizing variables such as acceleration, angle, angular velocity, and propel…

Experimental Investigation on Loads of Nets with Different Types under Current Open

Lingyun Xu, Yuji Miao, Xiaofei Wu, Peng Li, Hongde Qin · 2024

The drag of the net is the main component of the total hydrodynamic loads of the cage. Net drag is related to the safe use and reliability of the net cage. However, there is still a lack of tests about the influence of different parameters…

G-Net: An Efficient Convolutional Network for Underwater Object Detection Open

X.D. Zhao, Zhuo Wang, Zhongchao Deng, Hongde Qin · 2024

Visual perception technology is of great significance for underwater robots to carry out seabed investigation and mariculture activities. Due to the complex underwater environment, it is often necessary to enhance the underwater image when…

Robust Multi-Sensor Fusion for Unmanned Underwater Vehicle Navigation Open

Jianzhu Bao, Xiaokai Mu, Yifan Xue, Zhongben Zhu, Hongde Qin · 2024

Binocular Vision-Based Non-Singular Fast Terminal Control for the UVMS Small Target Grasp Open

Tao Jiang, Yize Sun, Hai Huang, Hongde Qin, Xi Chen , et al. · 2023

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…

Research on the Influence of Turbulent Flow Induced by Dunes on AUVs Open

Yu Guo, Peng Li, Hongde Qin, Zhongyu Lin, Jiaqi Guo · 2023

The demand for oceanic resource exploration and development is increasing, and autonomous underwater vehicles (AUVs) have emerged as potential tools for ocean exploration. To meet specific operational requirements, AUVs are required to ope…

State Super Sampling Soft Actor–Critic Algorithm for Multi-AUV Hunting in 3D Underwater Environment Open

Zhuo Wang, Yancheng Sui, Hongde Qin, Hao Lu · 2023

Reinforcement learning (RL) is known for its efficiency and practicality in single-agent planning, but it faces numerous challenges when applied to multi-agent scenarios. In this paper, a Super Sampling Info-GAN (SSIG) algorithm based on G…

Fusion2Fusion: An Infrared–Visible Image Fusion Algorithm for Surface Water Environments Open

Cheng Lu, Hongde Qin, Zhongchao Deng, Zhongben Zhu · 2023

Infrared images can rely on the thermal radiation of objects for imaging, independent of lighting conditions. Furthermore, because the thermal radiation produced by targets such as people, vehicles, and boats differs greatly from the backg…

Self-Supervised Pre-Training Joint Framework: Assisting Lightweight Detection Network for Underwater Object Detection Open

Zhuo Wang, Haojie Chen, Hongde Qin, Chen Qin · 2023

In the computer vision field, underwater object detection has been a challenging task. Due to the attenuation of light in a medium and the scattering of light by suspended particles in water, underwater optical images often face the proble…

Fixed-Time Average Consensus of a Dynamic Event-Triggered Mechanism in a System of Multiple Underactuated Autonomous Underwater Vehicles Based on a Body Frame Spherical Coordinate System Open

Zhuo Wang, Ao Zhang, Hongde Qin, Jiang Shu-kai · 2023

This paper is concerned with the consensus of a system involving multiple underactuated autonomous underwater vehicles (AUVs). Combined with a dynamic event-triggered mechanism and a fixed-time stability theorem, the backstepping average c…

Experimental study on drag characteristics of the practical rigid net under different current conditions Open

Songchen Yu, Hongde Qin, Peng Li, Fangyu Gong, Yu Tian · 2023

The net structure of a cage is an important component to ensure the survival environment of aquaculture. In order to ensure the safety of the net, an experimental study on practical rigid nets is conducted in this paper. The drag force cha…

Average Consensus Time-Varying Formation Control of Underactuated Autonomous Underwater Vehicles Based on Event Triggering Decoupling Mechanism Open

Ao Zhang, Zhuo Wang, Hongde Qin, Yifan Xue · 2023

Autonomous Underwater Vehicle Path Planning Method of Soft Actor–Critic Based on Game Training Open

Zhuo Wang, Hao Lu, Hongde Qin, Yancheng Sui · 2022

This study aims to solve the issue of the safe navigation of autonomous underwater vehicles (AUVs) in an unknown underwater environment. AUV will encounter canyons, rocks, reefs, fish, and underwater vehicles that threaten its safety durin…

Deep Well and Ultra-Deep Well Drilling and Completion Technology Optimization and Application of Kuche Piedmont Area Open

Hongtao Liu, Chongyuan Zhang, Li Zhao, Xuliang Zhang, Hongde Qin , et al. · 2022

In recent years, the exploration and development of China's Tarim Basin has moved towards ultra-deep and complex areas. With the increase in well depth and the influence of the geological characteristics of the Kuche Piedmont area, a serie…

Numerical studies on wake and turbulence characteristics of aquaculture nets Open

Lingyun Xu, Peng Li, Hongde Qin, Zhijing Xu · 2022

This paper aims to understand the drag coefficient discrepancy between the equivalent-twine and twisted-twine nets based on their wake and turbulence characteristics. To that end, we conduct unsteady Reynolds-averaged Navier-Stokes (URANS)…

Hydrodynamic performance optimization and experimental verification of underwater glider based on parametric method Open

Hongde Qin, Lingyu Li, Peng Li, Xiangqian Wang · 2022

In this paper, the wing body fusion method is used to complete the design of underwater glider. On this basis, the traditional optimization algorithm of underwater gliding wing shape is improved. Based on the improved Hicks Henne algorithm…

Fuzzy sliding mode control method for vertical motion of autonomous underwater gliders Open

Lei Wan, Dongliang ZHANG, Yanchao Sun, Hongde Qin, Yu Cao · 2022

ObjectiveThis paper proposes a fuzzy sliding mode controller based on T-S fuzzy logic for the vertical plane motion control of an autonomous underwater glider (AUG) with limited actuator capability. MethodsIn the fuzzy sliding mode control…

Numerical Modeling of Flexible Net Panels under Steady Flow Using a Coupled Fluid–Structure Partitioned Scheme Open

Lingyun Xu, Hongde Qin, Peng Li, Zhijing Xu · 2022

Fluid–structure interactions of flexible net panels are complex and lack sufficient exploration. To examine the flow characteristics of flexible net panels with large deformation, we propose a partitioned coupling scheme in this paper. The…

Deep Reinforcement Learning Based Regional Coverage Path Planning for Uvms Organism Target Capture Open

Hai Huang, Zhenkun Zhang, Hongde Qin, Baida Jin, Yize Sun , et al. · 2022

Distributed Adaptive Coordinated Control of Multiple Euler–Lagrange Systems considering Output Constraints and Time Delays Open

Hongde Qin, Xiaojia Li, Yanchao Sun · 2021

In this paper, we mainly investigate the coordinated tracking control issues of multiple Euler–Lagrange systems considering constant communication delays and output constraints. Firstly, we devise a distributed observer to ensure that ever…

A Novel Changing Athlete Body Real-Time Visual Tracking Algorithm Based on Distractor-Aware SiamRPN and HOG-SVM Open

Mingwei Sheng, Weizhe Wang, Hongde Qin, Lei Wan, Jun Li , et al. · 2020

Athlete detection in sports videos is a challenging task due to the dynamic and cluttered background. Distractor-aware SiamRPN (DaSiamRPN) has a simple network structure and can be utilized to perform long-term tracking of large data sets.…

Computational fluid dynamics approaches to drag and wake of a long-line mussel dropper under tidal current Open

Zhijing Xu, Hongde Qin, Peng Li, Rujun Liu · 2020

Hydrodynamic effects of mussel farms have attracted increased research attentions in recent years. The understanding of the hydrodynamic impacts is essential for predicting the sustainability of mussel farms. A large mussel farm includes t…

An expectation-maximization based single-beacon underwater navigation method with unknown ESV Open

Hongde Qin, Xiang Yu, Zhongben Zhu, Zhongchao Deng · 2019

Navigation performance in a single-beacon underwater navigation system considerably depends on the accuracy of the slant-range measurement. Ranges are usually obtained based on a presumed or known effective sound velocity (ESV). Because it…

Neural observer-based path following control for underactuated unmanned surface vessels with input saturation and time-varying disturbance Open

Lei Wan, Jiangfeng Zeng, Yueming Li, Hongde Qin, Lei Zhang , et al. · 2019

In this study, a new neural observer-based dynamic surface control scheme is proposed for the path following of underactuated unmanned surface vessels in the presence of input saturation and time-varying external disturbance. The dynamic s…

Adaptive neural network‐based fault‐tolerant trajectory‐tracking control of unmanned surface vessels with input saturation and error constraints Open

Hongde Qin, Chengpeng Li, Yanchao Sun · 2019

The unmanned surface vessel (USV) plays an important role in smart ocean. This study proposes an adaptive fault‐tolerant tracking control for USVs in the presence of input saturations and error constraints. A tan‐type barrier Lyapunov func…

Cognition-based hybrid path planning for autonomous underwater vehicle target following Open

Li Yue Ming, Hai Huang, Xu Yang, Guocheng Zhang, Jiyong Li , et al. · 2019

Intelligent path planning is one of the key techniques for autonomous underwater vehicles for the purpose of target detection, environmental survey and so on. In order to realize automatic motion plan, an intelligent cognitive architecture…

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