Pub Date : 2025-03-29DOI: 10.1109/JOE.2025.3550996
Xiaoxu Du;Xin Liu;Miao Li;Dong Song
The blended-wing-body underwater glider (BWB-UG) represents a novel mobile ocean exploration platform. In order to enable the device to perform long-term monitoring at fixed locations, a mooring mission with a cable is proposed. The cable-releasing phase represents a pivotal moment in the mooring mission, as it determines the success of the mission and the stability of the multibody system in motion. Consequently, this article examines the dynamics of the BWB-UG during the cable-releasing phase. A mathematical model of the cable release strategy has been established. A solution algorithm for the cable length increase is established based on the concentrated mass method and the multibody dynamics method. The analysis of the factors influencing the multibody system during the cable release phase has been completed. The effects of three movement patterns, namely downward gliding, upward gliding and straight navigation, are analyzed. The impact of ocean current magnitude and direction on the system is analyzed. The impact of the cable laying position and quantity on the system is analysed. The mechanism of the factors influencing the dynamics of the multibody system during the cable-releasing phase is elucidated.
{"title":"Dynamic Analysis of the Cable-Releasing Phase for the Underwater Glider on Mooring Mission","authors":"Xiaoxu Du;Xin Liu;Miao Li;Dong Song","doi":"10.1109/JOE.2025.3550996","DOIUrl":"https://doi.org/10.1109/JOE.2025.3550996","url":null,"abstract":"The blended-wing-body underwater glider (BWB-UG) represents a novel mobile ocean exploration platform. In order to enable the device to perform long-term monitoring at fixed locations, a mooring mission with a cable is proposed. The cable-releasing phase represents a pivotal moment in the mooring mission, as it determines the success of the mission and the stability of the multibody system in motion. Consequently, this article examines the dynamics of the BWB-UG during the cable-releasing phase. A mathematical model of the cable release strategy has been established. A solution algorithm for the cable length increase is established based on the concentrated mass method and the multibody dynamics method. The analysis of the factors influencing the multibody system during the cable release phase has been completed. The effects of three movement patterns, namely downward gliding, upward gliding and straight navigation, are analyzed. The impact of ocean current magnitude and direction on the system is analyzed. The impact of the cable laying position and quantity on the system is analysed. The mechanism of the factors influencing the dynamics of the multibody system during the cable-releasing phase is elucidated.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 3","pages":"2030-2049"},"PeriodicalIF":3.8,"publicationDate":"2025-03-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144646417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-28DOI: 10.1109/JOE.2025.3558827
Hongchen Zhang;Shihong Zhou;Yubo Qi;Changpeng Liu
Due to the multipath and dispersion effects inherent in low-frequency sound propagation within the shallow-water waveguide, localization algorithms that do not account for these underwater acoustic propagation phenomena exhibit significant estimation biases and gain degradation. Furthermore, the increasing complexity of the ocean environment due to human activities necessitates enhanced performance of localization algorithms, particularly under the condition of multiple target interference and low signal-to-noise ratio. To address these challenges and mitigate estimation biases, this article proposes a localization algorithm for a horizontal array that employs the spatial dedispersion transform combined with the frequency domain accumulation (SDDT-FDA) algorithm. The SDDT-FDA is applied to signals received by horizontal arrays under different assumed source locations. It is demonstrated that a distinct multipeak structure in the results emerges only when the assumed source location matches the actual source location, thereby enabling the inference of the source location. This article presents the theoretical proof, discusses the impact of various parameters on performance, and provides simulation analyses and validation results based on experiment data.
{"title":"Spatial Domain Dedispersion Transform and Its Application to Source Localization","authors":"Hongchen Zhang;Shihong Zhou;Yubo Qi;Changpeng Liu","doi":"10.1109/JOE.2025.3558827","DOIUrl":"https://doi.org/10.1109/JOE.2025.3558827","url":null,"abstract":"Due to the multipath and dispersion effects inherent in low-frequency sound propagation within the shallow-water waveguide, localization algorithms that do not account for these underwater acoustic propagation phenomena exhibit significant estimation biases and gain degradation. Furthermore, the increasing complexity of the ocean environment due to human activities necessitates enhanced performance of localization algorithms, particularly under the condition of multiple target interference and low signal-to-noise ratio. To address these challenges and mitigate estimation biases, this article proposes a localization algorithm for a horizontal array that employs the spatial dedispersion transform combined with the frequency domain accumulation (SDDT-FDA) algorithm. The SDDT-FDA is applied to signals received by horizontal arrays under different assumed source locations. It is demonstrated that a distinct multipeak structure in the results emerges only when the assumed source location matches the actual source location, thereby enabling the inference of the source location. This article presents the theoretical proof, discusses the impact of various parameters on performance, and provides simulation analyses and validation results based on experiment data.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 3","pages":"1822-1835"},"PeriodicalIF":3.8,"publicationDate":"2025-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144646058","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-28DOI: 10.1109/JOE.2024.3525157
Amy W. Nau;Vanessa Lucieer;Yoann Ladroit;Haris Kunnath;Tara Martin
Modern multibeam echosounders collect bathymetric soundings, seafloor backscatter intensities, and water column backscatter values. The water column data can be used to identify features or biology above the seafloor with a broad range of applications. A key limitation for the analysis of this data is the presence of intrinsic system artifact patterns due to transducer design and receiver-array sidelobe-induced signal interferences. In this article, a method is described for simulating and removing these artifacts based on a “reference ping,” created using a subset of clear water data, which captures intrinsic artifacts present in the original data set. This reference ping, after adjusting for the range and seafloor amplitude values of each ping, is used to simulate ping-specific artifact patterns (“simulated ping”), which can be removed from the original data for improving target identification within the water column. This method was applied to five different Kongsberg Discovery multibeam echosounder systems covering a range of operational characteristics. Comparison of simulated pings with clear water data acquired by all systems shows greater than 0.9 R2 correlation, highlighting the efficacy of the method to reproduce intrinsic system artifacts prevalent in commonly used multibeam echosounders. The root-mean-squared error between simulated pings and original data was used to demonstrate the method's effectiveness in removing artifacts, with values of <0.04 for all systems. Large values were also used to identify potential features of interest within the water column. This method provides a promising foundation for improved water column analysis, either as a stand-alone method or combined with other current processing methods.
{"title":"A Method for the Simulation and Removal of Multibeam Echosounder Water Column Data Artifacts","authors":"Amy W. Nau;Vanessa Lucieer;Yoann Ladroit;Haris Kunnath;Tara Martin","doi":"10.1109/JOE.2024.3525157","DOIUrl":"https://doi.org/10.1109/JOE.2024.3525157","url":null,"abstract":"Modern multibeam echosounders collect bathymetric soundings, seafloor backscatter intensities, and water column backscatter values. The water column data can be used to identify features or biology above the seafloor with a broad range of applications. A key limitation for the analysis of this data is the presence of intrinsic system artifact patterns due to transducer design and receiver-array sidelobe-induced signal interferences. In this article, a method is described for simulating and removing these artifacts based on a “reference ping,” created using a subset of clear water data, which captures intrinsic artifacts present in the original data set. This reference ping, after adjusting for the range and seafloor amplitude values of each ping, is used to simulate ping-specific artifact patterns (“simulated ping”), which can be removed from the original data for improving target identification within the water column. This method was applied to five different Kongsberg Discovery multibeam echosounder systems covering a range of operational characteristics. Comparison of simulated pings with clear water data acquired by all systems shows greater than 0.9 <italic>R</i><sup>2</sup> correlation, highlighting the efficacy of the method to reproduce intrinsic system artifacts prevalent in commonly used multibeam echosounders. The root-mean-squared error between simulated pings and original data was used to demonstrate the method's effectiveness in removing artifacts, with values of <0.04 for all systems. Large values were also used to identify potential features of interest within the water column. This method provides a promising foundation for improved water column analysis, either as a stand-alone method or combined with other current processing methods.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 3","pages":"2296-2310"},"PeriodicalIF":3.8,"publicationDate":"2025-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10944661","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144646519","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-26DOI: 10.1109/JOE.2025.3553936
Anand Hiroji;John Hughes Clarke
Multibeam sonar backscatter strength (BS) data are increasingly being utilized for seafloor substrate classification, which is a vital component of fisheries, habitat mapping, and many offshore engineering applications. The artifacts in the BS data must be minimized before classification is attempted. This paper looks at the artifacts in BS data due to the radiometric effects of the transmit and receive array. This is particularly confounded for the multisector geometry, where the across-track transmit lobes of individual sectors are much narrower compared to a single sector system. These multisector systems have significant variations in the source level within a sector (up to 8 dB) and between sectors (up to 5 dB). This article also addresses the additional factors affecting the measured intensities due to the roll, pitch, and yaw motion stabilization. To address these complications, a new method is developed to unambiguously compute individual sector-specific radiometric beam pattern (RBP) residuals for the combined effect of the transmit and receiver arrays. For a given frequency and azimuth, the BS of a particular seabed type depends only on the grazing angle, any apparent change in the BS at a given grazing angle due to ship's motion is caused by radiometric properties of the sonar. This is the basic principle used in the development of the new method. The developed method separates the received intensities first based on grazing angles and then further by various sonar-relative angles in along- and across-track. The intensity variations within a given grazing angle for different sonar relative angles are used to estimate variations in the combined transmitter and receiver radiometric effects. This article describes the developed RBP extraction method using real data collected with Kongsberg EM 710 multisector multibeam system. It also demonstrates corrected BS data with minimized transmit and receive radiometric effects. It is estimated that the presented method reduced backscatter uncertainty due to motion artifacts by up to 2 dB, enabling improved seafloor characterization based on quantitative analysis of BS data.
{"title":"Radiometric Beam Pattern Extraction and Relative Calibration Method for Backscatter Strength Data from Motion-Stabilized Multibeam Systems","authors":"Anand Hiroji;John Hughes Clarke","doi":"10.1109/JOE.2025.3553936","DOIUrl":"https://doi.org/10.1109/JOE.2025.3553936","url":null,"abstract":"Multibeam sonar backscatter strength (BS) data are increasingly being utilized for seafloor substrate classification, which is a vital component of fisheries, habitat mapping, and many offshore engineering applications. The artifacts in the BS data must be minimized before classification is attempted. This paper looks at the artifacts in BS data due to the radiometric effects of the transmit and receive array. This is particularly confounded for the multisector geometry, where the across-track transmit lobes of individual sectors are much narrower compared to a single sector system. These multisector systems have significant variations in the source level within a sector (up to 8 dB) and between sectors (up to 5 dB). This article also addresses the additional factors affecting the measured intensities due to the roll, pitch, and yaw motion stabilization. To address these complications, a new method is developed to unambiguously compute individual sector-specific radiometric beam pattern (RBP) residuals for the combined effect of the transmit and receiver arrays. For a given frequency and azimuth, the BS of a particular seabed type depends only on the grazing angle, any apparent change in the BS at a given grazing angle due to ship's motion is caused by radiometric properties of the sonar. This is the basic principle used in the development of the new method. The developed method separates the received intensities first based on grazing angles and then further by various sonar-relative angles in along- and across-track. The intensity variations within a given grazing angle for different sonar relative angles are used to estimate variations in the combined transmitter and receiver radiometric effects. This article describes the developed RBP extraction method using real data collected with Kongsberg EM 710 multisector multibeam system. It also demonstrates corrected BS data with minimized transmit and receive radiometric effects. It is estimated that the presented method reduced backscatter uncertainty due to motion artifacts by up to 2 dB, enabling improved seafloor characterization based on quantitative analysis of BS data.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 3","pages":"2261-2279"},"PeriodicalIF":3.8,"publicationDate":"2025-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11015331","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144646661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-24DOI: 10.1109/JOE.2025.3531992
Lianyou Jing;Zhekai Xue;Chengbing He;Tonghui Zheng;Xingyu Cao
Orthogonal time frequency space (OTFS) modulation has recently gained recognition as a promising modulation scheme for high-mobility communication systems. It offers significant advantages in terms of error performance compared to orthogonal frequency division multiplexing in time-varying channels. In this article, we apply OTFS modulation to mobile underwater acoustic (UWA) communication. We propose an adaptive turbo equalization technique with a 2-D decision feedback equalizer to address the issue of 2-D interference. To mitigate the performance degradation caused by phase flipping and circular convolution in the delay-Doppler domain, we further propose a 2-D DA-TEQ based on interference reconstruction. An adaptive channel estimation based on the improved proportionate normalized least mean squares algorithm is proposed to reconstruct the interference. To validate the proposed OTFS UWA communication schemes, a lake experiment was conducted in Danjiangkou Lake, Henan, China, in July 2022. The experimental results demonstrate that the proposed scheme achieves satisfactory performance at a speed of 4.5 knots, with a data rate of 5.79 kbps. This experiment confirms the effectiveness of OTFS modulation for mobile UWA communication.
{"title":"Direct-Adaptive Turbo Equalization Based on Interference Reconstruction for OTFS Underwater Acoustic Communication System","authors":"Lianyou Jing;Zhekai Xue;Chengbing He;Tonghui Zheng;Xingyu Cao","doi":"10.1109/JOE.2025.3531992","DOIUrl":"https://doi.org/10.1109/JOE.2025.3531992","url":null,"abstract":"Orthogonal time frequency space (OTFS) modulation has recently gained recognition as a promising modulation scheme for high-mobility communication systems. It offers significant advantages in terms of error performance compared to orthogonal frequency division multiplexing in time-varying channels. In this article, we apply OTFS modulation to mobile underwater acoustic (UWA) communication. We propose an adaptive turbo equalization technique with a 2-D decision feedback equalizer to address the issue of 2-D interference. To mitigate the performance degradation caused by phase flipping and circular convolution in the delay-Doppler domain, we further propose a 2-D DA-TEQ based on interference reconstruction. An adaptive channel estimation based on the improved proportionate normalized least mean squares algorithm is proposed to reconstruct the interference. To validate the proposed OTFS UWA communication schemes, a lake experiment was conducted in Danjiangkou Lake, Henan, China, in July 2022. The experimental results demonstrate that the proposed scheme achieves satisfactory performance at a speed of 4.5 knots, with a data rate of 5.79 kbps. This experiment confirms the effectiveness of OTFS modulation for mobile UWA communication.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"1469-1482"},"PeriodicalIF":3.8,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852453","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-24DOI: 10.1109/JOE.2024.3483328
Yanwei Huang;Guozhen Lai;Feng Lin;Xiaocheng Shi;Dongfang Li
A path-following control scheme is proposed using finite-time convergence line-of-sight (FCL) to achieve rapid convergence of position errors for an unmanned surface vehicle (USV). FCL combines classical line-of-sight (LOS) guidance with finite-time stability theory to ensure that the position of the USV converges to the reference path within a predetermined finite time. Specifically, a USV model is developed to analyze target tracking. Moreover, a novel cross-tracking error function is designed with hyperbolic characteristics for FCL through an analysis of the relationship between convergence speed and cross-tracking error function. Further, the path-following system stability with FCL and finite-time controllers is analyzed to indicate the smaller value of the upper bound of the system convergence time by comparisons. Finally, simulations and experiments are performed to verify that FCL has a faster convergence speed than the LOS with error sign function (LS) and the linear cross-tracking error function (LLCF), and a wider algorithm parameter tuning range compared to LS.
{"title":"Path Following With Finite-Time Convergence for Unmanned Surface Vehicle","authors":"Yanwei Huang;Guozhen Lai;Feng Lin;Xiaocheng Shi;Dongfang Li","doi":"10.1109/JOE.2024.3483328","DOIUrl":"https://doi.org/10.1109/JOE.2024.3483328","url":null,"abstract":"A path-following control scheme is proposed using finite-time convergence line-of-sight (FCL) to achieve rapid convergence of position errors for an unmanned surface vehicle (USV). FCL combines classical line-of-sight (LOS) guidance with finite-time stability theory to ensure that the position of the USV converges to the reference path within a predetermined finite time. Specifically, a USV model is developed to analyze target tracking. Moreover, a novel cross-tracking error function is designed with hyperbolic characteristics for FCL through an analysis of the relationship between convergence speed and cross-tracking error function. Further, the path-following system stability with FCL and finite-time controllers is analyzed to indicate the smaller value of the upper bound of the system convergence time by comparisons. Finally, simulations and experiments are performed to verify that FCL has a faster convergence speed than the LOS with error sign function (LS) and the linear cross-tracking error function (LLCF), and a wider algorithm parameter tuning range compared to LS.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"1153-1164"},"PeriodicalIF":3.8,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852466","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This article presents an evaluation of four probabilistic algorithms for bathymetry-based localization of autonomous underwater vehicles (AUVs). The algorithms fuse a priori bathymetry information with depth and range measurements to localize an AUV underwater using four different Bayes filters [extended Kalman filter, unscented Kalman filter, particle filter, and marginalized PF (MPF)]. We develop the algorithms using the robot operating system (ROS), build a realistic simulation platform using ROS Gazebo incorporating real-world bathymetry, and evaluate the performance of these four Bayesian bathymetry-based AUV localization approaches on real-world lake data. The simulation allows the evaluation of algorithms with accurate knowledge of the robot's true location, which is otherwise infeasible to obtain underwater in the field. By relying on the data from a depth sensor and echo sounder, the localization algorithms overcome challenges faced by visual landmark-based localization. Our results show the efficacy of each algorithm under a variety of conditions, with the MPF being the most accurate in general.
{"title":"A Quantitative Evaluation of Bathymetry-Based Bayesian Localization Methods for Autonomous Underwater Robots","authors":"Jungseok Hong;Michael Fulton;Kevin Orpen;Kimberly Barthelemy;Keara Berlin;Junaed Sattar","doi":"10.1109/JOE.2025.3535598","DOIUrl":"https://doi.org/10.1109/JOE.2025.3535598","url":null,"abstract":"This article presents an evaluation of four probabilistic algorithms for bathymetry-based localization of autonomous underwater vehicles (AUVs). The algorithms fuse a priori bathymetry information with depth and range measurements to localize an AUV underwater using four different Bayes filters [extended Kalman filter, unscented Kalman filter, particle filter, and marginalized PF (MPF)]. We develop the algorithms using the robot operating system (ROS), build a realistic simulation platform using ROS Gazebo incorporating real-world bathymetry, and evaluate the performance of these four Bayesian bathymetry-based AUV localization approaches on real-world lake data. The simulation allows the evaluation of algorithms with accurate knowledge of the robot's true location, which is otherwise infeasible to obtain underwater in the field. By relying on the data from a depth sensor and echo sounder, the localization algorithms overcome challenges faced by visual landmark-based localization. Our results show the efficacy of each algorithm under a variety of conditions, with the MPF being the most accurate in general.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"985-1000"},"PeriodicalIF":3.8,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143848852","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
With Maritime Autonomous Surface Ships (MASS) slowly but steadily nearing full-scale implementation, the question of their safety persists. Regardless of being a disruptive technology, they will likely be subject to the same factors shaping their safety performance as manned ships nowadays are. Yet, the impact of these factors may be different in each case. The current study presents an application of Fuzzy Grey Cognitive Maps (FGCMs) to the comparative evaluation of factors affecting collision avoidance at sea. To this end, subject matter experts have been elicited, and the data obtained from them have been analyzed, concerning how changes in the intensity of given factors would affect safety performance. The obtained results showed that with the use of FGCM, it was possible to model the relative impact of selected factors both on a specific phase of the maritime collision avoidance process as well as on its entirety. The conducted analysis shows noticeable variability of the influence of some factors, depending on the timing of their activation during the process (time dependence), and using FGCM, it was possible to assess its quantification. Furthermore, the results indicate that greater differences can be found between the factors’ impact on phases of an encounter than between manned and autonomous ships. The outcome of this study may be found interesting for all parties involved in maritime safety modeling as well as working on the forthcoming introduction of autonomous ships.
{"title":"Toward Using Fuzzy Grey Cognitive Maps in Manned and Autonomous Collision Avoidance at Sea","authors":"Mateusz Gil;Katarzyna Poczęta;Krzysztof Wróbel;Zaili Yang;Pengfei Chen","doi":"10.1109/JOE.2024.3516095","DOIUrl":"https://doi.org/10.1109/JOE.2024.3516095","url":null,"abstract":"With Maritime Autonomous Surface Ships (MASS) slowly but steadily nearing full-scale implementation, the question of their safety persists. Regardless of being a disruptive technology, they will likely be subject to the same factors shaping their safety performance as manned ships nowadays are. Yet, the impact of these factors may be different in each case. The current study presents an application of Fuzzy Grey Cognitive Maps (FGCMs) to the comparative evaluation of factors affecting collision avoidance at sea. To this end, subject matter experts have been elicited, and the data obtained from them have been analyzed, concerning how changes in the intensity of given factors would affect safety performance. The obtained results showed that with the use of FGCM, it was possible to model the relative impact of selected factors both on a specific phase of the maritime collision avoidance process as well as on its entirety. The conducted analysis shows noticeable variability of the influence of some factors, depending on the timing of their activation during the process (time dependence), and using FGCM, it was possible to assess its quantification. Furthermore, the results indicate that greater differences can be found between the factors’ impact on phases of an encounter than between manned and autonomous ships. The outcome of this study may be found interesting for all parties involved in maritime safety modeling as well as working on the forthcoming introduction of autonomous ships.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"1210-1230"},"PeriodicalIF":3.8,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10937359","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-24DOI: 10.1109/JOE.2025.3529062
Susan Basnet;Saurabh Kumar;Shashi Ranjan Kumar
In this article, we address the trajectory tracking control problem of an autonomous surface vessel with limited information about its system dynamics in the presence of bounded external disturbances. We propose nonlinear robust control strategies that guarantee the surface vessel converges to its desired path precisely at an exact time, regardless of its initial engagement geometry with respect to the path, provided it is within a feasible region respecting the physical constraints of the vehicle. Furthermore, the proposed strategy offers an appealing feature of allowing the selection of the convergence time before the start of the engagement. This provides the control designer with an additional degree of freedom to tailor the convergence time a priori according to specific mission requirements. We first provide a design using the knowledge of the upper bound of the disturbances. Later, we extend the design for unknown disturbances. Finally, numerical simulations elucidate the merits of the proposed strategy.
{"title":"Robust Exact-Time Trajectory Tracking Control for Autonomous Surface Vessels","authors":"Susan Basnet;Saurabh Kumar;Shashi Ranjan Kumar","doi":"10.1109/JOE.2025.3529062","DOIUrl":"https://doi.org/10.1109/JOE.2025.3529062","url":null,"abstract":"In this article, we address the trajectory tracking control problem of an autonomous surface vessel with limited information about its system dynamics in the presence of bounded external disturbances. We propose nonlinear robust control strategies that guarantee the surface vessel converges to its desired path precisely at an exact time, regardless of its initial engagement geometry with respect to the path, provided it is within a feasible region respecting the physical constraints of the vehicle. Furthermore, the proposed strategy offers an appealing feature of allowing the selection of the convergence time before the start of the engagement. This provides the control designer with an additional degree of freedom to tailor the convergence time a priori according to specific mission requirements. We first provide a design using the knowledge of the upper bound of the disturbances. Later, we extend the design for unknown disturbances. Finally, numerical simulations elucidate the merits of the proposed strategy.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 2","pages":"1184-1195"},"PeriodicalIF":3.8,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852430","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-22DOI: 10.1109/JOE.2025.3558812
Geunhwan Kim;Youngmin Choo
In supervised-learning-based active sonar classification overcoming data set shifts through standard fine-tuning is challenging due to the limited size and diversity of active sonar data sets. To address this challenge, we propose a robust fine-tuning method using mode connectivity (RoFT-MC), which mitigates two key problems in standard fine-tuning: catastrophic forgetting and negative transfer. RoFT-MC constructs a mode connectivity curve between two independently pretrained models. For adaptation, the curve parameters are optimized using in situ test data rather than training data. RoFT-MC effectively adapts to the shifted test data set while maintaining its performance on the training data set by ensuring that the fine-tuned weights remain on the curve. In addition, we utilize a feasible fine-tuning data set composed of test clutter samples combined with training target samples instead of unavailable test target samples to avoid biased predictions. In the efficacy examination standard fine-tuning failed to adapt to the shifted test data set, whereas RoFT-MC demonstrated a significant performance improvement. Specifically, RoFT-MC increased the probability of detection from 0.2710 to 0.6438 at a false alarm rate of 0.1, while maintaining comparable performance on the training data set.
{"title":"Adaptive Enhancement of an Active Sonar Classifier Using Mode-Connectivity-Based Fine-Tuning Under Data Set Shifts","authors":"Geunhwan Kim;Youngmin Choo","doi":"10.1109/JOE.2025.3558812","DOIUrl":"https://doi.org/10.1109/JOE.2025.3558812","url":null,"abstract":"In supervised-learning-based active sonar classification overcoming data set shifts through standard fine-tuning is challenging due to the limited size and diversity of active sonar data sets. To address this challenge, we propose a robust fine-tuning method using mode connectivity (RoFT-MC), which mitigates two key problems in standard fine-tuning: catastrophic forgetting and negative transfer. RoFT-MC constructs a mode connectivity curve between two independently pretrained models. For adaptation, the curve parameters are optimized using in situ test data rather than training data. RoFT-MC effectively adapts to the shifted test data set while maintaining its performance on the training data set by ensuring that the fine-tuned weights remain on the curve. In addition, we utilize a feasible fine-tuning data set composed of test clutter samples combined with training target samples instead of unavailable test target samples to avoid biased predictions. In the efficacy examination standard fine-tuning failed to adapt to the shifted test data set, whereas RoFT-MC demonstrated a significant performance improvement. Specifically, RoFT-MC increased the probability of detection from 0.2710 to 0.6438 at a false alarm rate of 0.1, while maintaining comparable performance on the training data set.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"50 3","pages":"2327-2344"},"PeriodicalIF":3.8,"publicationDate":"2025-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144646659","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：