IEEE Journal of Oceanic Engineering最新文献

{"title":"ML-ARIS: Multilayer Underwater Acoustic Reconfigurable Intelligent Surface With High-Resolution Reflection Control","authors":"Lina Pu;Yu Luo;Aijun Song","doi":"10.1109/JOE.2026.3675840","DOIUrl":"https://doi.org/10.1109/JOE.2026.3675840","url":null,"abstract":"This article introduces a multilayered acoustic reconfigurable intelligent surface (ML-ARIS) architecture designed for the next generation of underwater communications. ML-ARIS incorporates multiple layers of piezoelectric material in each acoustic reflector, with the load impedance of each layer independently adjustable via a control circuit. This design increases the flexibility in generating reflected signals with desired amplitudes and orthogonal phases, enabling passive synthetic reflection using a single acoustic reflector. Such a feature enables precise beam steering, enhancing sound levels in targeted directions while minimizing interference in surrounding environments. Extensive simulations and tank experiments were conducted to verify the feasibility of ML-ARIS. The experimental results indicate that implementing synthetic reflection with a multilayer structure is indeed practical in real-world scenarios, making it possible to use a single reflection unit to generate reflected waves with high-resolution amplitudes and phases.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2374-2389"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451850","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}

{"title":"Filtered Backstepping-Based Robust Trajectory Tracking Control of Marine Surface Vessels Under Mismatched Disturbances With Fixed-Time Disturbance Observers","authors":"Jingqi Zhang;Shuanghe Yu","doi":"10.1109/JOE.2026.3687159","DOIUrl":"https://doi.org/10.1109/JOE.2026.3687159","url":null,"abstract":"This article solves a robust trajectory tracking control problem for marine surface vessels (MSVs) under mismatched disturbances. First, fixed-time disturbance observers (FXDOs) with fewer parameters are designed to estimate matched and mismatched disturbances, which not only reduces the number of parameters and avoids selecting complex parameters, but also enhances the robustness of the system. Then, a robust filtered backstepping trajectory tracking control scheme for an MSV under mismatched disturbances is proposed based on the FXDOs, backstepping control, dynamic surface control technique, and a filtered error compensation dynamic method. Moreover, a rigorous proof is initially presented on the filtered error compensation dynamic method improving the convergent behaviors of the actual tracking error signals. Finally, a simulation example of an MSV is shown to verify the effectiveness of the proposed scheme.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"1874-1884"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451840","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}

{"title":"Passive Sonar Frequency Estimation Using System-Informed Neural Networks With Ensemble-Based Uncertainty Quantification","authors":"Geunhwan Kim;Youngmin Choo","doi":"10.1109/JOE.2026.3688890","DOIUrl":"https://doi.org/10.1109/JOE.2026.3688890","url":null,"abstract":"Accurate and high-resolution frequency estimation is essential for underwater surveillance with passive sonar systems. Recently, system-informed neural networks (SINNs) have been introduced to address the limitations of conventional methods by providing improved generalization, fast inference, and outputs consistent with system models. Prior work has extended SINN with multiple measurements to leverage consistency across them, yet some frequency components remain weak or masked by noise. In this study, we enhance SINN performance using a deep ensemble with uncertainty quantification (UQ), leveraging the temporal continuity of frequency components. Multiple SINNs are trained with distinct initializations on separate training sets, producing diverse predictions for the same test sample. The resulting UQ provides insights into the prediction uncertainty associated with specific frequency bin components. Consequently, we unify adjacent UQs in time to refine the estimated frequency spectrum by further suppressing residual noise. Simulations demonstrate improved noise reduction, though at the cost of occasionally missing minor components. In-situ evaluations using two acoustic data confirm that the proposed scheme surpasses nominal SINN and approaches sparse recovery methods, achieving clearer detection of major components under low signal-to-noise ratio, long-range conditions, albeit at the cost of weakened estimation of minor components.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2314-2328"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11550101","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451872","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}

{"title":"Design and Fabrication of a Compact Waterjet Thruster for Deep-Sea Applications","authors":"Ning Dayong;Liangjia Wang;Liang Gangda;Zhilei Liu;Wang Jinhui;Jiaoyi Hou","doi":"10.1109/JOE.2026.3677513","DOIUrl":"https://doi.org/10.1109/JOE.2026.3677513","url":null,"abstract":"In the context of the growing demand for compact equipment in deep-sea exploration missions, the development of lightweight propulsion systems is confronted with considerable challenges. In view of the necessity to resist high pressure, the design of deep-sea thrusters generally incorporates a bulky configuration. To address this technical bottleneck, this study proposes a novel compact deep-sea thruster based on electromagnetic soft-coupled actuation. The thruster comprises a body support structure, an electromagnetic drive mechanism, and a soft-bodied water bladder. The mechanism in question generates periodic propulsion forces by altering the volume of the bladder in response to pulsed electrical signals. This study investigates the propulsion force and operational cycles of the thruster under varying structural parameters and control currents. A pressure tank is employed to validate the thruster’s pressure resistance, and two typical operational configurations are designed to test its propulsion effectiveness. The findings indicate that the thruster functions reliably at depths in excess of 11 000 m. It has been demonstrated that the two typical configurations are capable of attaining swimming speeds of 92.7 mm/s (1.55 BL/s) and 68.2 mm/s (1.17 BL/s), respectively, thereby demonstrating exceptional propulsion capabilities.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2192-2205"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451892","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}

{"title":"Robust Pitch Control for Floating Offshore Wind Turbines Using LLF-Based Aerodynamic Modeling and Nonsingular Terminal Sliding Mode With Prescribed Performance","authors":"Hao Chen;Zijian Luo;Youming Cai;Jingang Han;Nadia Aït-Ahmed;Mohamed Benbouzid","doi":"10.1109/JOE.2026.3679232","DOIUrl":"https://doi.org/10.1109/JOE.2026.3679232","url":null,"abstract":"Floating offshore wind turbines exhibit complex and highly nonlinear dynamics, making the development of accurate mathematical models particularly challenging. Under substantial external disturbances, conventional control strategies often fall short in delivering fast and precise responses. To address the difficulties associated with modeling aerodynamic characteristics, this study employs extensive simulation data from the standalone AeroDyn module to construct a representative aerodynamic response surface. A locally linear fitting technique is adopted to approximate this surface, resulting in an accurate aerodynamic model. To further mitigate the influence of modeling errors and improve system robustness, a novel pitch control scheme is developed by integrating prescribed performance control (PPC) with nonsingular terminal sliding mode (NTSM) control, referred to as the NTSM-PPC controller. This approach not only enhances tracking accuracy but also circumvents the singularity problems inherent in traditional sliding mode controllers. The effectiveness of the proposed method is validated through cosimulations on MATLAB/Simulink and OpenFAST platforms. Simulation results confirm that the NTSM-PPC controller significantly enhances output power stability and suppresses fluctuations. Specifically, the controller’s root mean square value of 5.00001236 MW is closest to the rated power, with a power variation coefficient of only 0.01%, outperforming the gain scheduled proportional integral (GSPI) (0.57%) and other controllers such as <inline-formula><tex-math>${{bm{C}}_{bm{p}}^{rm{exp}}}$</tex-math></inline-formula>-SMC, <inline-formula><tex-math>${{{hat{bm{C}}}}_{bm{p}}}$</tex-math></inline-formula>-SMC, and <inline-formula><tex-math>${{{hat{bm{C}}}}_{bm{p}}}$</tex-math></inline-formula>-PPC-SMC.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2008-2023"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451916","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}

{"title":"Full-Duplex Hybrid Underwater Networked Control System With Controller Optimization","authors":"Saeed Nourizadeh Azar;Ozgur Gurbuz;Ahmet Onat;Mikail Erdem","doi":"10.1109/JOE.2026.3687160","DOIUrl":"https://doi.org/10.1109/JOE.2026.3687160","url":null,"abstract":"This work introduces a novel full-duplex (FD) hybrid underwater networked control system (NCS) designed to enhance the precision and responsiveness of autonomous underwater vehicles (AUVs). Through streamlined communication and control, the proposed system enables high-performance execution of mission-critical operations, such as docking maneuvers. Unlike prior hybrid systems limited to half-duplex (HD) operation or optical/acoustic systems designed for stationary nodes, this work introduces the first unified framework that integrates FD capabilities into a hybrid acoustic/RF control loop, tuned explicitly for dynamic mobile underwater networks. This framework combines long-range acoustic and short-range RF links, leveraging FD technology to halve the communication latency and double the control update rate compared to conventional HD approaches. To address the variable time delays inherent in underwater networks, we implement and compare two controller optimization strategies: 1) a sequential model-based algorithm configuration (SMAC)-tuned proportional–integral–derivative (PID); and 2) a linear quadratic regulator (LQR) adapted for low-speed station-keeping. The system is evaluated in a high-fidelity cosimulation framework incorporating comprehensive underwater hydrodynamics and channel models. Results demonstrate that the FD hybrid system with LQR control significantly reduces docking time and exhibits superior robustness, maintaining stability under water currents up to 0.7 m/s, whereas SMAC-tuned PID approaches fail beyond 0.3 m/s. This establishes the proposed NCS as a resilient solution for time-critical underwater operations.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"1804-1816"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451899","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}

{"title":"Underwater Blast Noise Measurements in Very Shallow Water","authors":"Jorge E. Quijano","doi":"10.1109/JOE.2026.3693581","DOIUrl":"https://doi.org/10.1109/JOE.2026.3693581","url":null,"abstract":"This article presents measurements and a model-based analysis of the acoustic noise generated by underwater charges (of weights 0.78–13.28 kg TNT equivalent) detonated in very shallow water (≤4-m depth) within a bay with a limited line-of-sight acoustic path toward open and deeper waters. Four bottom-mounted and one mid-water acoustic recorders at ranges 70–1000 m (water depths 4–60 m) were used to measure blast signatures of 48 detonations. Measurements at close range allowed for characterization of the frequency-dependent performance of a bubble curtain mitigation system, and verification of the agreement between the measured data and a theoretical model of an underwater explosion. Measurements at longer ranges provided empirical curves of the peak (PK) level and sound exposure level (SEL) as a function of range, which are more representative for acoustically enclosed locations than current models for confined detonations found in the literature. The measurements indicate strong attenuation outside the bay of the high-frequency oscillations characteristic of the blast shockwave, likely due to the effect of bathymetry features. Modeling of blast noise using the parabolic equation method successfully represented the PK and SEL characteristics of the blasts, but also highlighted the need to refine the seabed geoacoustic model and the bathymetry of the area.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2421-2429"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451928","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}

{"title":"A Novel Framework to Design Tactical Level Controllers for Surface Vehicles Performing Trajectory Tracking Missions","authors":"Kenan Ahiska;Murat Kumru;Izzet Kagan Erunsal;Kemal Leblebicioglu","doi":"10.1109/JOE.2026.3695321","DOIUrl":"https://doi.org/10.1109/JOE.2026.3695321","url":null,"abstract":"In this article, a general optimization framework is introduced to design and test tactical-level controllers for autonomous surface vehicles (ASVs) performing trajectory-tracking missions with a selected guidance law. This framework proposes a resolution to the vagueness in the selection of the cost function definition and the test path during the parameter optimization procedures. Two different strategic-level cost functions are selected for the optimization of the tactical-level controllers, and the selection criteria for the cost function definitions are related to the curvature of the test path. The parameters in tactical-level controllers of different types are optimized using an evolutionary algorithm: JADE with an archive. The performance of the cost-function and test-path association is evaluated in terms of the convergence rate of the optimization routine and sampling diversity throughout the optimization iterations. Using constant-bearing guidance as the guidance law, the approach is tested on four different controllers: proportional–integral–derivative, pole placement, sliding mode, and feedback linearization. It is observed that tactical-level controllers can be designed only by evaluating the strategic-level observations such as position and velocity deviations from the desired values, where these measurements necessitate lower-cost sensors compared to conventional control-input/effort measurements, and the cost computations in the optimization routine can be directly linked to the mission objectives of the trajectory-tracking ASV. Furthermore, along roads with smaller curvatures, the convergence of the optimization routines using a cost definition including the velocity tracking errors is observed to have better convergence and sampling-diversity performance compared to those attained with cost definitions including only the position tracking errors, and the opposite is found to be true along the test tracks with larger curvatures. The results show that it is possible to find an association rule between the cost function definition and the path to be followed in the design of tactical-level controllers for trajectory-tracking ASVs.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"1913-1927"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451951","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}

{"title":"Design and Fabrication of a Compact Waterjet Thruster for Deep-Sea Applications","authors":"Ning Dayong;Liangjia Wang;Liang Gangda;Zhilei Liu;Wang Jinhui;Jiaoyi Hou","doi":"10.1109/JOE.2026.3677513","DOIUrl":"https://doi.org/10.1109/JOE.2026.3677513","url":null,"abstract":"In the context of the growing demand for compact equipment in deep-sea exploration missions, the development of lightweight propulsion systems is confronted with considerable challenges. In view of the necessity to resist high pressure, the design of deep-sea thrusters generally incorporates a bulky configuration. To address this technical bottleneck, this study proposes a novel compact deep-sea thruster based on electromagnetic soft-coupled actuation. The thruster comprises a body support structure, an electromagnetic drive mechanism, and a soft-bodied water bladder. The mechanism in question generates periodic propulsion forces by altering the volume of the bladder in response to pulsed electrical signals. This study investigates the propulsion force and operational cycles of the thruster under varying structural parameters and control currents. A pressure tank is employed to validate the thruster’s pressure resistance, and two typical operational configurations are designed to test its propulsion effectiveness. The findings indicate that the thruster functions reliably at depths in excess of 11 000 m. It has been demonstrated that the two typical configurations are capable of attaining swimming speeds of 92.7 mm/s (1.55 BL/s) and 68.2 mm/s (1.17 BL/s), respectively, thereby demonstrating exceptional propulsion capabilities.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2192-2205"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148452027","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}

{"title":"Application of a Delay Multiply and Sum Reconstruction Algorithm to a Synthetic Aperture Imaging Sonar","authors":"Thomas E. Blanford;Daniel C. Brown;Shawn F. Johnson","doi":"10.1109/JOE.2026.3697320","DOIUrl":"https://doi.org/10.1109/JOE.2026.3697320","url":null,"abstract":"Synthetic aperture sonar (SAS) systems produce high resolution imagery by coherently combining backscattered echoes from an ensemble of pings collected by an array on a moving platform. Typically these echoes are reconstructed using delay and sum (DAS) algorithms. Recent work in biomedical ultrasound imaging has demonstrated nonlinear reconstruction algorithms that exploit the spatial coherence of the field can produce higher quality images than those reconstructed with DAS. This article describes the adaptation and application of one such algorithm, delay multiply and sum (DMAS), to data collected from a downward-looking SAS. The theoretical aspects of this imaging algorithm are discussed and compared to similar algorithms used in biomedical ultrasound imaging. Data collected from a variety of proud and buried targets in a lake environment show improved image quality metrics when reproduced with DMAS compared to DAS. The enhanced image quality may lead to increased detectability of targets encountered by this type of sensor.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2242-2257"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451962","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}