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Large language models for the marine environmental variables prediction 海洋环境变量预测的大型语言模型
IF 11.8 1区 工程技术 Q1 ENGINEERING, MARINE Pub Date : 2026-02-01 DOI: 10.1016/j.joes.2025.11.007
Pinzheng Hu , Bo Ai , Haolin Cai , Zhen Wen , Wenjun Feng , Chongjun Feng , Xue Liu , Guannan Lv
Monitoring and predicting marine environmental variables are important for safeguarding livelihoods and the economy. Large language models (LLMs) have shown great potential in time series prediction because of their strong computational capabilities, and the application of LLMs to the prediction of marine environmental variables is an emerging area of research. However, LLM-based approaches often exhibit oscillations in prediction outputs and large deviations from observed values. To address these issues, we propose TimeLLM-BERT, a hybrid three-stage model based on feature extraction, autoregressive prediction, and error correction. The model incorporates a structured prompt module, a trend enhancement algorithm, and a residual-fitting optimization strategy, which significantly enhance prediction accuracy. To systematically evaluate the performance of the model, comparative experiments were conducted against LSTM, BiTCN, NBEATSx, iTransformer, NHITS, and Time-LLM models using four key variables: significant wave height (SWH), sea surface temperature (SST), temperature at 2 m above the sea surface (T2M), and wind field (WF). The results show that the performance of the model is significantly better than existing models, and the mean absolute error for SWH prediction is reduced by 24.7%. It also achieves stable performance in SST prediction and strong consistency in WF prediction compared with the existing models. Robustness and universality tests show that the error evaluation indicators exhibit low variation, demonstrating strong stability and generalization ability. In summary, TimeLLM-BERT offers significant improvements in accuracy and stability for predicting marine environmental variables, providing a new framework for modeling complex time series data.
监测和预测海洋环境变量对于保障生计和经济至关重要。大型语言模型(Large language models, llm)由于其强大的计算能力在时间序列预测中显示出巨大的潜力,将llm应用于海洋环境变量的预测是一个新兴的研究领域。然而,基于llm的方法在预测输出中经常出现振荡,并且与观测值存在较大偏差。为了解决这些问题,我们提出了TimeLLM-BERT,这是一种基于特征提取、自回归预测和误差校正的混合三阶段模型。该模型结合结构化提示模块、趋势增强算法和残差拟合优化策略,显著提高了预测精度。为了系统地评价模型的性能,利用有效波高(SWH)、海面温度(SST)、海面以上2 m温度(T2M)和风场(WF) 4个关键变量,与LSTM、BiTCN、NBEATSx、iTransformer、NHITS和Time-LLM模型进行了对比实验。结果表明,该模型的性能明显优于现有模型,SWH预测的平均绝对误差降低了24.7%。与现有模型相比,该模型在预测海表温度方面具有稳定的性能,在预测WF方面具有较强的一致性。鲁棒性和通用性检验表明,误差评价指标具有较低的变异性,具有较强的稳定性和泛化能力。综上所述,TimeLLM-BERT在预测海洋环境变量的准确性和稳定性方面有了显著提高,为复杂时间序列数据的建模提供了一个新的框架。
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引用次数: 0
Observing typhoon-driven upper ocean dynamics in the South China Sea using a virtual mooring underwater glider array: Methods and analysis 利用虚拟系泊水下滑翔机阵列观测台风驱动的南海上层海洋动力学:方法与分析
IF 11.8 1区 工程技术 Q1 ENGINEERING, MARINE Pub Date : 2026-02-01 DOI: 10.1016/j.joes.2025.09.003
Shuangshuang Fan , Peng Yuan , Jiacheng Feng , Huijun Huang , Sheng Hu , Zhongkuo Zhao , Yu Zhu , Kai Wang
Accurate and persistent observation of typhoon-induced upper ocean dynamics remains challenging due to strong currents and the limited station-keeping capability of autonomous platforms. This study proposes a learning-based virtual mooring framework using an underwater glider array to observe typhoon-driven processes in the South China Sea. A deep reinforcement learning approach based on the Dueling Double Deep Q-Network (D3QN) architecture is developed to improve station-keeping under dynamic flows and forecast uncertainties. Simulations involving 840,000 dive profiles across 400 sites show that the D3QN method achieves the lowest average station-keeping error (0.68 km), outperforming reactive and predictive strategies. Robustness tests confirm reliable performance under perturbed forecasts. Field experiments during typhoon conditions further demonstrate the feasibility of glider-based virtual mooring, and glider observations reveal pronounced upper-ocean responses, highlighting the framework’s utility for capturing typhoon-induced variability.
由于强大的海流和自主平台有限的台站保持能力,对台风引起的上层海洋动力学的准确和持续观测仍然具有挑战性。本研究提出一种基于学习的虚拟系泊框架,利用水下滑翔机阵列观测南海台风驱动过程。提出了一种基于Dueling双深度Q-Network (D3QN)结构的深度强化学习方法,以改善动态流和预测不确定性下的站位保持。对400个地点84万个潜水剖面的模拟表明,D3QN方法的平均站位保持误差最低(0.68 km),优于反应性和预测性策略。鲁棒性测试证实了在扰动预测下的可靠性能。台风条件下的现场实验进一步证明了基于滑翔机的虚拟系泊的可行性,并且滑翔机观测显示了明显的上层海洋响应,突出了该框架在捕获台风引起的变率方面的实用性。
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引用次数: 0
A review on underwater beamforming: Techniques, challenges, and future directions 水下波束形成技术综述:技术、挑战和未来发展方向
IF 11.8 1区 工程技术 Q1 ENGINEERING, MARINE Pub Date : 2026-02-01 DOI: 10.1016/j.joes.2025.09.004
Ruba Zaheer , Quoc Viet Phung , Iftekhar Ahmad , Asma Aziz , Daryoush Habibi , Yue Rong , Walid K Hasan
This paper comprehensively reviews recent advancements in Underwater Beamforming (UWB) systems, highlighting its pivotal role in underwater communication, sensing, and environmental monitoring. It explores the various beamforming applications, ranging from maritime surveillance to marine life monitoring, and indicates its significance in enhancing signal clarity, spatial resolution, and noise suppression in underwater acoustic environments. The unique challenges posed by the underwater environment that introduce complexities into the beamforming process such as non-stationary noise interference, severe signal attenuation, multipath propagation, and dynamic environmental variability are thoroughly discussed. The review systematically discusses and examines conventional, adaptive, and learning-based beamforming techniques, analyzing their strengths, limitations, and suitability for various underwater conditions. A detailed analysis of Direction of Arrival (DOA) estimation methods is provided. Furthermore, the review surveys the metrics commonly used to assess the performance of beamforming algorithms and compares their performance numerically. Emerging trends in beamforming, particularly the integration of data-driven machine learning approaches with traditional signal processing methods, are also discussed. The paper concludes by highlighting critical gaps in existing research and proposing future directions.
本文综述了水下波束形成(UWB)系统的最新进展,重点介绍了其在水下通信、传感和环境监测中的关键作用。探讨了波束形成的各种应用,从海上监视到海洋生物监测,并指出了波束形成在提高水声环境中的信号清晰度、空间分辨率和噪声抑制方面的意义。深入讨论了水下环境带来的独特挑战,这些挑战给波束形成过程带来了复杂性,如非平稳噪声干扰、严重的信号衰减、多径传播和动态环境可变性。该综述系统地讨论和检查了传统的、自适应的和基于学习的波束形成技术,分析了它们的优势、局限性以及在各种水下条件下的适用性。详细分析了到达方向(DOA)估计方法。此外,本文调查了通常用于评估波束形成算法性能的指标,并对其性能进行了数值比较。本文还讨论了波束形成的新趋势,特别是数据驱动的机器学习方法与传统信号处理方法的集成。论文最后强调了现有研究的关键差距,并提出了未来的方向。
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引用次数: 0
Global and local behaviors of sand-steel interfaces subjected to cyclic and post-cyclic shear loading 循环和后循环剪切荷载作用下砂-钢界面的整体和局部特性
IF 11.8 1区 工程技术 Q1 ENGINEERING, MARINE Pub Date : 2026-02-01 DOI: 10.1016/j.joes.2025.11.009
Shuang Shu , Wojciech Sumelka , Zhitao Ye , Yifei Sun , Fei Zhang
The sand-steel interface (SSI) behavior is crucial for the stability of offshore structures in marine environments. A series of cyclic and post-cyclic shear tests were conducted using a modified direct shear apparatus (MDSA), to examine both global and local SSI behaviors. Experimental visualization and image processing improvements enabled a comprehensive investigation of the influences of material properties and loading characteristics. Cyclic loading induced significant dilation-contraction alternations, with overall contraction predominating. Boundary conditions influenced the trends of cyclic shear stress, which stabilized after a specific loading cycles. Post-cyclic SSI exhibited notable dilation and stress-softening. Sands with improved gradation showed poor SSI strength development and more pronounced cyclic contraction. An optimal surface roughness for SSI strength development was identified. Dilation state lines, reflecting cyclic deformation, displayed a downward trend with progressive loading cycles. Friction angles, affected by displacement amplitude, underwent a weakening-strengthing-stabilizing process with cumulated shear displacement. Shear band thicknesses, sensitive to normal stress, surface roughness, and displacement amplitude, gradually stabilized with increased shear displacement. Grain microstructure evolution during cyclic shearing depended on the initial sand fabric. Fine grains migrated and collapsed during cyclic loading, combined with grains lying down, lubricating sand-sand friction. Insignificant macro-micro changes in SSI with a smooth plate indicated only sliding motion occurring.
砂-钢界面(SSI)性能对海洋环境下海上结构体的稳定性至关重要。使用改进的直接剪切装置(MDSA)进行了一系列循环和后循环剪切试验,以检查整体和局部SSI行为。实验可视化和图像处理的改进使得对材料特性和载荷特性的影响进行了全面的研究。循环加载引起显著的胀缩交替,以全面收缩为主。边界条件影响循环剪应力的变化趋势,在特定的加载周期后,循环剪应力趋于稳定。循环后SSI表现出明显的扩张和应力软化。级配改善的砂的SSI强度发展较差,循环收缩更明显。确定了SSI强度发展的最佳表面粗糙度。随着加载周期的增加,反映循环变形的膨胀状态线呈下降趋势。摩擦角受位移幅值的影响,随着剪切位移的累积经历了一个减弱-增强-稳定的过程。剪切带厚度对正应力、表面粗糙度和位移幅值敏感,随着剪切位移的增加逐渐趋于稳定。循环剪切过程中颗粒微观结构的演变取决于初始砂构。在循环加载过程中,细粒颗粒迁移、崩塌,并伴有颗粒平躺、润滑砂-砂摩擦。光滑板SSI的宏微观变化不显著,表明只发生滑动运动。
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引用次数: 0
Phase plane bifurcation analysis of water wave dynamics in the simplified modified Camassa–Holm model with friction and wind effects 考虑摩擦和风的简化修正Camassa-Holm模型中水波动力学的相平面分岔分析
IF 11.8 1区 工程技术 Q1 ENGINEERING, MARINE Pub Date : 2026-02-01 DOI: 10.1016/j.joes.2025.08.008
Md. Ekramul Islam , Md. Abde Mannaf , Mst. Tania Khatun , Md. Azizur Rahman , M. Ali Akbar , Udoy S. Basak
The simplified modified Camassa–Holm equation plays a pivotal role in modeling nonlinear wave dynamics across diverse fields, including optical fibers, biological transport, plasma physics, and shallow water flows. Its unique mathematical structure captures essential features of wave-breaking phenomena, peakon interactions, and dispersive effects that are crucial for understanding real-world wave behavior. Motivated by the need to predict extreme wave events and design efficient wave energy systems, this study investigates how external forces such as friction and wind influence wave dynamics. We explore rich dynamical transitions through a detailed bifurcation analysis. Our systematic investigation reveals critical thresholds in parameter space where small changes in forcing conditions lead to dramatic transformations in wave behavior. We identify key equilibrium states, nodes, foci, centres, and saddle points, that govern the system’s response, leading to the discovery of novel wave solutions, including kink-like waves, periodic structures, and breather-like solitons. These soliton shapes have potential applications in coastal protection, energy harvesting from waves, and signal modulation in nonlinear optical systems, highlighting their practical significance. These solutions are rigorously validated through numerical simulations and stability analysis, confirming their physical relevance across different parameter regimes. The solutions are derived in exact analytical forms using hyperbolic and trigonometric functions, revealing how parameter variations trigger qualitative shifts in wave patterns. Specifically, we demonstrate how the wind parameter α controls wave amplification while the friction parameter β governs energy dissipation, providing a complete picture of their competing effects on wave evolution. Our findings deepen the theoretical understanding of nonlinear waves while offering practical insights for coastal engineering, climate modeling, signal transmission, and wave energy systems. By explicitly linking solution families to potential engineering applications, this study provides a framework for designing devices that exploit specific soliton structures to achieve targeted wave control and energy efficiency. The methodology developed here can be readily extended to other nonlinear dispersive systems, opening new avenues for investigating wave-structure interactions in various physical contexts.
简化后的Camassa-Holm方程在不同领域的非线性波动动力学建模中起着关键作用,包括光纤、生物输运、等离子体物理和浅水流动。其独特的数学结构捕捉了破波现象、峰子相互作用和色散效应的基本特征,这些特征对于理解现实世界的波行为至关重要。由于需要预测极端波浪事件和设计有效的波浪能系统,本研究探讨了摩擦和风等外力如何影响波浪动力学。我们通过详细的分岔分析来探索丰富的动态转换。我们的系统调查揭示了参数空间的临界阈值,其中强迫条件的微小变化导致波浪行为的急剧转变。我们确定了控制系统响应的关键平衡状态、节点、焦点、中心和鞍点,从而发现了新的波解,包括扭结状波、周期结构和呼吸状孤子。这些孤子形状在海岸防护、波浪能量收集和非线性光学系统信号调制等方面具有潜在的应用价值,具有重要的现实意义。这些解决方案通过数值模拟和稳定性分析进行了严格验证,确认了它们在不同参数范围内的物理相关性。利用双曲函数和三角函数以精确的解析形式推导出解决方案,揭示了参数变化如何引发波浪模式的定性变化。具体来说,我们展示了风参数α如何控制波的放大,而摩擦参数β如何控制能量耗散,从而提供了它们对波演化的竞争影响的完整图像。我们的发现加深了对非线性波浪的理论理解,同时为海岸工程、气候建模、信号传输和波浪能系统提供了实际见解。通过明确地将解决方案族与潜在的工程应用联系起来,本研究为设计利用特定孤子结构来实现目标波控制和能源效率的设备提供了一个框架。这里开发的方法可以很容易地扩展到其他非线性色散系统,为研究各种物理环境下的波结构相互作用开辟了新的途径。
{"title":"Phase plane bifurcation analysis of water wave dynamics in the simplified modified Camassa–Holm model with friction and wind effects","authors":"Md. Ekramul Islam ,&nbsp;Md. Abde Mannaf ,&nbsp;Mst. Tania Khatun ,&nbsp;Md. Azizur Rahman ,&nbsp;M. Ali Akbar ,&nbsp;Udoy S. Basak","doi":"10.1016/j.joes.2025.08.008","DOIUrl":"10.1016/j.joes.2025.08.008","url":null,"abstract":"<div><div>The simplified modified Camassa–Holm equation plays a pivotal role in modeling nonlinear wave dynamics across diverse fields, including optical fibers, biological transport, plasma physics, and shallow water flows. Its unique mathematical structure captures essential features of wave-breaking phenomena, peakon interactions, and dispersive effects that are crucial for understanding real-world wave behavior. Motivated by the need to predict extreme wave events and design efficient wave energy systems, this study investigates how external forces such as friction and wind influence wave dynamics. We explore rich dynamical transitions through a detailed bifurcation analysis. Our systematic investigation reveals critical thresholds in parameter space where small changes in forcing conditions lead to dramatic transformations in wave behavior. We identify key equilibrium states, nodes, foci, centres, and saddle points, that govern the system’s response, leading to the discovery of novel wave solutions, including kink-like waves, periodic structures, and breather-like solitons. These soliton shapes have potential applications in coastal protection, energy harvesting from waves, and signal modulation in nonlinear optical systems, highlighting their practical significance. These solutions are rigorously validated through numerical simulations and stability analysis, confirming their physical relevance across different parameter regimes. The solutions are derived in exact analytical forms using hyperbolic and trigonometric functions, revealing how parameter variations trigger qualitative shifts in wave patterns. Specifically, we demonstrate how the wind parameter <span><math><mi>α</mi></math></span> controls wave amplification while the friction parameter <span><math><mi>β</mi></math></span> governs energy dissipation, providing a complete picture of their competing effects on wave evolution. Our findings deepen the theoretical understanding of nonlinear waves while offering practical insights for coastal engineering, climate modeling, signal transmission, and wave energy systems. By explicitly linking solution families to potential engineering applications, this study provides a framework for designing devices that exploit specific soliton structures to achieve targeted wave control and energy efficiency. The methodology developed here can be readily extended to other nonlinear dispersive systems, opening new avenues for investigating wave-structure interactions in various physical contexts.</div></div>","PeriodicalId":48514,"journal":{"name":"Journal of Ocean Engineering and Science","volume":"11 1","pages":"Pages 1-12"},"PeriodicalIF":11.8,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146102753","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Improved hybrid Z-number Bayesian network approach to predict mooring line failure during cargo operations in ships 改进的混合z数贝叶斯网络方法预测船舶货物作业中系泊索故障
IF 11.8 1区 工程技术 Q1 ENGINEERING, MARINE Pub Date : 2026-02-01 DOI: 10.1016/j.joes.2025.10.007
Murat Mert Tekeli , M. Fatih Gulen , Emre Akyuz , Ângelo P. Teixeira
Mooring operations are considered one of the most high-risk activities in cargo ship operations due to the complex interplay of human factors, equipment condition and environmental factors. This paper investigates quantitatively the mooring line risk during cargo operations in ships. To achieve this purpose, a robust practical approach integrating improved Z-numbers and a Bayesian network is proposed to perform probabilistic risk analysis. In the approach, whilst improved Z-numbers are employed to model uncertainty more effectively, considering both the probability of failure and the confidence in the data, the Bayesian network is used to analyse causal relationships and update risk assessments dynamically based on real-time operational data and environmental conditions. The proposed approach enhances predictive accuracy, enabling ship crews or technical ship inspectors to make informed decisions on mitigating risks under uncertain and variable conditions. The findings of the paper show that the mooring line failure probability during cargo operations is 0.015, and the root cause, “failure to adapt to tidal conditions”, is the main contributing factor. The proposed risk assessment approach provides valuable contributions for implementing proactive risk mitigation strategies and enhancing operational safety in cargo operations in maritime transportation.
由于人为因素、设备状况和环境因素的复杂相互作用,系泊作业被认为是货船作业中风险最高的作业之一。本文对船舶货物作业中系泊线风险进行了定量研究。为了实现这一目标,提出了一种集成改进z数和贝叶斯网络的鲁棒实用方法来进行概率风险分析。在该方法中,考虑到故障概率和数据置信度,采用改进的z数更有效地建模不确定性,贝叶斯网络用于分析因果关系,并基于实时操作数据和环境条件动态更新风险评估。所提出的方法提高了预测的准确性,使船员或技术船舶检查员能够在不确定和可变的条件下做出明智的决策,以降低风险。研究结果表明,在货物作业过程中,系泊线失效概率为0.015,而“不适应潮汐条件”是其根本原因,是造成系泊线失效的主要因素。拟议的风险评估方法为实施主动风险缓解战略和加强海上货物运输业务安全作出了宝贵贡献。
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引用次数: 0
Fishing ship trajectory prediction considering trajectory behavior characteristics 考虑轨迹行为特征的渔船轨迹预测
IF 11.8 1区 工程技术 Q1 ENGINEERING, MARINE Pub Date : 2026-02-01 DOI: 10.1016/j.joes.2025.10.009
Jianwen Ma , Zhaojun Chen , Jingru Yuan , Jinyu Li , Guoxin Liu
Understanding and accurately predicting the trajectory changes of fishing ships is of great significance for effectively preventing collisions between merchant and fishing ships and enhancing the safety supervision of fishing ships. Due to the problems that the existing methods for predicting the trajectories of fishing ships are few and have low accuracy, and the spatiotemporal interaction information and the characteristics of companion navigation of fishing ships are not fully utilized, a Space-Time-Transformer (ST-Transformer) model considering the spatiotemporal interaction and companion navigation behavior characteristics of fishing ship trajectories is proposed. This model is based on the Transformer framework and considers the trajectory information of fishing ships under navigation conditions, and through stacking Graph Convolutional Networks (GCN), it mines the multi-layer spatial interaction with surrounding ships. Meanwhile, in order to increase the model's ability to capture the behavior characteristics of convoy navigation of fishing ships and improve the accuracy of fishing ship trajectory prediction, the concept of companion loss function is proposed, and the Fréchet distance is used to measure the similarity of fishing ship trajectories, to better quantify the dynamic spatial-temporal distance between fishing ships from an overall perspective. Through the evaluation and comparative analysis of different experimental scenarios and experimental methods, the ST-Transformer model has exhibited excellent accuracy, robustness, and generalization ability, and can achieve fishing ship trajectory prediction with relatively high precision.
了解和准确预测渔船的轨迹变化,对于有效防止商船与渔船碰撞,加强对渔船的安全监管具有重要意义。针对现有渔船轨迹预测方法少且精度低,以及未充分利用渔船轨迹时空相互作用信息和伴航行为特征等问题,提出了一种考虑渔船轨迹时空相互作用和伴航行为特征的时空变换模型。该模型基于Transformer框架,考虑渔船在航行条件下的轨迹信息,通过叠加图卷积网络(GCN)挖掘与周围船舶的多层空间相互作用。同时,为了增强模型捕捉渔船护航航行行为特征的能力,提高渔船轨迹预测的精度,提出了同伴损失函数的概念,并利用fracimchet距离度量渔船轨迹的相似性,从全局角度更好地量化渔船间的动态时空距离。通过对不同实验场景和实验方法的评估和对比分析,ST-Transformer模型表现出了优异的精度、鲁棒性和泛化能力,能够以较高的精度实现渔船轨迹预测。
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引用次数: 0
Adaptive RBF network based sliding mode controller with novel switching term for hovering deep sea mining vehicle trajectory tracking 基于自适应RBF网络的新型切换项滑模控制器用于悬停深海采矿车轨迹跟踪
IF 11.8 1区 工程技术 Q1 ENGINEERING, MARINE Pub Date : 2026-02-01 DOI: 10.1016/j.joes.2025.09.002
Jialuan Xiao , Zida Shan , Junjun Cao , Yanjie Sun , Yang Cao , Xinguang Du , Baoheng Yao , Caoyang Yu , He Zhang
Hovering deep-sea mining provides a new direction for deep-sea nodule mining; however, accurate trajectory tracking of hovering mining vehicle remains a key challenge. This paper presents an adaptive RBF network sliding mode controller (ARBFNNSMC) for trajectory tracking of hovering mining vehicles. The ARBFNNSMC control loop features an RBF network to compensate for lumped external disturbance and system uncertainty, online adjustment of the RBF network parameters are achieved via adaptive laws derived based on Lyapunov function to guarantee closed-loop stability. In addition, a new type of smooth switching term is proposed on the basis of the plate-pole capacitor model for reduced chattering and adopted in ARBFNNSMC. To assess control performance and robustness, numerical simulations were performed based on three typical hovering mining trajectories. The simulation results demonstrate that the proposed controller achieved excellent robustness in all simulation cases, attaining reduced tracking error, overshoot, and settling time with improved chattering suppression in control output. Compared to conventional sliding mode controller, the mean RMS tracking error and settling time were 30.9% and 61.8% lower, respectively, while the thrust oscillation was reduced by 57.3%.
悬停式深海开采为深海结核开采提供了新的方向;然而,悬停采矿车的精确轨迹跟踪仍然是一个关键的挑战。提出了一种用于悬停采矿车辆轨迹跟踪的自适应RBF网络滑模控制器(ARBFNNSMC)。ARBFNNSMC控制回路采用RBF网络补偿集总外部干扰和系统不确定性,通过基于Lyapunov函数导出的自适应律实现RBF网络参数的在线调整,以保证闭环的稳定性。此外,在板极电容模型的基础上,提出了一种新型的平滑开关项,用于ARBFNNSMC中。为了评估控制性能和鲁棒性,基于三种典型的悬停采矿轨迹进行了数值模拟。仿真结果表明,所提出的控制器在所有仿真情况下都具有良好的鲁棒性,减小了跟踪误差、超调量和稳定时间,并改善了控制输出的抖振抑制。与传统滑模控制器相比,该控制器的平均均方根跟踪误差和稳定时间分别降低了30.9%和61.8%,推力振荡降低了57.3%。
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引用次数: 0
Multi-layered heat source model for fiber laser welding of cryogenic steel 低温钢光纤激光焊接多层热源模型
IF 11.8 1区 工程技术 Q1 ENGINEERING, MARINE Pub Date : 2026-02-01 DOI: 10.1016/j.joes.2025.08.003
Changmin Pyo , Jaewoong Kim , Hyunseok Oh
Simulation models can be effectively used to predict welding distortion and residual stress in laser welding systems. To this end, developing a sophisticated heat source model for finite element analysis (FEA) is crucial. This study proposes a novel multi-layered heat source model for FEA to predict the melting zone of the welds in fiber laser welding. The proposed model has multiple degrees of freedom sufficient to simulate various heat sources. A systematic approach by solving inverse problems with global optimization is devised to estimate heat source model parameters. To achieve this, a simplified FEA model is incorporated to accelerate the simulation process. Experimental results using 9% nickel steel indicate that the proposed framework provides more accurate predictions on the melting zone of the welds than existing methods while reducing the computational cost by 1/2000. The proposed framework can be used by field engineers to find the relevant heat source subjected to on-site welding conditions, minimizing trials and errors. With this method, fast and accurate welding simulations can be performed, ultimately leading to improved productivity.
仿真模型可以有效地预测激光焊接系统的焊接变形和残余应力。为此,开发一个复杂的热源模型进行有限元分析(FEA)是至关重要的。本文提出了一种新的多层热源有限元模型,用于预测光纤激光焊接焊缝的熔化区。该模型具有多个自由度,足以模拟各种热源。提出了一种基于全局优化的系统求解逆问题的热源模型参数估计方法。为了实现这一目标,采用了简化的有限元模型来加快仿真过程。使用9%镍钢的实验结果表明,该框架比现有方法提供了更准确的焊缝熔化区域预测,同时将计算成本降低了1/2000。该框架可用于现场工程师在现场焊接条件下找到相关的热源,最大限度地减少试验和错误。利用这种方法,可以进行快速准确的焊接模拟,最终提高生产率。
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引用次数: 0
In-situ visualization of hydrostatic-dependent mechanical deformation evolution for underwater acoustic coating using customized X-ray imaging technology 基于定制x射线成像技术的水声涂层流体静力力学变形演化现场可视化
IF 11.8 1区 工程技术 Q1 ENGINEERING, MARINE Pub Date : 2026-02-01 DOI: 10.1016/j.joes.2025.10.008
Songmao Zhang , Jinju Liu , Yu Liu , Weiqian Tian , Jingdong Hu , Yuren Wang
Acoustic absorption in underwater coatings decreases with increasing hydrostatic pressure due to pressure-induced morphological changes in embedded air cavities. However, limited experimental characterization and imprecise modeling of cavity deformation under high pressure have hindered both theoretical progress and mechanistic understanding. Here, we use X-ray computed tomography (CT) to measure cavity deformation in situ, establishing a multiscale framework to analyze structural changes over 0–10 MPa. In situ measurements and improved imaging techniques allow accurate tracking of microstructural changes under triaxial stress, revealing patterns of cavity evolution and petal-like deformations caused by edge effects. By combining experiments and simulations, we demonstrate that cavity volume contraction follows a nonlinear power-law dependence on hydrostatic pressure and explain stress-concentration mechanisms at cavity-matrix interfaces. Impedance-tube experiments and numerical modeling show that CT-informed models that account for edge effects outperform simplified models. This work offers technological support and new analytical methods for designing pressure-resistant, low-frequency broadband underwater acoustic coatings.
水下涂层的声吸收随着静水压力的增加而降低,这是由于压力引起的嵌入空腔的形态变化。然而,有限的实验表征和不精确的高压下空腔变形建模阻碍了理论进展和机理理解。在这里,我们使用x射线计算机断层扫描(CT)原位测量空腔变形,建立一个多尺度框架来分析0-10 MPa的结构变化。原位测量和改进的成像技术可以精确跟踪三轴应力下的微观结构变化,揭示由边缘效应引起的腔演化和花瓣状变形的模式。通过实验和模拟相结合,我们证明了空腔体积收缩遵循非线性幂律,依赖于静水压力,并解释了空腔-基质界面的应力集中机制。阻抗管实验和数值模拟表明,考虑边缘效应的ct信息模型优于简化模型。本研究为设计耐压、低频宽带水声涂层提供了技术支持和新的分析方法。
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Journal of Ocean Engineering and Science
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