Ocean Engineering最新文献_第4页

Research on SINS/DVL integrated navigation method assisted by acoustic Doppler delay velocity information 声学多普勒延迟速度信息辅助SINS/DVL组合导航方法研究

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.122943

Jingwen Zhuang , Zhongyi Cao , Qiuying Wang , Dajun Sun

{"title":"Research on SINS/DVL integrated navigation method assisted by acoustic Doppler delay velocity information","authors":"Jingwen Zhuang , Zhongyi Cao , Qiuying Wang , Dajun Sun","doi":"10.1016/j.oceaneng.2025.122943","DOIUrl":"10.1016/j.oceaneng.2025.122943","url":null,"abstract":"<div><div>Facing the demand for precise navigation in the complex maneuvering environment, it's necessary to enhance the platform's robust navigation capability under maneuvering conditions. However, the acoustic information from the Doppler velocity log (DVL) exhibits delay, causing asynchronous data fusion and reducing navigation accuracy for the combined Strap-down Inertial Navigation System (SINS)/DVL navigation system. Therefore, this paper aims to compensate for the delay to improve the navigation accuracy of the SINS/DVL system in a dynamic environment. Firstly, the reasons for the acoustic delay are explained by the Doppler effect and the working principle of DVL. Then, it establishes the mathematical relationship between acoustic delay and navigation error. Finally, a novel navigation algorithm, the TRDDKF (Transmitting and Receiving Double Delay Compensated Kalman Filter) algorithm, is proposed to fully compensate for acoustic delay. This algorithm revises the traditional Delayed Kalman Filter (DKF) algorithm framework. Under simulated maneuvering conditions, the TRDDKF demonstrates 93 % and 76 % higher average navigation accuracy than the Kalman Filter (KF) and the DKF, respectively. In lake trial maneuvering conditions, the TRDDKF achieves 98 % and 56 % improvements over the KF and the DKF. The experimental results reflect the necessity of processing acoustic delay and the feasibility of this paper's method.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122943"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145204403","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

A spatial deformation reconstruction method of deep-sea mining riser from sparse inclination measurements 基于稀疏倾斜测量的深海采矿立管空间变形重建方法

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.123017

Yu Liu , Shuqing Wang , Yufeng Jiang , Junfeng Du

{"title":"A spatial deformation reconstruction method of deep-sea mining riser from sparse inclination measurements","authors":"Yu Liu , Shuqing Wang , Yufeng Jiang , Junfeng Du","doi":"10.1016/j.oceaneng.2025.123017","DOIUrl":"10.1016/j.oceaneng.2025.123017","url":null,"abstract":"<div><div>Mining risers, as critical components of deep-sea mining systems, are susceptible to excessive bending and displacement due to environmental loads, vessel motion, and mining vehicle operations. Accurate monitoring of their spatial deformation is essential for operational safety and efficiency. This paper proposes a novel method for reconstructing the 3D spatial deformation of mining risers using sparse inclination measurements. In this method, the 3D configuration of the riser is projected onto two orthogonal planes, followed by discretization of the structure through dual-axis inclinometer nodes and modeling of each segment using second-order interpolation functions. By integrating spatial curve length equations and correlating the 2D projections through shared coordinates, the 3D shape of the riser is efficiently reconstructed. A numerical simulation on a kilometer-scale deep-sea riser demonstrates the method's feasibility and effectiveness. Inversion accuracy exceeds 92.9 % with a sensor spacing ratio of 1/9, while correlation coefficients remain above 84.3 % and 83.4 % under varying levels of sensor and shipboard GPS noise, respectively. These results confirm that the proposed approach provides both high accuracy and robust performance for real-time spatial deformation reconstruction of mining risers under dynamic conditions.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 123017"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145227654","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

A method for scour depth identification of single pile foundations based on adaptive neuro-fuzzy inference system 基于自适应神经模糊推理系统的单桩冲刷深度识别方法

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.122932

Jian Guo , Chenyu Hu

{"title":"A method for scour depth identification of single pile foundations based on adaptive neuro-fuzzy inference system","authors":"Jian Guo , Chenyu Hu","doi":"10.1016/j.oceaneng.2025.122932","DOIUrl":"10.1016/j.oceaneng.2025.122932","url":null,"abstract":"<div><div>Scour around pile foundations is a major threat to structural safety and durability. While vibration-based methods have shown promise in scour identification, most existing approaches rely solely on frequency changes, neglecting other modal parameters. This study proposes a scour depth identification model based on adaptive neuro-fuzzy inference system (ANFIS), which integrates various modal parameters, including frequency change ratio (<em>FCR</em>), modal assurance criterion (<em>MAC</em>), mode curvature (<em>MC</em>), and mode curvature difference (<em>MCD</em>). Flume experiments and numerical simulations are employed to systematically evaluate the sensitivity and accuracy of these modal indicators under both scour depth and pre-existing local damage. The results indicate that <em>FCR</em>, <em>MC</em>, and <em>MCD</em> are strongly correlated with scour depth, whereas <em>MAC</em> remains limited sensitivity. Furthermore, pre-existing local damage has a negligible effect on predication accuracy. The proposed ANFIS model using three modal indicators achieves a high prediction accuracy (R<sup>2</sup> = 0.95), with majority predictions falling within the 95 % prediction interval. These findings demonstrate a novel and accuracy approach that enhances the accuracy and reliability of scour identification.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122932"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145227682","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

Vortex-cavity interactions in ventilated underwater launches with lateral velocity and waves 具有横向速度和波浪的通气水下发射中的涡腔相互作用

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-03 DOI: 10.1016/j.oceaneng.2025.122967

Housheng Zhang (张后胜) , Yijie Zhang (张毅杰) , Zichao Shao (邵籽超) , Biao Huang (黄彪) , Xin Zhao (赵欣)

{"title":"Vortex-cavity interactions in ventilated underwater launches with lateral velocity and waves","authors":"Housheng Zhang (张后胜) , Yijie Zhang (张毅杰) , Zichao Shao (邵籽超) , Biao Huang (黄彪) , Xin Zhao (赵欣)","doi":"10.1016/j.oceaneng.2025.122967","DOIUrl":"10.1016/j.oceaneng.2025.122967","url":null,"abstract":"<div><div>Ventilated cavitation is widely used for drag-reduction and stability-enhancement in underwater vehicles. This study presents a numerical investigation of ventilated cavitation during the underwater launch process, accounting for effects of lateral velocity and surface waves. The fluid-structure interaction is resolved using the Boundary Data Immersion Method, and the gas-liquid interface is captured with a Volume of Fluid scheme. Validation against underwater launch experiments and vertical water-tunnel tests confirms the accuracy of predicted cavity evolution and vehicle motion. The shoulder-attached cavity evolves in two distinct stages: pre- and post-ventilation. After ventilation onset, the reduced velocity difference across the cavity suppresses Kelvin–Helmholtz instability, leading to a stabilized interface. Transition from external to internal vortical structures further enhances cavity stability. Under the present lateral velocity conditions, lateral motion breaks flow symmetry: under no lateral velocity, periodic vortex merging induces large-scale shedding and load fluctuations; conversely, lateral motion promotes continuous small-scale shedding on the downstream side, preventing energy accumulation and suppressing large-scale oscillations. These findings reveal the role of vortex-cavity interactions in governing hydrodynamic stability during asymmetric launches.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122967"},"PeriodicalIF":5.5,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145227652","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

Potential-flow multisection approach for the vertical water entry of elongated bodies 细长体垂直入水的势流多截面法

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-01 DOI: 10.1016/j.oceaneng.2025.122928

A. Del Buono, A. Iafrati

{"title":"Potential-flow multisection approach for the vertical water entry of elongated bodies","authors":"A. Del Buono, A. Iafrati","doi":"10.1016/j.oceaneng.2025.122928","DOIUrl":"10.1016/j.oceaneng.2025.122928","url":null,"abstract":"<div><div>The present paper introduces a potential-flow multisection approach for analyzing the hydrodynamics of the vertical water impact of elongated bodies. In these cases the derivatives in the longitudinal direction are much smaller than those in the transverse plane and therefore the slender body approximation can be profitably exploited. The original 3D water entry problem is then approximated in a series of 2D problem, in an earth-fixed frame of reference, of the body cross section which are solved by using a fully non-linear potential-flow model. The multisection procedure here proposed, exploits a 2D fully non-linear potential-flow solver, based on a Hybrid BEM-FEM (HBF) approach, in which a Boundary Element Method (BEM) is coupled with a Finite Element Method (FEM) to compute the hydrodynamics of water impact problems. The model is developed and applied to the vertical water entry of aircraft fuselages for which experimental data are available. The evolution of the free surface at different sections and the associated pressure distribution are presented. Particular attention is paid at the integration of loads computed at the different sections in order to provide a prediction of the 3D hydrodynamic force acting on the entering fuselage. Comparisons with available experimental data are presented.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122928"},"PeriodicalIF":5.5,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145222541","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

Wave focusing and sheltering effects of a multi-layered cylindrical structure in regular wave conditions 规则波条件下多层圆柱结构的波聚焦与遮蔽效应

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-01 DOI: 10.1016/j.oceaneng.2025.123039

Yuhao Cen , Dongfang Liang , Yifeng Yang , Xiaodong Liu

{"title":"Wave focusing and sheltering effects of a multi-layered cylindrical structure in regular wave conditions","authors":"Yuhao Cen , Dongfang Liang , Yifeng Yang , Xiaodong Liu","doi":"10.1016/j.oceaneng.2025.123039","DOIUrl":"10.1016/j.oceaneng.2025.123039","url":null,"abstract":"<div><div>Inspired by the metamaterial superscatterer in electromagnetics, a multi-layered cylindrical structure has been proposed as an effective design for integrated breakwater–wave energy converter (WEC) systems, enabling both wave energy concentration and wave sheltering. In this study, a computational fluid dynamics (CFD) model is developed to investigate the wave dynamics around this structure, with the numerical predictions showing good agreement with the experimental measurements. A comparative analysis between the multi-layered and single-layered configurations is conducted, and the structure's performance is systematically evaluated with different water depths, wave frequencies, flume widths and wave heights. The results reveal the wave amplification factor of up to 3.6 due to refraction and superposition, while a downstream shadow zone emerges with an 80 % reduction of the wave height. Shallower or deeper water depths reduce the amplification and promote the early recovery of the incident wave profile, while wider flumes significantly extend the shadow zone due to the delayed reflection at the sidewalls. As the nonlinearity of the incident wave increases, both the amplification and sheltering effects are slightly weakened, and the shadow zone ends at a shorter distance from the structure, i.e., 3.2 times the cylinder diameter.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 123039"},"PeriodicalIF":5.5,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145222539","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

Vertical bearing behavior and influence depth of the five-bucket foundation for offshore wind turbines in layered soil conditions 层状土条件下海上风力机五桶基础竖向承载特性及对深度的影响

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-01 DOI: 10.1016/j.oceaneng.2025.122997

Jijian Lian , Yaqian Zhao , Jiale Li , Yaohua Guo , Haijun Wang

{"title":"Vertical bearing behavior and influence depth of the five-bucket foundation for offshore wind turbines in layered soil conditions","authors":"Jijian Lian , Yaqian Zhao , Jiale Li , Yaohua Guo , Haijun Wang","doi":"10.1016/j.oceaneng.2025.122997","DOIUrl":"10.1016/j.oceaneng.2025.122997","url":null,"abstract":"<div><div>The bearing characteristics of the five-bucket foundation (FBF) for high-capacity deep-water offshore wind turbines in layered soil are critical for engineering safety. This research investigated the vertical bearing behavior and influence depth of the FBF in layered cohesive soil foundations underlain by sand strata through numerical simulation. The effects of soil strength ratio (<em>s</em><sub><em>u,</em></sub> <sub><em>top</em></sub><em>/s</em><sub><em>u,</em></sub> <sub><em>bottom</em></sub>) and the distance from the bucket tip to the soil interface (<em>H</em><sub><em>upon</em></sub>) on the ultimate bearing capacity, failure modes, and load distribution at the foundation top were analyzed. The influence coefficient of ultimate bearing capacity <em>η</em> and its calculation formula were proposed. Additionally, the failure mode and influence depth (<em>Z</em>) were clarified using the “sand layer probe method”. The results show that the combination of strength ratio and interface depth has a significant impact on the bearing capacity of FBF. A low strength ratio and shallow depth enhance the bearing capacity and promote uniform load distribution at the foundation top. When the strength ratio is less than 1.0, the influence depth of the sand layer decreases to approximately 0.3<em>D</em> (<em>D</em> is the maximum lateral width of the FBF). In contrast, when the strength ratio exceeds 1.0, this depth increases to around 0.7<em>D</em>. Both cases are influenced by <em>H</em><sub><em>upon</em></sub> and ultimately converge to a stable value of 0.53<em>D</em>. The research findings can offer theoretical and technical support for the design and bearing calculation of offshore wind power structural foundation engineering.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122997"},"PeriodicalIF":5.5,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145222542","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

A Fully convolutional network for spatiotemporal feature extraction and detection of active sonar target echoes 基于全卷积网络的主动声纳目标回波时空特征提取与检测

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-01 DOI: 10.1016/j.oceaneng.2025.122955

Nan Lu, Tongsheng Shen, Zailei Luo, Xionghui Li, Yongmeng Zhu

{"title":"A Fully convolutional network for spatiotemporal feature extraction and detection of active sonar target echoes","authors":"Nan Lu, Tongsheng Shen, Zailei Luo, Xionghui Li, Yongmeng Zhu","doi":"10.1016/j.oceaneng.2025.122955","DOIUrl":"10.1016/j.oceaneng.2025.122955","url":null,"abstract":"<div><div>Conventional active sonar target detection methods primarily rely on echo amplitude information, often neglecting the valuable spatiotemporal structural features (ST-SF) introduced by signal processing operations such as matched filtering and beamforming. This limitation restricts their detection performance in challenging environments. To address this issue, this paper proposes a novel method termed FCN-STFED (Fully Convolutional Network for Spatiotemporal Feature Extraction and Detection). The core of the method is an encoder-decoder based fully convolutional network (FCN), which learns, in a data-driven and end-to-end manner, a complex nonlinear mapping from time-angle energy matrix, incorporating local contextual information, to detection statistics. This enables effective exploitation of the spatial structure characteristics of target echoes. The detection threshold is adaptively determined via Monte Carlo simulation according to a preset false alarm probability. Experimental results demonstrate that the proposed FCN-STFED method achieves superior performance over the conventional two-dimensional constant false alarm rate (CFAR) detector. It yields an average improvement in detection probability of approximately 21<span><math><mo>%</mo></math></span> at the same false alarm rate when processing complex multi-highlight target models under low signal-to-clutter ratio (SCR) conditions. Visualization analyses further confirm that the FCN successfully learns discriminative structural features of targets, leading to more reliable detection under low SCR conditions. This study validates the significant potential of using deep learning to exploit inherent ST-SF in the signal processing domain, offering an effective and engineering-feasible new approach for enhancing active sonar detection performance in complex environments.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122955"},"PeriodicalIF":5.5,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145222544","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

Directional and adaptive forgetting factor based recursive least square algorithms for maneuvering dynamic identification and motion prediction of unmanned surface vessel 基于方向性和自适应遗忘因子的递归最小二乘无人水面舰艇机动动力识别与运动预测算法

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-01 DOI: 10.1016/j.oceaneng.2025.122948

Mu Tan , Gong Xiang , Xianbo Xiang , Shuhang Yu , Kunpeng Rao , Carlos Guedes Soares

{"title":"Directional and adaptive forgetting factor based recursive least square algorithms for maneuvering dynamic identification and motion prediction of unmanned surface vessel","authors":"Mu Tan , Gong Xiang , Xianbo Xiang , Shuhang Yu , Kunpeng Rao , Carlos Guedes Soares","doi":"10.1016/j.oceaneng.2025.122948","DOIUrl":"10.1016/j.oceaneng.2025.122948","url":null,"abstract":"<div><div>In recent years, Unmanned Surface Vessel (USV) has been increasingly widely used in commercial and scientific research fields. The prerequisite of realizing intelligent control and auxiliary decision of USV is to establish accurate mathematical model of maneuvering motion and carry out effective parameter identification. In this paper, to overcome the limitations of traditional recursive least squares (FFRLS) in dealing with non-continuous excitation and dynamic change environment, two improved recursive least squares algorithms: directional forgetting recursive least squares algorithm (DFFRLS) and adaptive forgetting recursive least squares algorithm (AFFRLS) are proposed.</div><div>In this paper, the training datasets are established by validated CFD simulated turning test and Z-shaped maneuverability test. The parameters of the model are identified by DFFRLS and AFFRLS algorithm, and compared with the traditional FFRLS algorithm. The results show that DFFRLS has higher identification accuracy and robustness through directional decomposition when dealing with abnormal data such as random noise, sensor fault and data mutation. However, the AFFRLS, by adapting the forgetting factor adaptively, makes it possible to be more accurate in the process of data updating, especially when the parameters change rapidly. The research results of this paper show that DFFRLS and AFFRLS algorithms have significant advantages in parameter identification of USVs, especially in specific complex and dynamic environments, which can effectively improve the accuracy and performance of the maneuvering model.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122948"},"PeriodicalIF":5.5,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145222540","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

A LiDAR-based approach for real-time bulk coal extraction in cargo holds 基于激光雷达的货舱散装煤实时抽取方法

IF 5.5 2区工程技术

Ocean Engineering Pub Date : 2025-10-01 DOI: 10.1016/j.oceaneng.2025.122819

Xinyi Yu , Dachuan Shi , Yuanlong Li , Kuiguang Jiao , Changrui Chen , Linlin Ou

{"title":"A LiDAR-based approach for real-time bulk coal extraction in cargo holds","authors":"Xinyi Yu , Dachuan Shi , Yuanlong Li , Kuiguang Jiao , Changrui Chen , Linlin Ou","doi":"10.1016/j.oceaneng.2025.122819","DOIUrl":"10.1016/j.oceaneng.2025.122819","url":null,"abstract":"<div><div>Accurate bulk coal extraction in cargo holds is crucial for ensuring the operational safety and efficiency of automated cleaning systems. This paper presents a LiDAR-based approach tailored for real-time coal feature identification in cargo holds. First, a self-adaptive mechanism is proposed to filter redundant point cloud data, dynamically adjusting to the dimensions of the cargo hold. Next, an angle prediction method is developed based on the structural characteristics of the cargo hold, ensuring precise heading estimation. Subsequently, point cloud registration is performed to determine the robot’s pose and generate comprehensive global point cloud data. Finally, the registered data are projected into spherical coordinates, enabling the identification of coal point clouds based on their angle of repose. The proposed method achieves a data processing rate of 10 Hz. Experimental validation carried out in both simulated and real-world environments, including Dushan Port, demonstrates the capability of the method for accurate and efficient coal extraction, effectively addressing the challenges posed by uneven coal surfaces.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"342 ","pages":"Article 122819"},"PeriodicalIF":5.5,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145222543","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