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学者姓名：罗伟林
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Abstract ：
The performance of underwater target detection techniques is limited by various factors. First, in underwater image data sets, there exists degradation such as color bias, low contrast, and blurring, which affect the accuracy of the detection algorithms. Second, the underwater image data set is difficult to obtain and the cost of making the labeled data sets is high, which also prevents underwater object detection algorithms from fully leveraging their potential. In this article, we propose a self-supervised learning network for underwater target detection. Considering the deficiency that the conventional contrastive learning network pays more attention to the global information and ignores the local information, an auxiliary branch inspired by masked autoencoders is added to the baseline SimSiam network, which collaborates with the main branch to optimize the target network and help the target network learn the local information of the target feature map. A residual spatial cooperative attention module is proposed to be embedded within the proposed self-supervised learning network to obtain remote information through residual structure and construct spatial context features. The method of cooperative attention is used to enhance feature learning ability. Experiments are carried out on a reconstructed underwater target data set. Results show that compared with the baseline network, the method proposed in this article is more suitable for underwater environments and has better mean average precision.
Keyword ：
Attention module Attention module autoencoder autoencoder image augmentation image augmentation self-supervised learning self-supervised learning underwater target detection underwater target detection
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| GB/T 7714 | Luo, Weilin , Lin, Chengyu , Zhou, Huan . Underwater Target Detection by Residual Spatial Cooperative Attention Module-Based Self-Supervised Learning [J]. | IEEE JOURNAL OF OCEANIC ENGINEERING , 2025 . |
| MLA | Luo, Weilin 等. "Underwater Target Detection by Residual Spatial Cooperative Attention Module-Based Self-Supervised Learning" . | IEEE JOURNAL OF OCEANIC ENGINEERING (2025) . |
| APA | Luo, Weilin , Lin, Chengyu , Zhou, Huan . Underwater Target Detection by Residual Spatial Cooperative Attention Module-Based Self-Supervised Learning . | IEEE JOURNAL OF OCEANIC ENGINEERING , 2025 . |
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This paper explores the application of multidisciplinary design optimization to the blades in horizontal-axis wind turbines. The aerodynamics and structural performance of blades are considered in the optimization framework. In the aerodynamic discipline, class function/shape function transformation-based parameterized modeling is used to express the airfoil. The Wilson method is employed to obtain the aerodynamic shape of the blade. Computational fluid dynamics numerical simulation is performed to analyze the aerodynamics of the blade. In the structural discipline, the materials and ply lay-up design are studied. Finite element method-based modal analysis and static structural analysis are conducted to verify the structural design of the blade. A collaborative optimization framework is set up on the Isight platform, employing a genetic algorithm to find the optimal solution for the blade's aerodynamics and structural properties. In the optimization framework, the design variables refer to the length of the blade chord, twist angle, and lay-up thickness. Additionally, Kriging surrogate models are constructed to reduce the numerical simulation time required during optimization. An optimal Latin hypercube sampling method-based experimental design is employed to determine the samples used in the surrogate models. The optimized blade exhibits improved performance in both the aerodynamic and the structural disciplines.
Keyword ：
aerodynamic characteristics aerodynamic characteristics multidisciplinary design optimization multidisciplinary design optimization numerical simulation numerical simulation structural characteristics structural characteristics wind turbine blades wind turbine blades
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| GB/T 7714 | He, Fushan , Zheng, Xingsheng , Luo, Weilin et al. Collaborative Optimization of Aerodynamics and Wind Turbine Blades [J]. | APPLIED SCIENCES-BASEL , 2025 , 15 (2) . |
| MLA | He, Fushan et al. "Collaborative Optimization of Aerodynamics and Wind Turbine Blades" . | APPLIED SCIENCES-BASEL 15 . 2 (2025) . |
| APA | He, Fushan , Zheng, Xingsheng , Luo, Weilin , Zhong, Jianfeng , Huang, Yunhua , Ye, Aili et al. Collaborative Optimization of Aerodynamics and Wind Turbine Blades . | APPLIED SCIENCES-BASEL , 2025 , 15 (2) . |
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ABSTRACT The lines optimisation of an underwater vehicle based on a dynamic surrogate model is studied. Four performances including rapidity, manoeuverability, energy consumption and structure of the underwater vehicle are considered in the optimisation framework constructed by a generalised collaborative optimisation method. Expert knowledge based analytic hierarchy process is conducted to obtain the optimisation object that involves the four performances. Numerical simulation is performed to accurately analyze the rapidity, manoeuverability and structure performances of the underwater vehicle. To reduce the calculation burden, dynamic surrogate models are proposed to replace numerical simulation in the optimisation framework. To guarantee the optimisation efficiency and accuracy, a synthetic minority oversampling technique (SMOTE) and adaptive minimise lower confidence bound (LCB) are combined in constructing the dynamic surrogate models. The proposed optimisation strategy is applied to the SUBOFF model and compared with other dynamic surrogate models. Comparison results prove the advantages of the proposed dynamic surrogate model.
Keyword ：
analytic hierarchy process analytic hierarchy process dynamic surrogate model dynamic surrogate model lower confidence bound lower confidence bound MDO MDO synthetic minority oversampling technique synthetic minority oversampling technique
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| GB/T 7714 | Weifeng Pan , Weilin Luo . Lines optimisation of an underwater vehicle using SMOTE and adaptive minimise LCB based dynamic surrogate models [J]. | Ships and Offshore Structures , 2024 , 19 (1) : 91-108 . |
| MLA | Weifeng Pan et al. "Lines optimisation of an underwater vehicle using SMOTE and adaptive minimise LCB based dynamic surrogate models" . | Ships and Offshore Structures 19 . 1 (2024) : 91-108 . |
| APA | Weifeng Pan , Weilin Luo . Lines optimisation of an underwater vehicle using SMOTE and adaptive minimise LCB based dynamic surrogate models . | Ships and Offshore Structures , 2024 , 19 (1) , 91-108 . |
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For the trajectory tracking of unsymmetric underactuated autonomous underwater vehicle (AUV), a neural network (NN) and disturbance observer-based strategy is proposed. Disturbance and input saturation are considered in the dynamics of AUV. Diffeomorphism transformation is employed to obtain an equivalent system to the original unsymmetric system. To deal with the underactuation, an improved approach angle is proposed and an additional control is designed to stabilise the velocity error in the underactuated sway motion. To deal with the external disturbance, an observer with guaranteed convergence is incorporated into the dynamics controller. To deal with the input constraint, adaptive neural networks are designed to identify the errors induced by input saturation. To avoid the calculation of time derivatives of virtual velocities, command filters are employed. Numerical simulation is performed to verify the effectiveness of the proposed control strategy. Under the proposed controller, both straight line and curve trajectories can be tracked well.
Keyword ：
additional control additional control disturbance observer disturbance observer neural networks neural networks robust control of nonlinear systems robust control of nonlinear systems Underactuated underwater vehicle Underactuated underwater vehicle
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| GB/T 7714 | Luo, Weilin , Wang, Xincheng . Neural network and disturbance observer-based practical trajectory tracking of unsymmetric underactuated AUV with disturbance and input saturation [J]. | SHIPS AND OFFSHORE STRUCTURES , 2024 . |
| MLA | Luo, Weilin et al. "Neural network and disturbance observer-based practical trajectory tracking of unsymmetric underactuated AUV with disturbance and input saturation" . | SHIPS AND OFFSHORE STRUCTURES (2024) . |
| APA | Luo, Weilin , Wang, Xincheng . Neural network and disturbance observer-based practical trajectory tracking of unsymmetric underactuated AUV with disturbance and input saturation . | SHIPS AND OFFSHORE STRUCTURES , 2024 . |
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Navigating through complex flow fields, underwater vehicles often face insufficient thrust to traverse particularly strong current areas, necessitating consideration of the physical feasibility of paths during route planning. By constructing a flow field database through Computational Fluid Dynamics (CFD) simulations of the operational environment, we were able to analyze local uncertainties within the flow field. Our investigation into path planning using these flow field data has led to the proposal of a hierarchical planning strategy that integrates global sampling with local optimization, ensuring both completeness and optimality of the planner. Initially, we developed an improved global sampling algorithm derived from RRT to attain nearly optimal theoretical feasible solutions on a global scale. Subsequently, we implemented corrective measures using directed expansion to address locally infeasible sections. The algorithm's efficacy was theoretically validated, and simulated results based on real flow field environments were provided.
Keyword ：
computational fluid dynamics computational fluid dynamics flow fields flow fields path planning path planning rapidly-exploring random trees rapidly-exploring random trees underwater vehicle underwater vehicle
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| GB/T 7714 | Jin, Fengqiao , Cheng, Bo , Luo, Weilin . Data-Driven Based Path Planning of Underwater Vehicles Under Local Flow Field [J]. | JOURNAL OF MARINE SCIENCE AND ENGINEERING , 2024 , 12 (12) . |
| MLA | Jin, Fengqiao et al. "Data-Driven Based Path Planning of Underwater Vehicles Under Local Flow Field" . | JOURNAL OF MARINE SCIENCE AND ENGINEERING 12 . 12 (2024) . |
| APA | Jin, Fengqiao , Cheng, Bo , Luo, Weilin . Data-Driven Based Path Planning of Underwater Vehicles Under Local Flow Field . | JOURNAL OF MARINE SCIENCE AND ENGINEERING , 2024 , 12 (12) . |
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To improve the efficiency of the multidisciplinary design optimization of underwater vehicles, this paper proposes a combined proxy model with adaptive dynamic sampling. The radial basis function model (RBF), Kriging model, and polynomial response surface model (PRS) are used to construct the proxy model. Efficient sample points are collected based on the synthetic minority oversampling technique (SMOTE) algorithm and the lower confidence bound (LCB) criterion. The proxy model process is integrated after dynamic sampling. The collaborative optimization framework is used, which considers the coupling between the main system set and the subsystem set. The hierarchical analysis method is used to transform the multidisciplinary optimization problem into a single-objective optimization problem. Computational fluid dynamics (CFD) numerical simulation is utilized to simulate underwater submarine navigation. The optimization strategy is applied to the underwater vehicle SUBOFF to optimize resistance and energy consumption. Three dynamic proxy models and three static proxy models are compared. The results show that the optimization efficiency of the underwater vehicle has been improved. To prove the generalization performance of the proposed combined proxy model, a reducer example is investigated for comparison. The results show that the combined proxy model (CPM) is highly accurate and has excellent generalization performance.
Keyword ：
collaborative optimization collaborative optimization energy consumption energy consumption proxy model proxy model resistance resistance underwater vehicle underwater vehicle
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| GB/T 7714 | Sun, Shaojun , Luo, Weilin . Multidisciplinary Design Optimization of Underwater Vehicles Based on a Combined Proxy Model [J]. | JOURNAL OF MARINE SCIENCE AND ENGINEERING , 2024 , 12 (7) . |
| MLA | Sun, Shaojun et al. "Multidisciplinary Design Optimization of Underwater Vehicles Based on a Combined Proxy Model" . | JOURNAL OF MARINE SCIENCE AND ENGINEERING 12 . 7 (2024) . |
| APA | Sun, Shaojun , Luo, Weilin . Multidisciplinary Design Optimization of Underwater Vehicles Based on a Combined Proxy Model . | JOURNAL OF MARINE SCIENCE AND ENGINEERING , 2024 , 12 (7) . |
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For the trajectory tracking of underactuated autonomous underwater vehicle (AUV) subject to disturbances, a disturbance suppression and neural network (NN) compensation based control strategy is proposed. Lyapunov method is used to guide the overall design of control system. To deal with the underactuation, Light of sight (LOS) guidance is used to establish the relationship between heading angle and cross-track error. To suppress the external disturbance, L2-gain design is employed to guarantee the controller robustness. To improve the tracking accuracy, on-line neural networks with guaranteed stability are designed to identify unknown dynamics including the derivatives of virtual controls and errors induced by input saturation. Numerical simulation is performed to verify the effectiveness of the proposed control strategy. Compared with sliding mode controller (SMC) and disturbance observer approaches, the proposed controller performs better in terms of robustness and the input saturation is alleviated.
Keyword ：
Disturbances Disturbances L2-gain L2-gain Light of sight guidance Light of sight guidance Neural networks Neural networks Underactuated underwater robot Underactuated underwater robot
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| GB/T 7714 | Luo, Weilin , Cheng, Bo . Disturbance suppression and NN compensation based trajectory tracking of underactuated AUV [J]. | OCEAN ENGINEERING , 2023 , 288 . |
| MLA | Luo, Weilin et al. "Disturbance suppression and NN compensation based trajectory tracking of underactuated AUV" . | OCEAN ENGINEERING 288 (2023) . |
| APA | Luo, Weilin , Cheng, Bo . Disturbance suppression and NN compensation based trajectory tracking of underactuated AUV . | OCEAN ENGINEERING , 2023 , 288 . |
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In this paper, a disturbance observer based nonsingular fast terminal sliding mode control (NFTSMC) scheme is proposed for the trajectory tracking control of an underactuated autonomous underwater vehicle (AUV). A nonlinear disturbance observer (DO) is designed to estimate complex external disturbances and incorporated into a NFTSMC. In constructing sliding surfaces, the parameter selection in the exponential terms in NFTSMC is expanded. Lyapunov's second method proves the uniformly ultimately bounded stability of the proposed DO based NFTSMC. Simulation is performed to demonstrate the effectiveness of the proposed controller. Compared with the existing NTSMC methods, the convergence rate is improved by the proposed NFTSMC. Moreover, the proposed controller has good robustness to smooth external disturbances. For random disturbances along with an impulse at some time, the proposed controller can also track the disturbance well and achieve good robustness.
Keyword ：
AUV AUV Disturbance observer Disturbance observer Nonsingular fast terminal sliding mode control Nonsingular fast terminal sliding mode control Trajectory tracking control Trajectory tracking control
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| GB/T 7714 | Luo, Weilin , Liu, Shuai . Disturbance observer based nonsingular fast terminal sliding mode control of underactuated AUV [J]. | OCEAN ENGINEERING , 2023 , 279 . |
| MLA | Luo, Weilin et al. "Disturbance observer based nonsingular fast terminal sliding mode control of underactuated AUV" . | OCEAN ENGINEERING 279 (2023) . |
| APA | Luo, Weilin , Liu, Shuai . Disturbance observer based nonsingular fast terminal sliding mode control of underactuated AUV . | OCEAN ENGINEERING , 2023 , 279 . |
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A model of a submerged angular cavitation nozzle is established, which consists of a contraction part, parallel middle part, and expansion part. Based on the CFD technique, a numerical simulation of the flow field of the submerged cavitation nozzle is carried out, in which a multiphase mixture model, cavitation model, and renormalization group (RNG) k-epsilon turbulence model are applied. Considering the influence of mixture density on cavitation, the effects of the inlet contraction part, parallel middle part, and outlet expansion part on the velocity and vapor volume fraction are studied. The numerical simulation results show that the mixture density is essential in the cavitation jet. When the nozzle diameter d is fixed, the designed angular cavitation nozzle with contraction angle alpha = 13.5 degrees, parallel middle part length Ld = 3d, expansion part length Le = 4d, and expansion angle beta = 60 degrees can effectively bring out cavitation. A cavitation cloud is produced near the rigid wall of the outlet expansion section and diffuses in a vortex ring shape. Optimizing the nozzle structure can improve the cavitation effect of the nozzle. The feasibility of this model is verified by relevant experimental data.
Keyword ：
angular cavitation nozzle angular cavitation nozzle cavitation jet cavitation jet numerical simulation numerical simulation submerged environment submerged environment
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| GB/T 7714 | Dong, Wenqiang , Yao, Ligang , Luo, Weilin . Numerical Simulation of Flow Field of Submerged Angular Cavitation Nozzle [J]. | APPLIED SCIENCES-BASEL , 2023 , 13 (1) . |
| MLA | Dong, Wenqiang et al. "Numerical Simulation of Flow Field of Submerged Angular Cavitation Nozzle" . | APPLIED SCIENCES-BASEL 13 . 1 (2023) . |
| APA | Dong, Wenqiang , Yao, Ligang , Luo, Weilin . Numerical Simulation of Flow Field of Submerged Angular Cavitation Nozzle . | APPLIED SCIENCES-BASEL , 2023 , 13 (1) . |
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In this paper, a nonsingular terminal sliding mode control (NTSMC) combined with neural network and disturbance observer is proposed for the trajectory tracking of an underactuated AUV. An adaptive neural network (NN) is designed to compensate the complicated uncertain nonlinearity in the dynamics of AUV. Disturbance observer is employed to estimate the external disturbances. Lyapunov method proves the stability of the proposed controller. Simulation results show that the designed controller has good performance. © 2023 IEEE.
Keyword ：
Controllers Controllers Lyapunov methods Lyapunov methods Sliding mode control Sliding mode control
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| GB/T 7714 | Luo, Weilin , Wang, Yuanjing , Yao, Ligang . Nonsingular terminal sliding mode and NN based control of underactuated AUV [C] . 2023 : 48-53 . |
| MLA | Luo, Weilin et al. "Nonsingular terminal sliding mode and NN based control of underactuated AUV" . (2023) : 48-53 . |
| APA | Luo, Weilin , Wang, Yuanjing , Yao, Ligang . Nonsingular terminal sliding mode and NN based control of underactuated AUV . (2023) : 48-53 . |
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