IEEE Journal of Oceanic Engineering最新文献_第7页

Multidimensional Scour Dynamics Quantification in Offshore Wind Farms: A Multibeam Fusion Approach Integrating Temporal Registration and Surface Morphometry 海上风电场多维冲刷动力学量化：一种整合时间配准和表面形态测量的多波束融合方法

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-03-11 DOI: 10.1109/JOE.2026.3681091

Jiawei Long;Jianhu Zhao;Quanhua Gong;Xi Zhao

{"title":"Multidimensional Scour Dynamics Quantification in Offshore Wind Farms: A Multibeam Fusion Approach Integrating Temporal Registration and Surface Morphometry","authors":"Jiawei Long;Jianhu Zhao;Quanhua Gong;Xi Zhao","doi":"10.1109/JOE.2026.3681091","DOIUrl":"https://doi.org/10.1109/JOE.2026.3681091","url":null,"abstract":"The offshore wind power industry is undergoing rapid expansion, with installed capacity growing exponentially. Scour-induced erosion around turbine foundations remains the foremost challenge to operational stability, as the efficacy and adequacy of scour protection measures directly impact operational costs and safety risks in offshore wind farms. However, the lack of robust methodologies for precise scour monitoring and quantification has hindered practical solutions in engineering applications. This study proposes a multiperiod monitoring and quantitative scour analysis framework utilizing multibeam technology. First, a comprehensive point cloud segmentation method combining <italic>Z</i>-axis normal vector thresholds with Euclidean clustering was developed to isolate turbine pile structures from surrounding seabed terrain while eliminating multibeam bathymetric outliers. Subsequently, two critical alignment challenges were addressed: 1) Planar reference inconsistencies across multitemporal data sets were resolved through random sample consensus algorithm-based registration enhanced by prior knowledge of offshore wind turbine geometries; 2) Vertical benchmarks were aligned by histogram cluster analysis of depth variance. Finally, surface fitting algorithms enabled quantitative scour evaluation for individual turbine foundations. The proposed methodology solves practical problems in two offshore wind farm projects and provides an important reference for quantitative analysis of scour in other offshore wind farm projects and other underwater structures.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2047-2062"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451862","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}

引用次数: 0

Numerical and Experimental Investigations on the Dynamic Coupling Characteristics of a Novel Semisubmersible Floating-Oscillating-Buoy Wave Energy Converter System 一种新型半潜式浮动-振荡-浮筒波浪能转换系统动态耦合特性的数值与实验研究

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-06-29 DOI: 10.1109/JOE.2026.3695781

Pengyuan Sun;Hongzhou He;Xinhui Chen;Zhongqing Liu;Siyuan Zhan;Ye Li

{"title":"Numerical and Experimental Investigations on the Dynamic Coupling Characteristics of a Novel Semisubmersible Floating-Oscillating-Buoy Wave Energy Converter System","authors":"Pengyuan Sun;Hongzhou He;Xinhui Chen;Zhongqing Liu;Siyuan Zhan;Ye Li","doi":"10.1109/JOE.2026.3695781","DOIUrl":"https://doi.org/10.1109/JOE.2026.3695781","url":null,"abstract":"This study develops a semisubmersible floating-oscillating-buoy wave energy converter (WEC), which integrates a semisubmersible platform with a hinged multibuoy cluster, tailored for Chinese offshore regions where wave energy density is approximately one-tenth of European levels. A comprehensive analytical–experimental framework is established to evaluate the coupled dynamic responses and wave power capture of the system under various power take-off (PTO) and arm-length configurations. The model validation is first conducted through the experimental data. Then, the influences of the PTO damping coefficient, PTO elastic coefficient, and actuating arm length on the power capture capability are explored using the analytical model. Ultimately, the optimal wave power absorption is obtained by comparing the root mean square (RMS) values of the extracted power in the PTO system under conditions of different coupling characteristic parameters and different wave frequencies. It is concluded that the power capture capacity of the system can be enhanced by appropriately adjusting the coupling parameters in response to the incident wave frequency. With <inline-formula><tex-math>$bar{c}$</tex-math></inline-formula> = 0.2, <inline-formula><tex-math>$bar{k}$</tex-math></inline-formula> = −0.05, and <inline-formula><tex-math>$overline {L } $</tex-math></inline-formula>= 1.0 at <italic>ω</i> = 1.56 rad/s, the optimal RMS capture power can reach 11.7 kW. Significantly, the analytical model is applicable to many hinged multifloating-body type WECs with a hydraulic PTO system, benefiting the optimal design and efficient operation of full-scale WEC prototypes in real sea conditions.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2091-2108"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451870","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}

引用次数: 0

Coherence-Based Inversion of Pulse-Echo Data for Ocean Sound Speed Estimation 基于相干反演的海洋声速估计脉冲回波数据

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-06-03 DOI: 10.1109/JOE.2026.3688071

Mohammad Reza Mousavi;Len Zedel

{"title":"Coherence-Based Inversion of Pulse-Echo Data for Ocean Sound Speed Estimation","authors":"Mohammad Reza Mousavi;Len Zedel","doi":"10.1109/JOE.2026.3688071","DOIUrl":"https://doi.org/10.1109/JOE.2026.3688071","url":null,"abstract":"Ocean sound speed profile measurement is critical for marine applications, yet current methods necessitate direct sensor deployment. This article introduces a method for remote ocean sound speed measurement inspired by techniques used in medical ultrasound. A single acoustic transmitter projects sound, and a linear array of receivers is used to record sound reflected by naturally occurring targets. An inversion approach is used to optimize coherence among the received signals by searching for trial average sound speed and scatterer locations. For each scatterer location, the average sound speed maximizing the signal alignment is considered as the estimation. The method's effectiveness is validated using a ray acoustic propagation model. We analyze system performance subject to system parameters, including array length, number of receivers, and pulse characteristics, alongside environmental conditions. Compared to medical ultrasound, the ocean environment has several key advantages, including horizontal stratification, the presence of distinct reflectors, and the feasibility of repeated transmissions with correlation-based averaging, which together make the proposed method efficient. With the proposed method, average and local sound speed estimations yield root-mean-square errors of less than 1 and 5 m/s, respectively, for depths between 10 and 50 m. These results are achievable using an 8-m array with 20 receivers and 20 pulse repetitions with the center frequency of 300 kHz.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2390-2408"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451878","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}

引用次数: 0

Obtaining a Reverberant Tank’s Transfer Function and Its Application to the Calibration of Acoustic Transducers and Recorders 混响槽传递函数的获取及其在声学换能器和记录仪标定中的应用

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-03-05 DOI: 10.1109/JOE.2026.3674035

Pedro Mendes Diniz;Caio César Marques Pereira de Alcântara;Stilson Veras Cardoso;Rafael Bruno de Jesus Trindade;Rodrigo Soares de Freitas;Fernando Luiz de Magalhães;Orlando de Jesus Ribeiro Afonso

{"title":"Obtaining a Reverberant Tank’s Transfer Function and Its Application to the Calibration of Acoustic Transducers and Recorders","authors":"Pedro Mendes Diniz;Caio César Marques Pereira de Alcântara;Stilson Veras Cardoso;Rafael Bruno de Jesus Trindade;Rodrigo Soares de Freitas;Fernando Luiz de Magalhães;Orlando de Jesus Ribeiro Afonso","doi":"10.1109/JOE.2026.3674035","DOIUrl":"https://doi.org/10.1109/JOE.2026.3674035","url":null,"abstract":"This article describes a method for the experimental determination of the reverberant field transfer function of an acoustic test tank in the frequency domain. Once obtained, the transfer function enables the calibration of transducers and marine recorders in a reverberant field. The method relies on a room acoustics framework for mathematically separating the direct and reverberant fields in a point inside the tank, but employs a transducer-centric model that dispenses with extensive characterization of the tank itself. A calibration experiment in the 1–24 kHz band of an omnidirectional SX147 transducer is conducted in the reverberant field, resulting in mean absolute errors of 0.78 and 1.00 dB, respectively for the receive and transmit voltage responses, relative to the free-field calibration. The expanded uncertainty (coverage factor of 2) in the calibration arising from the spatial averaging of the transfer function ranges from 4.63% to 8.57% . The model is extended to include a transfer function that models the effect of an acoustic recorder’s body on the field near the hydrophone, presenting a feasible method for obtaining the sensitivity of the recorder. An experiment shows that the free-field sensitivity of the standalone hydrophone can be recovered after compensating the measurements for the tank’s and recorder’s transfer functions with absolute errors smaller than 0.92 dB. The expanded uncertainty due to spatial averaging of 20 measurements in determining the recorder’s transfer function ranges from 6.31% to 13.23% .","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2409-2420"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451865","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}

引用次数: 0

ML-ARIS: Multilayer Underwater Acoustic Reconfigurable Intelligent Surface With High-Resolution Reflection Control 具有高分辨率反射控制的多层水声可重构智能表面

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-03-05 DOI: 10.1109/JOE.2026.3675840

Lina Pu;Yu Luo;Aijun Song

引用次数: 0

An Effective Receptive Field-Guided Parallel Resolution ConvNet for Underwater Salient Object Detection 一种用于水下显著目标检测的有效接受场引导并行分辨率卷积神经网络

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-03-12 DOI: 10.1109/JOE.2026.3679238

Haodi Zhu;Jiayi Su;Xinyi Zhou;Shaojian Yang;Haibin Han;Wenchu Wang;Jiayi Feng;Yan Wei;Fengzhong Qu

{"title":"An Effective Receptive Field-Guided Parallel Resolution ConvNet for Underwater Salient Object Detection","authors":"Haodi Zhu;Jiayi Su;Xinyi Zhou;Shaojian Yang;Haibin Han;Wenchu Wang;Jiayi Feng;Yan Wei;Fengzhong Qu","doi":"10.1109/JOE.2026.3679238","DOIUrl":"https://doi.org/10.1109/JOE.2026.3679238","url":null,"abstract":"Underwater salient object detection (USOD) is challenged by frequent object scale variation and distance-dependent image degradation, where scattering blur and light attenuation jointly hinder robust saliency inference. Existing ConvNet-based USOD models typically rely on fixed effective receptive fields (ERFs), making them ill-suited to balancing long-range context aggregation and detail preservation for scale variations. To address this issue, we introduce the modulation of ERFs in the pure ConvNet USOD architecture design for the first time, inspired by the visual system of the octopus. We further observe two phenomena: first, there exists an inherent tradeoff between scattering-induced blurriness and direct light attenuation within ERFs, and second, the limited ERF prevents USOD models from covering objects across the wide range of scales present in underwater scenes. Building on these observations, we propose EPRNet, an ERF-guided pure ConvNet for USOD. Specifically, an ERF resolution matching module (ERMM) performs resolution-aware ERF modulation with large kernels, while a vision aggregation feedforward network suppresses redundant responses and a parallel resolution interaction backbone exchanges complementary information between adjacent resolution branches. Extensive experiments on underwater benchmarks demonstrate the effectiveness of EPRNet in handling scale variation. To further validate EPRNet, we introduce <italic>DeepseaSOD</i>, a real deep-sea image data set collected during multiple South China Sea expeditions for evaluating USOD in extreme deep-sea operational scenarios.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2478-2494"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451910","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}

引用次数: 0

Real-Time Underwater Visual Target Sensing System With Multitasking via Edge-Cloud Collaboration 基于边缘云协同的多任务实时水下视觉目标传感系统

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-03-05 DOI: 10.1109/JOE.2026.3678825

Wenli Wu;Xiaoning Huang;Bohuan Xue;Xiaoyu Tang

{"title":"Real-Time Underwater Visual Target Sensing System With Multitasking via Edge-Cloud Collaboration","authors":"Wenli Wu;Xiaoning Huang;Bohuan Xue;Xiaoyu Tang","doi":"10.1109/JOE.2026.3678825","DOIUrl":"https://doi.org/10.1109/JOE.2026.3678825","url":null,"abstract":"Underwater object detection (UOD) is significant in marine life protection and resource development. Underwater images frequently exhibit degraded characteristics, such as severe fogging, color distortion, and edge distortion. These challenges result in poor performance of general object detectors in UOD tasks. To address these challenges, this study proposes a novel underwater visual target sensing system (UVTS<inline-formula><tex-math>${}^{2}$</tex-math></inline-formula>). The system includes a lightweight underwater image enhancement-detection network and an edge-cloud collaboration (ECC) mode. Specifically, our proposed enhancement network, lightweight-and-effective enhancement network (LE<inline-formula><tex-math>${}^{2}$</tex-math></inline-formula>Net), takes efficiency and accuracy as the design indicators and achieves real-time image enhancement through a redesigned wide-range channel attention module. The proposed detection network, multilayer supervision network (MLSNet), introduces the mechanism of deep supervision. It redesigns the transmission path of supervisory information to improve the overall fitting ability of the model. At the same time, the redesigned ECC framework fully incorporates the specific characteristics of visual multitasking. We propose and experimentally validate the UVTS<inline-formula><tex-math>${}^{2}$</tex-math></inline-formula>. The results show that the proposed enhancement network LE<inline-formula><tex-math>${}^{2}$</tex-math></inline-formula>Net effectively improves the quality of underwater images using only 300 K parameters and significantly affects the performance in UOD and other tasks. Compared with the baseline, MLSNet improves detection accuracy by 1.5% on the RUOD data set while reducing 11 million parameters and achieves good results on the COCO data set, verifying the generalization of the model. In addition, the proposed ECC deployment scheme notably enhances the rate of inference frames.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2430-2443"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148451947","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}

引用次数: 0

GNSS-A Ranging Model With Acoustic Delay Corrections Achieving Centimeter-Level-Precision Positioning 基于声延迟修正的GNSS-A测距模型实现厘米级精度定位

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-06-25 DOI: 10.1109/JOE.2026.3693865

Shuqiang Xue;Baojin Li;Jie Dong;Zhen Xiao;Shuang Zhao;Kaiming Wang

{"title":"GNSS-A Ranging Model With Acoustic Delay Corrections Achieving Centimeter-Level-Precision Positioning","authors":"Shuqiang Xue;Baojin Li;Jie Dong;Zhen Xiao;Shuang Zhao;Kaiming Wang","doi":"10.1109/JOE.2026.3693865","DOIUrl":"https://doi.org/10.1109/JOE.2026.3693865","url":null,"abstract":"Space geodetic techniques such as the Global Navigation Satellite System (GNSS) typically employ a time observation model based on the stable speed of light in a vacuum. However, the GNSS-Acoustic (GNSS-A) technique relies on a timing observation model based on the reference speed of an acoustic signal in the ocean, requiring costly in-field sound-speed profile (SSP) measurements and the use of computationally intensive ray-tracing algorithms. To overcome these limitations, we propose a conventional sound speed (CSS) GNSS-A ranging model, which adopts the sound speed of sea surface water at a salinity of 35 ‰ and a temperature of 4 °C. This model is augmented with the static acoustic delay generated by the Marine Environment Monitoring Services (MEMS), thereby eliminating the need for the in-field SSP measurements. Validation using the global ocean general circulation model reanalysis product with long-term Japanese GNSS-A seafloor geodetic observations shows that replacing in-field SSP with the proposed model results in horizontal and vertical positioning errors with standard deviations of ≤5 mm and ≤2 cm, respectively. Furthermore, the influence of this substitution on array velocity estimates over a 10-year observation period remains below 0.8 mm per annum.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"2177-2191"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148452028","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}

引用次数: 0

Intelligent Anomaly Detection for Hydraulic System in Deep-Sea Submersible 深海潜水器液压系统异常智能检测

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-04-24 DOI: 10.1109/JOE.2026.3674398

Xing Fang;Xin Tan;Chengxi Zhang;Xiang Gao;Choon Ki Ahn

{"title":"Intelligent Anomaly Detection for Hydraulic System in Deep-Sea Submersible","authors":"Xing Fang;Xin Tan;Chengxi Zhang;Xiang Gao;Choon Ki Ahn","doi":"10.1109/JOE.2026.3674398","DOIUrl":"https://doi.org/10.1109/JOE.2026.3674398","url":null,"abstract":"The hydraulic system used in the deep-sea submersible of China works in the extreme conditions of the deep-sea environment, where the pressure is high, the temperature is low, and the landscape is complicated, which contributes to the risks of critical failures. Anomaly detection is essential to the safety of crews and mission success. However, traditional techniques have two problems: small samples of faults and severe class imbalance (with few faults hidden in the vast sea of normal activity). To cope with these issues, we suggest the Aux-BiGAN, an unsupervised anomaly detector that is specific to the hydraulic system. The approach enhances learning normal data distributions and increases the sensitivity of anomaly detection but traines on normal data only by auxiliary losses. It is tested on actual hydraulic system defects and artificial data of hard failures and incipient soft anomalies. In real-world conditions, it is able to identify severe failures, including hydraulic oil leakage, electronic control unit burnout, and sticking solenoid valves, and its results are supported by postdive maintenance reports by pilots. Experimental results demonstrate the effectiveness of the proposed method, which achieves an area under the receiver operating characteristic curve of 0.9104 on hard anomalies. It outperforms the baseline BiGAN across all metrics. It surpasses state-of-the-art methods in terms of accuracy, F1-score, and false alarm rate across both failure types, validating its enhanced reliability for deep-sea missions.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"1977-1992"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148452051","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}

引用次数: 0

Enhancing Path Following of Underactuated Water-Cleaning ASVs Using Adaptive MPC: Real-Time Parameter Estimation and Sensitivity Analysis in Dynamic Marine Environments 基于自适应MPC增强欠驱动清水asv路径跟踪：动态海洋环境下实时参数估计与灵敏度分析

IF 5.6 2区工程技术

IEEE Journal of Oceanic Engineering Pub Date : 2026-07-01 Epub Date: 2026-06-05 DOI: 10.1109/JOE.2026.3674014

Abdelhaleem Saad;Dong Trong Nguyen;Waseem Akram;Shubham Garg;Irfan Hussain

{"title":"Enhancing Path Following of Underactuated Water-Cleaning ASVs Using Adaptive MPC: Real-Time Parameter Estimation and Sensitivity Analysis in Dynamic Marine Environments","authors":"Abdelhaleem Saad;Dong Trong Nguyen;Waseem Akram;Shubham Garg;Irfan Hussain","doi":"10.1109/JOE.2026.3674014","DOIUrl":"https://doi.org/10.1109/JOE.2026.3674014","url":null,"abstract":"Autonomous surface vehicles (ASVs) offer a scalable solution for marine debris collection, but their dynamics change as trash accumulates. This work explores adaptive control for underactuated water-cleaning ASVs using model-predictive control (MPC) with real-time parameter estimation via moving horizon estimation (MHE). While MHE effectively tracked linear drag variations, it required sufficient excitation for added mass estimation and was computationally expensive. We also analyzed the sensitivity of explicit hydrodynamic estimation to measurement noise and control inputs, revealing potential inaccuracies. A thorough sensitivity study on nominal MPC under varying hydrodynamic conditions, based on the assumption of simulated trash accumulation effects on system dynamics, motivated the development of an adaptive MPC controller, which showed better performance in extreme scenarios (e.g., heavy trash accumulation and strong currents). Field experiments further indicated that wind-induced currents had a greater impact on MPC performance than trash accumulation. In addition, we developed a comprehensive Python simulation platform to incorporate real-time disturbances, highlighting MPC’s limitations when the model is inaccurate. These findings underscore the need for robust control strategies in dynamic marine environments, paving the way for improved autonomy in water-cleaning ASVs.","PeriodicalId":13191,"journal":{"name":"IEEE Journal of Oceanic Engineering","volume":"51 3","pages":"1767-1786"},"PeriodicalIF":5.6,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148452053","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}

引用次数: 0