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Utilization of electromagnetic wave (EMW) sensors in an underwater environment has the potential to increase the data rate compared to acoustic-based sensors because of the ability to use larger signal bandwidth. Nevertheless, EMW signals has the drawback of large signal attenuation in underwater, attributed to the high relative permittivity and conductivity of water compared to the atmosphere, hence employment of wide signal bandwidth is necessary to balance the data rate-attenuation trade-off. The purpose of this paper is to analyze the characteristics of both narrowband and wideband EMW signal propagation underwater and devise a path loss model for both cases.

Path loss measurement was conducted using a point-to-point configuration in a laboratory water tank while transmitting narrowband and wideband signals between a pair of wideband underwater antennas. The wideband underwater antennas use buffer-layer structures as the impedance matching layer to optimize the antenna performance when operating underwater. The path loss for narrowband signal was modeled using a multi-layer propagation equation in lossy medium considering losses at the medium boundaries. For the case of the wideband signal, a modified version of the model introducing power integration over bandwidth is adopted. These models were formulated through numerical simulations and verified by measurements.

The measured narrowband path loss marked an 80 dB attenuation using 800 MHz at 2 m distance. The proposed narrowband model agrees well with the measurements, with approximately 3 dB modeling error. Utilization of the proposed wideband path loss model resulted in a reduction of the gradient of the path loss curve compared to the case of the narrowband signal. The measured wideband path loss at 2 m distance underwater was approximately −65 dB, which has been shown to enable a working signal-to-noise ratio of 15 dB. This proves the potential of realizing high data rate transmission using the wideband signal.

The paper proposed a wideband propagation model for an underwater EMW sensor network, using power integration over bandwidth. The effectiveness of using wideband EMW signals in reducing path loss is highlighted, which is seldom discussed in the literature. This result will be of useful reference for using wideband signals in designing a high data rate transmission system in underwater wireless sensor networks, for example, in link budget, performance estimation and parameter design of suitable transmission scheme.

This paper aims to propose a fast machine compression scheme, which can solve the problem of low-bandwidth transmission for underwater images.

This fast machine compression scheme mainly consists of three stages. Firstly, raw images are fed into the image pre-processing module, which is specially designed for underwater color images. Secondly, a divide-and-conquer (D&C) image compression framework is developed to divide the problem of image compression into a manageable size. And extreme learning machine (ELM) is introduced to substitute for principal component analysis (PCA), which is a traditional transform-based lossy compression algorithm. The execution time of ELM is very short, thus the authors can compress the images at a much faster speed. Finally, underwater color images can be recovered from the compressed images.

Experiment results show that the proposed scheme can not only compress the images at a much faster speed but also maintain the acceptable perceptual quality of reconstructed images.

This paper proposes a fast machine compression scheme, which combines the traditional PCA compression algorithm with the ELM algorithm. Moreover, a pre-processing module and a D&C image compression framework are specially designed for underwater images.

Localization is one of the critical issues in Ocean Internet of Things (OITs). The existing research results of localization in OITs are very limited. It poses many challenges due to the difficulty of deploy beacon accurately, the difficulty of transmission distance estimation in harsh ocean environment and the underwater node mobility. This paper aims to provide a novel localization algorithm to solve these problems.

This paper takes the ship with accurate position as a beacon, analyzes the relationship between underwater energy attenuation and node distance and takes them into OITs localization algorithm design. Then, it studies the movement regulation of underwater nodes in the action of ocean current, and designs an Energy-aware Localization Algorithm (ELA) for OITs.

Proposing an ELA. ELA takes the ship with accurate position information as a beacon to solve the problem of beacon deployment. ELA does not need to calculate the information transmission distance which solves the problem of distance estimation. It takes underwater node movement regulation into computation to solve the problem of node mobility.

This paper provides an ELA based on the relationship between propagation energy attenuation and node distance for OITs. It solves the problem of localization in dynamic underwater networks.

The purpose of this paper is to propose development of a formation control algorithm by employing a nonlinear observer for compensating the delay in the sensor signal transmission to the controller arising due to packet dropout in acoustic medium.

A robust control law is developed using the sliding mode approach integrated with a communication consensus algorithm for achieving cooperative motion of acoustic underwater vehicles in a group ensuring the transfer of information among the AUVs. In acoustic medium, inter-vehicle communication is challenging for a group of AUVs deployed in formation because underwater channel encounter a number of constraints such as low data rate, packet delays and dropouts.

It is observed that the sliding mode control-unscented Kalman filter formation control exhibits superior control performance such as mitigating larger initial error of estimation and removing the use of the Jacobian matrices among the three controllers developed. The proposed nonlinear observer estimates the un-measureable states such as position in x, y and z-axes, heading, rudder and sturn angle, needed for generating the formation control. A simulation setup is realized to demonstrate the performance of the proposed observer-based formation controller. Simulations were performed in MATLAB and the obtained results are analysed and compared which envisage that the proposed control algorithm provides efficient formation control under the acoustic communication constraints.

Development of observer for achieving formation control of AUVs in underwater area – common reference velocity and error signals being available to all cooperating AUVs – UKO performs better based on initial error estimation and tracking the same path in shallow water area.

Island attack and defense, emergency rescue, scientific research, civilian fisheries and other fields are inseparable from timely, high-quality underwater communications. However light and other electromagnetic waves are severely attenuated in water, acoustic is currently the only energy carrier that can transmit signals over long distances in water. However, the complex water environment and serious interference bring serious challenges to underwater activities using underwater acoustic sensors-hydroacoustic transducers. Thus, this paper aims to develop a class of high reception sensitivity hydroacoustic transducer structures to provide research and utilization ideas for related scholars.

The electromechanical coupling coefficient is improved by converting the thickness vibration mode of the piezoelectric ceramic into the longitudinal vibration mode of the piezoelectric pillars array, and no polymer is added between the piezoelectric pillars array to reduce lateral coupling as well as internal friction, which can thus reduce the energy losses. Radial stacking in parallel can also enhance the charge generated through the positive piezoelectric effect. The optimal parameters of the structure are determined by equivalent circuit method and finite element analysis, and a hydroacoustic transducer of this structure is fabricated finally.

According to the standard test procedure, the hydroacoustic transducer was tested in water. The tests show that the conductance curve of the stacked high-sensitivity hydroacoustic transducer tested in the air is in good agreement with the simulation results. The resonant frequency is about 118 kHz, and the receiver sensitivity is −166 dB. The stacked material hydroacoustic transducer is in the high-frequency range and has a much higher sensitivity (−166 dB) than many types of hydroacoustic transducers fabricated by piezoelectric ceramic (less than −200 dB).

Although the stacked high-sensitivity hydroacoustic transducer that the authors have fabricated has a performance improvement, it has a limitation. The hollow design of the pillar arrays increases the reception stress on each pillar, and the imposed pressure comes from water also increases simultaneously, so the depth of water that the stacked high-sensitivity hydroacoustic transducer can operate in may be slightly shallower than that made of a pure piezoelectric ceramic block or a piezoelectric ceramic material with polymer added. This will be a problem to be solved in a future deployment.

Whether it is marine scientific research or in various fields such as civil recreation and fishing, hydroacoustic communication and necessary underwater exploration are indispensable for acoustic waves. The hydroacoustic transducer is the sensor that sends and receives sound waves, so a lot of water equipment, such as yachts, sonar buoys, and so on, cannot be separated from the hydroacoustic transducer. In addition, the complexity of the water environment also requires a good performance of the hydroacoustic transducer to facilitate the convenience and effectiveness of subsequent signal processing. Therefore, hydroacoustic transducers have great market and commercial value.

Hydroacoustic transducers are not only of great commercial value but also have a significant impact on the military as well as on people’s livelihood. As we all know, in the area of submarine communication and underwater exploration, sonar is the main force. The performance of the hydroacoustic transducer directly affects the performance of the hydroacoustic signal processing system, and ultimately directly determines the success or failure of the mission. In addition, the large-scale replacement of hydroacoustic transducers on equipment requires the concerted efforts of a large number of practitioners, such as material scientists, structural scientists, mathematicians and so on. Therefore, the rise of hydroacoustic transducers has given rise to a large number of learning positions as well as employment positions.

To enhance the reception sensitivity of the hydroacoustic transducer, the authors have optimized the existing hydroacoustic transducer materials and structures to propose a stacked sensitive element, which can effectively enhance the electromechanical conversion coefficient of the piezoelectric material. Furthermore, the authors have manufactured a hydroacoustic transducer using the proposed stacked sensitive element. The test results of the hydroacoustic transducer also show that the designed stacked sensitive element is of great help to enhance the reception sensitivity of the hydroacoustic transducer.

Examines work on the development of an undersea remotely operated vehicle which is both unmanned and untethered. Outlines the difficulty of the only suitable long‐range underwater communication system being an acoustic link which has a very low bandwidth and a very large delay. The teleprogramming system seeks to overcome this difficulty by creating a computer simulation of the remote environment and allowing the operator to perform his task entirely within that simulated world. Describes the operator station, command generation to the ROV, the detection of errors and the hardware implementation. Concludes that the teleprogramming systems provides a means of performing tasks efficiently, even when the communication between operator and remote site occurs via a low bandwidth, high delay, communications link.

In this paper, an adaptive fuzzy sliding mode controller (AFSMC) is developed for the formation control of a team of autonomous underwater vehicles (AUVs) subjected to unknown payload mass variations during their mission.

A sliding mode controller (SMC) is designed to drive the state trajectories of the AUVs to a switching surface in the state space. The payload mass variation results in parameter variation in AUV dynamics leading to actuator failure. This further leads to loss of communication among the members of the team. Hence, an adaptive SMC based on fuzzy logic is developed to maintain the coordinated motion of AUVs with payload mass variation.

The results are obtained by employing adaptive SMC for AUVs with and without payload variations and are compared. It is observed that the proposed adaptive SMC exhibits improved performance and tracks the desired trajectory in less time even with variation in the payload. The adaptive fuzzy control algorithm is developed to handle variation in payload mass variation. Lyapunov theory is used to establish stability of AFSMC controller.

Perfect alignment is assumed between centres of gravity (OG) and buoyancy (OB), thus AUVs maintaining horizontal stability during motion. The AUVs’ body centres are aligned with centres of gravity (OG), thus the distance vector being rg = [0,0,0]T. As it is a tracking problem, sway motion cannot be neglected as the AUVs are travelling in a curved locus, hence susceptible to Coriolis and centripetal forces. The AUV is underactuated as only two thrusters at the stern plate that are employed for the surge and yaw controls and error in Y- direction are controlled by adjusting control input in surge and heave direction. Control inputs to the thruster are constants, and depth control is achieved by adjusting the rudder angle.

AUVs are employed in military mission or surveys, and they carry heavy weapons or instrument to be deployed at or picked from specific locations. Such tasks lead to variation in payload, causing overall mass variation during an AUV’s motion. A sudden change in the mass after an AUV release or pick load results in variation in depth and average velocity.

The proposed controller can be useful for military missions for carrying warfare and hydrographic surveys for deploying instruments.

A proposed non-linear SMC has been designed, and its performances have been verified in terms of tracking error in X, Y and Z directions. An adaptive fuzzy SMC has been modelled using quantized state information to compensate payload variation. The stability of AFSMC controller is established by using Lyapunov theorem, and reachability of the sliding surface is ensured.

The purpose of this paper is to introduce the modeling and implementation of a novel multimode amphibious robot, which is used for patrol and beach garbage cleaning in the land–water transition zone.

Starting from the design idea of multimode motion, the robot innovatively integrates the guiding fin and wheel together, is driven by the same motor and can achieve multimodal motion such as land, water surface and underwater with only six actuated degrees of freedom. The robot dispenses with the transmission mechanism by directly connecting the servo motor with a reducer to the actuator, so it has the characteristics of simplifying the structure and reducing the quality. And to the best of the authors' knowledge, the design of the robot can be considered the minimal configuration of amphibious robots with the same locomotion capabilities.

Based on the classical assumptions of underwater dynamics analysis, this paper uses basic airfoil theory to analyze the dynamics of the robot’s horizontal and vertical motions and establishes its simplified dynamics model. Also, the underwater motion of the robot is simulated, and the results are in good agreement with the existing research results. Finally, to verify the feasibility of the robot, a prototype is implemented and fully evaluated by experiments. Experimental results show that the robot can reach the maximum speed of 2.5 m/s and 0.3 m/s on land and underwater, respectively, proving the effectiveness of the robot.

The robot has higher work efficiency with the powerful multimode motion, and its simplified structure makes it more stable while costing less.

The purpose of this paper is to review the 2009 AUVSI Conference and Show held in Washington, DC with emphasis on unmanned vehicles or service robots, their application on the ground, in the air, and in the water.

The paper is of in‐depth interviews with exhibitors of unmanned vehicles and the providers of the technologies which are fundamental to their design and deployment.

The unmanned robotic vehicle industry is largely driven by government requirements, both military and civilian. Unmanned service robots are also found in commercial applications such as pipeline surveillance, crop monitoring, and fish school location at sea.

Developers will be challenged to meet the need for improvements in speed, payload, sensor capabilities, autonomous operation, and command and control of fleets of unmanned vehicles.

The paper offers insights into trends and new products in the unmanned robotic vehicle industry.

Acoustic signals of the underwater targets are susceptible to noise, reverberation, submarine topography and biology, therefore it is difficult to precisely locate underwater targets. This paper proposes a new underwater Hanbury Brown-Twiss (HBT) interference passive localization method. This study aims to achieve precise location of the underwater acoustic targets.

The principle of HBT interference with ultrasensitive detection characteristics in optical measurements was introduced in the field of hydroacoustics. The coherence of the underwater target signal was analyzed using the HBT interference measurement principle, and the corresponding relationship between the signal coherence and target position was obtained. Consequently, an HBT interference localization model was established, and its validity was verified through simulations and experiments.

The effects of different array structures on the localization performance were obtained by simulation analysis, and the simulations confirmed that the HBT method exhibited a higher positioning accuracy than conventional beamforming. In addition, the experimental analysis demonstrated the excellent positioning performance of the HBT method, which verified the feasibility of the proposed method.

This study provides a new method for the passive localization of underwater targets, which may be widely used in the field of oceanic explorations.