Underwater pipeline inspection plays a vital role in the proactive maintenance and management of critical marine infrastructure and subaquatic systems.However,the inspection of underwater pipelines presents a challeng...Underwater pipeline inspection plays a vital role in the proactive maintenance and management of critical marine infrastructure and subaquatic systems.However,the inspection of underwater pipelines presents a challenge due to factors such as light scattering,absorption,restricted visibility,and ambient noise.The advancement of deep learning has introduced powerful techniques for processing large amounts of unstructured and imperfect data collected from underwater environments.This study evaluated the efficacy of the You Only Look Once(YOLO)algorithm,a real-time object detection and localization model based on convolutional neural networks,in identifying and classifying various types of pipeline defects in underwater settings.YOLOv8,the latest evolution in the YOLO family,integrates advanced capabilities,such as anchor-free detection,a cross-stage partial network backbone for efficient feature extraction,and a feature pyramid network+path aggregation network neck for robust multi-scale object detection,which make it particularly well-suited for complex underwater environments.Due to the lack of suitable open-access datasets for underwater pipeline defects,a custom dataset was captured using a remotely operated vehicle in a controlled environment.This application has the following assets available for use.Extensive experimentation demonstrated that YOLOv8 X-Large consistently outperformed other models in terms of pipe defect detection and classification and achieved a strong balance between precision and recall in identifying pipeline cracks,rust,corners,defective welds,flanges,tapes,and holes.This research establishes the baseline performance of YOLOv8 for underwater defect detection and showcases its potential to enhance the reliability and efficiency of pipeline inspection tasks in challenging underwater environments.展开更多
Dear Editor,This letter studies the motion planning issue for an autonomous underwater vehicle(AUV)in obstacle environment.We propose a novel integrated detection-communication waveform that enables simultaneous obsta...Dear Editor,This letter studies the motion planning issue for an autonomous underwater vehicle(AUV)in obstacle environment.We propose a novel integrated detection-communication waveform that enables simultaneous obstacle detection and self-localization.展开更多
This paper presents a simplified design tool based on semi-analytical formulations to investigate the dynamic response of an immersed composite cylinder subjected to a far-field underwater explosion.The cylinder is si...This paper presents a simplified design tool based on semi-analytical formulations to investigate the dynamic response of an immersed composite cylinder subjected to a far-field underwater explosion.The cylinder is simply supported,fully submerged and filled with air inside.A classical shell theory using a Double Fourier series solution combined with the first-order Doubly Asymptotic Approximation(DAA1)formulation is adapted to model the fluid-structure interaction.An explicit non-standard finite difference scheme is applied to solve the coupled differential equations in time domain.The validity of DAA1 model is established by comparing the LS-DYNA/USA finite element results with existing experimental data from the literature.Then the proposed semi-analytical solutions are compared to the LS-DYNA/USA results,showing good correlation with a discrepancy of 7%for peak deflections and±9%for maximum stresses at the stand-off point for cylinders with relatively small length over radius ratios.Parametric studies examining the effect of different loading conditions,areal masses,and material configurations reveal that a large charge mass located far from the composite panel turns out to be more damaging than a small mass located nearby due to a broader pressure-time profile.Finally,the proposed model demonstrates a significant reduction in computation time,being approximately 30 times faster than its numerical counterpart,LS-DYNA/USA,making it a valuable tool for the preliminary design stages.展开更多
The continuous decrease in global fishery resources has increased the importance of precise and efficient underwater fish monitoring technology.First,this study proposes an improved underwater target detection framewo...The continuous decrease in global fishery resources has increased the importance of precise and efficient underwater fish monitoring technology.First,this study proposes an improved underwater target detection framework based on YOLOv8,with the aim of enhancing detection accuracy and the ability to recognize multi-scale targets in blurry and complex underwater environments.A streamlined Vision Transformer(ViT)model is used as the feature extraction backbone,which retains global self-attention feature extraction and accelerates training efficiency.In addition,a detection head named Dynamic Head(DyHead)is introduced,which enhances the efficiency of processing various target sizes through multi-scale feature fusion and adaptive attention modules.Furthermore,a dynamic loss function adjustment method called SlideLoss is employed.This method utilizes sliding window technology to adaptively adjust parameters,which optimizes the detection of challenging targets.The experimental results on the RUOD dataset show that the proposed improved model not only significantly enhances the accuracy of target detection but also increases the efficiency of target detection.展开更多
Accurately estimating depth from underwater monocular images is essential for the target tracking task of unmanned underwater vehicles.This work proposes a method based on the Lpg-Lap Unet architecture.First,the Unet ...Accurately estimating depth from underwater monocular images is essential for the target tracking task of unmanned underwater vehicles.This work proposes a method based on the Lpg-Lap Unet architecture.First,the Unet architecture integrates Laplacian pyramid depth residuals and Sobel operators to improve the boundary details in depth images,which may suffer from the feature loss caused by upsampling and the blurriness of underwater images.Multiscale local planar guidance layers then fully exploit the intermediate depth features,and a comprehensive loss function ensures robustness and accuracy.Experimental results on benchmarks demonstrate the effectiveness of Lpg-Lap Unet and its superior performance over state-of-the-art models.An underwater target tracking system is then designed to further validate its real-time capabilities in the AirSim simulation platform.展开更多
The existence of absorption and reflection of light underwater leads to problems such as color distortion and blue-green bias in underwater images.In this study,a depthwise separable convolution-based generative adver...The existence of absorption and reflection of light underwater leads to problems such as color distortion and blue-green bias in underwater images.In this study,a depthwise separable convolution-based generative adversarial network(GAN)algorithm was proposed.Taking GAN as the basic framework,it combined a depthwise separable convolution module,attention mechanism,and reconstructed convolution module to realize the enhancement of underwater degraded images.Multi-scale features were captured by the depthwise separable convolution module,and the attention mechanism was utilized to enhance attention to important features.The reconstructed convolution module further extracts and fuses local and global features.Experimental results showed that the algorithm performs well in improving the color bias and blurring of underwater images,with PSNR reaching 27.835,SSIM reaching 0.883,UIQM reaching 3.205,and UCIQE reaching 0.713.The enhanced image outperforms the comparison algorithm in both subjective and objective metrics.展开更多
In this investigation,a hybrid approach integrating the IDDES turbulence model and FW-H is employed to forecast the hydroacoustic of the rim driven thruster(RDT)under non-cavitation and uniform flow conditions at vary...In this investigation,a hybrid approach integrating the IDDES turbulence model and FW-H is employed to forecast the hydroacoustic of the rim driven thruster(RDT)under non-cavitation and uniform flow conditions at varying loading conditions(J=0.3 and J=0.6).It is revealed that the quadrupole term contribution in the P-FWH method significantly affects the monopole term in the low-frequency region,while it mainly affects the dipole term in the high-frequency region.Specifically,the overall sound pressure levels(SPL)of the RDT using the P-FWH method are 2.27 dB,10.03 dB,and 16.73 dB at the receiving points from R1 to R3 under the heavy-loaded condition,while they increase by 0.67 dB at R1,and decrease by 14.93 dB at R2,and 22.20 dB at R3,for the light-loaded condition.The study also utilizes the pressure-time derivatives to visualize the numerical noise and to pinpoint the dynamics of the vortex cores,and the optimization of the grid design can significantly reduce the numerical noise.The computational accuracy of the P-FWH method can meet the noise requirements for the preliminary design of rim driven thrusters.展开更多
Vortex-induced vibration(VIV)of an underwater manipulator in pulsating flow presents a notable engineering problem in precise control due to the velocity variation in the flow.This study investigates the VIV response ...Vortex-induced vibration(VIV)of an underwater manipulator in pulsating flow presents a notable engineering problem in precise control due to the velocity variation in the flow.This study investigates the VIV response of an underwater manipulator subjected to pulsating flow,focusing on how different postures affect the behavior of the system.The effects of pulsating parameters and manipulator arrangement on the hydrodynamic coefficient,vibration response,motion trajectory,and vortex shedding behaviors were analyzed.Results indicated that the cross flow vibration displacement in pulsating flow increased by 32.14%compared to uniform flow,inducing a shift in the motion trajectory from a crescent shape to a sideward vase shape.In the absence of interference between the upper and lower arms,the lift coefficient of the manipulator substantially increased with rising pulsating frequency,reaching a maximum increment of 67.0%.This increase in the lift coefficient led to a 67.05%rise in the vibration frequency of the manipulator in the in-line direction.As the pulsating amplitude increased,the drag coefficient of the underwater manipulator rose by 36.79%,but the vibration frequency in the cross-flow direction decreased by 56.26%.Additionally,when the upper and lower arms remained in a state of mutual interference,the cross-flow vibration amplitudes of the upper and lower arms were approximately 1.84 and 4.82 times higher in a circular-elliptical arrangement compared to an elliptical-circular arrangement,respectively.Consequently,the flow field shifted from a P+S pattern to a disordered pattern,disrupting the regularity of the motion trajectory.展开更多
Gravity-caisson wharves have been widely constructed in coastal and island regions, which are threaten by potential underwater explosions. This work aims to study the dynamic behaviors and propose a damage evaluation ...Gravity-caisson wharves have been widely constructed in coastal and island regions, which are threaten by potential underwater explosions. This work aims to study the dynamic behaviors and propose a damage evaluation approach of caisson wharf against underwater explosion. Firstly, based on both the underwater explosion loading test and underwater explosion test on the reduced-scale caisson specimen, a high-fidelity finite element analysis approach for numerically reproduce the dynamic behaviors of prototype caisson wharves against underwater explosions was proposed and verified. Secondly, the underwater explosion loadings and dynamic behaviors of prototype caisson wharf (14.9 m×8.1 m×10.95 m) against sequential blast wave and bubble pulsation of typical torpedo with a charge weight of 200 kg were studied. The influences of the seabed and cabin infill materials, as well as the explosion standoff distances of 3.4–10.2 m and depths of burst between 1/4 and 3/4 of water depth, on the blast resistance of caisson wharf were further examined through deflection distributions of exterior wall, damage evolution, and overall displacement of caisson wharf. Finally, a performance evaluation approach for prototype caisson wharves against underwater explosions was proposed by comprehensively considering the bearing, storage, and berthing capabilities. The corresponding protective measures and design recommendations were further provided. It indicates that: (i) under the explosion of a typical torpedo, the damage modes of prototype caisson wharf mainly involve the overall vibration, spalling and cracking of the exterior wall, collapse of the upper operating platform and cracking of the top plate;(ii) the blast wave and cavitation zone generated between the bubble and the exterior wall are the two primary causes of damage to caisson wharf;(iii) compared to the saturated calcareous sand seabed, the assumption of rigid seabed underestimates the spalling on the exterior wall, which is not recommended for scenarios where cavitation zones may generate;(iv) rock rubble is the most effective infill material in improving the blast resistance of caisson wharf among four types of infill configurations, i.e., fully filled and half-filled saturated calcareous sand, rock rubble and pure water;(v) the standoff distance of 10.2 m is regarded as a secure protective range in the scenarios discussed currently. As the standoff distance decreases and the depth of burst increases, the spalling of the exterior wall induced by the cavitation intensifies, posing a great threat to the functionality of caisson wharf.展开更多
Cascading failures pose a serious threat to the survivability of underwater unmanned swarm networks(UUSNs),significantly limiting their service ability in collaborative missions such as military reconnaissance and env...Cascading failures pose a serious threat to the survivability of underwater unmanned swarm networks(UUSNs),significantly limiting their service ability in collaborative missions such as military reconnaissance and environmental monitoring.Existing failure models primarily focus on power grids and traffic systems,and don't address the unique challenges of weak-communication UUSNs.In UUSNs,cascading failure present a complex and dynamic process driven by the coupling of unstable acoustic channels,passive node drift,adversarial attacks,and network heterogeneity.To address these challenges,a directed weighted graph model of UUSNs is first developed,in which node positions are updated according to ocean-current-driven drift and link weights reflect the probability of successful acoustic transmission.Building on this UUSNs graph model,a cascading failure model is proposed that integrates a normal-failure-recovery state-cycle mechanism,multiple attack strategies,and routingbased load redistribution.Finally,under a five-level connectivity UUSNs scheme,simulations are conducted to analyze how dynamic topology,network load,node recovery delay,and attack modes jointly affect network survivability.The main findings are:(1)moderate node drift can improve survivability by activating weak links;(2)based-energy routing(BER)outperform based-depth routing(BDR)in harsh conditions;(3)node self-recovery time is critical to network survivability;(4)traditional degree-based critical node metrics are inadequate for weak-communication UUSNs.These results provide a theoretical foundation for designing robust survivability mechanisms in weak-communication UUSNs.展开更多
To improve the weld formation of underwater-welded Q355B steel and enhance its corrosion resistance,this study introduced pulsed laser welding technology into local dry underwater welding process,building upon continu...To improve the weld formation of underwater-welded Q355B steel and enhance its corrosion resistance,this study introduced pulsed laser welding technology into local dry underwater welding process,building upon continuous laser welding process.A systematic investigation was carried out covering process exploration,weld morphology,microstructure,and comprehensive properties.The results indicate that the pulsed laser weld seam exhibited a distinct ripple pattern on the surface,along with significantly less spatter compared to continuous laser weld seam.Both the weld penetration depth and weld bead width showed a decreasing trend with increasing pulse frequency.The weld metal was primarily composed of ferrite and martensite phases.As the pulse frequency increased,the ferrite content first rose and then declined,reaching a maximum of 39%at 80 Hz.The microhardness and tensile strength of the weld metal were both higher than those of the base material,and all tensile specimens fractured within the base metal during testing.Furthermore,the elongation initially increased and then decreased with rising pulse frequency.The weld produced at 80 Hz achieved the highest elongation of 23.1%,which was 8.9% higher than that of the continuous laser weld seam and reached 93.9% of the base material.Electrochemical corrosion tests revealed that the weld produced at 80 Hz exhibited the best corrosion resistance,reaching 67.0% of that of the base material,while the continuous laser weld seam attained only 47.3% of the base material.This study provides critical theoretical and data support for the process optimization and application of local dry underwater laser welding in the fabrication of marine engineering structures.展开更多
This paper presents an image encryption scheme for underwater optical wireless communication(UOWC)systems based on dynamically generated hyperchaotic S-boxes,aiming to enhance both data security and transmission perfo...This paper presents an image encryption scheme for underwater optical wireless communication(UOWC)systems based on dynamically generated hyperchaotic S-boxes,aiming to enhance both data security and transmission performance in underwater environments.The proposed encryption approach provides strong confusion and diffusion properties and is evaluated over five Jerlov water types with different optical attenuation characteristics.Security analysis demonstrates that the encrypted images achieve information entropy values close to the ideal value of 8(7.9925–7.9993),with very low correlation coefficients in horizontal,vertical,and diagonal directions,as well as the system achieves high values in key metrics such as the Unified Average Changing Intensity(UACI)and Number of Pixel Change Rate(NPCR),ranging from 33.42 to 33.47 and from 99.58%to 99.62%,respectively,both near their theoretical optima.In addition to improving confidentiality,the hyperchaotic encryption process decorrelates pixel intensities and redistributes image spectral content,which enhances robustness against underwater absorption and scattering effects.As a result,improved transmission performance is observed;for example,in Jerlov type I(JI)water,the effective transmission distance is extended from16mfor plain images to 24mfor encrypted images,while the Peak Signal to Noise Ratio(PSNR)at 24 m increases from 9.25 to 20.13 dB after decryption and enhancement.These results confirmthat the proposed scheme provides a dual benefit of secure and reliable image transmission in UOWC systems.展开更多
Enzyme-Induced Carbonate Precipitation(EICP)is an innovative technique to improve soil strength and reduce permeability.However,the use of EICP for reinforcing underwater sand beds remains largely unexplored.To advanc...Enzyme-Induced Carbonate Precipitation(EICP)is an innovative technique to improve soil strength and reduce permeability.However,the use of EICP for reinforcing underwater sand beds remains largely unexplored.To advance EICP implementation in various geotechnical applications,this paper develops a model box system to investigate the effectiveness of the EICP technique in reinforcing underwater sand beds.An"injection-extraction"system is designed to facilitate the flow of the EICP solution through underwater sand layers.Key parameters,including conductivity,pH,and Ca^(2+)concentration of the solution,are measured and analyzed.Electrical resistivity tomography(ERT)is utilized to evaluate the reinforcement effect in the underwater sand bed.The permeability of the model is tested to verify the feasibility of EICP technology for strengthening underwater sands.Furthermore,scanning electron microscope(SEM)is performed to investigate the growth mechanisms of calcium carbonate(CaCO_(3))crystals.The results show that the permeability of the model decreases from 1.28×10^(-2)m/s to 9.66×10^(-5)m/s,representing a reduction of approximately three orders of magnitude.This verifies that the EICP technology can greatly reduce the permeability of underwater sand beds.With increasing grouting cycles,the resistivity of the underwater sand initially decreases and then increases.This variation in sand resistivity is significantly influenced by the ion concentration in the solution,resulting in marked differences in resistivity at various depths and positions within the sand.The findings from this study offer a theoretical basis for the application of EICP technology in reinforcing seabed foundations and supporting marine infrastructure such as offshore pipelines,wind turbines,and oil platforms.展开更多
Underwater images frequently suffer from chromatic distortion,blurred details,and low contrast,posing significant challenges for enhancement.This paper introduces AquaTree,a novel underwater image enhancement(UIE)meth...Underwater images frequently suffer from chromatic distortion,blurred details,and low contrast,posing significant challenges for enhancement.This paper introduces AquaTree,a novel underwater image enhancement(UIE)method that reformulates the task as a Markov Decision Process(MDP)through the integration of Monte Carlo Tree Search(MCTS)and deep reinforcement learning(DRL).The framework employs an action space of 25 enhancement operators,strategically grouped for basic attribute adjustment,color component balance,correction,and deblurring.Exploration within MCTS is guided by a dual-branch convolutional network,enabling intelligent sequential operator selection.Our core contributions include:(1)a multimodal state representation combining CIELab color histograms with deep perceptual features,(2)a dual-objective reward mechanism optimizing chromatic fidelity and perceptual consistency,and(3)an alternating training strategy co-optimizing enhancement sequences and network parameters.We further propose two inference schemes:an MCTS-based approach prioritizing accuracy at higher computational cost,and an efficient network policy enabling real-time processing with minimal quality loss.Comprehensive evaluations on the UIEB Dataset and Color correction and haze removal comparisons on the U45 Dataset demonstrate AquaTree’s superiority,significantly outperforming nine state-of-the-art methods across five established underwater image quality metrics.展开更多
The phenomenon of attenuation and scattering of light propagating in water leads to such problems as color deviation and blur in underwater imaging.These problems bring great challenges to the subsequent feature match...The phenomenon of attenuation and scattering of light propagating in water leads to such problems as color deviation and blur in underwater imaging.These problems bring great challenges to the subsequent feature matching,target recognition and other tasks.Therefore,this paper proposes an underwater image enhancement method by double compensation with comparative adjustment or edge reinforcement.The experiments have found that the proposed method has good underwater color image quality evaluation(UCIQE)value,underwater image quality measures(UIQM)value,and the number of feature matching points.This demonstrates that the proposed method has good color correction ability for underwater images with different attenuation levels,where the processed images have more details suitable for feature matching.展开更多
Underwater imaging is frequently influenced by factors such as illumination,scattering,and refraction,which can result in low image contrast and blurriness.Moreover,the presence of numerous small,overlapping targets r...Underwater imaging is frequently influenced by factors such as illumination,scattering,and refraction,which can result in low image contrast and blurriness.Moreover,the presence of numerous small,overlapping targets reduces detection accuracy.To address these challenges,first,green channel images are preprocessed to rectify color bias while improving contrast and clarity.Se-cond,the YOLO-DBS network that employs deformable convolution is proposed to enhance feature learning from underwater blurry images.The ECA attention mechanism is also introduced to strengthen feature focus.Moreover,a bidirectional feature pyramid net-work is utilized for efficient multilayer feature fusion while removing nodes that contribute minimally to detection performance.In addition,the SIoU loss function that considers factors such as angular error and distance deviation is incorporated into the network.Validation on the RUOD dataset demonstrates that YOLO-DBS achieves approximately 3.1%improvement in mAP@0.5 compared with YOLOv8n and surpasses YOLOv9-tiny by 1.3%.YOLO-DBS reduces parameter count by 32%relative to YOLOv8n,thereby demonstrating superior performance in real-time detection on underwater observation platforms.展开更多
Shaped charge has been widely used for penetrating concrete.However,due to the obvious difference between the propagation of shock waves and explosion products in water and air,the theory governing the formation of sh...Shaped charge has been widely used for penetrating concrete.However,due to the obvious difference between the propagation of shock waves and explosion products in water and air,the theory governing the formation of shaped charge jets in water as well as the underwater penetration effect of concrete need to be studied.In this paper,we introduced a modified forming theory of an underwater hemispherical shaped charge,and investigated the behavior of jet formation and concrete penetration in both air and water experimentally and numerically.The results show that the modified jet forming theory predicts the jet velocity of the hemispherical liner with an error of less than 10%.The underwater jets exhibit at least 3%faster and 11%longer than those in air.Concrete shows different failure modes after penetration in air and water.The depth of penetration deepens at least 18.75%after underwater penetration,accompanied by deeper crater with 65%smaller radius.Moreover,cracks throughout the entire target are formed,whereas cracks exist only near the penetration hole in air.This comprehensive study provides guidance for optimizing the structure of shaped charge and improves the understanding of the permeability effect of concrete in water.展开更多
Unlike conventional spherical charges,a shaped charge generates not only a strong shock wave and a pulsating bubble,but also a high strain rate metal jet and a ballistic wave during the underwater explosion.They show ...Unlike conventional spherical charges,a shaped charge generates not only a strong shock wave and a pulsating bubble,but also a high strain rate metal jet and a ballistic wave during the underwater explosion.They show significant characteristic differences and couple each other.This paper designs and conducts experiments with shaped charges to analyze the complicated process.The effects of liner angle and weight of shaped charge on the characteristics of metal jets,waves,and bubbles are discussed.It is found that in underwater explosions,the shaped charge generates the metal jet accompanied by the ballistic wave.Then,the shock wave propagates and superimposes with the ballistic wave,and the generated bubble pulsates periodically.It is revealed that the maximum head velocity of the metal jet versus the liner angle a and length-to-diameter ratio k of the shaped charge follows the laws of 1/(α/180°)^(0.55)andλ^(0.16),respectively.The head shape and velocity of the metal jet determine the curvature and propagation speed of the initial ballistic wave,thus impacting the superposition time and region with the shock wave.Our findings also reveal that the metal jet carries away some explosion products,which hinders the bubble development,causing an inward depression of the bubble wall near the metal jet.Therefore,the maximum bubble radius and pulsation period are 5.2%and 3.9%smaller than the spherical charge with the same weight.In addition,the uneven axial energy distribution of the shaped charge leads to an oblique bubble jet formation.展开更多
Underwater Wireless Sensor Networks(UWSNs)are gaining popularity because of their potential uses in oceanography,seismic activity monitoring,environmental preservation,and underwater mapping.Yet,these networks are fac...Underwater Wireless Sensor Networks(UWSNs)are gaining popularity because of their potential uses in oceanography,seismic activity monitoring,environmental preservation,and underwater mapping.Yet,these networks are faced with challenges such as self-interference,long propagation delays,limited bandwidth,and changing network topologies.These challenges are coped with by designing advanced routing protocols.In this work,we present Under Water Fuzzy-Routing Protocol for Low power and Lossy networks(UWF-RPL),an enhanced fuzzy-based protocol that improves decision-making during path selection and traffic distribution over different network nodes.Our method extends RPL with the aid of fuzzy logic to optimize depth,energy,Received Signal Strength Indicator(RSSI)to Expected Transmission Count(ETX)ratio,and latency.Theproposed protocol outperforms other techniques in that it offersmore energy efficiency,better packet delivery,lowdelay,and no queue overflow.It also exhibits better scalability and reliability in dynamic underwater networks,which is of very high importance in maintaining the network operations efficiency and the lifetime of UWSNs optimized.Compared to other recent methods,it offers improved network convergence time(10%–23%),energy efficiency(15%),packet delivery(17%),and delay(24%).展开更多
Researchers have achieved notable advancements over the years in exploring ship damage and stability resulting from underwater explosions(UNDEX).However,numerous challenges and open questions remain in this field.In t...Researchers have achieved notable advancements over the years in exploring ship damage and stability resulting from underwater explosions(UNDEX).However,numerous challenges and open questions remain in this field.In this study,the research progress of UNDEX load is first reviewed,which covers the explosion load during the shock wave and bubble pulsation stages.Subsequently,the research progress of ship damage caused by UNDEX is reviewed from two aspects:contact explosion and noncontact explosion.Finally,the research progress of ship navigation stability caused by UNDEX is reviewed from three aspects:natural factors,ship’s internal factors,and explosion factors.Analysis reveals that most existing research has focused on the damage to displacement ships caused by UNDEX.Meanwhile,less attention has been paid to the damage and stability of non-displacement ships caused by UNDEX,which are worthy of discussion.展开更多
文摘Underwater pipeline inspection plays a vital role in the proactive maintenance and management of critical marine infrastructure and subaquatic systems.However,the inspection of underwater pipelines presents a challenge due to factors such as light scattering,absorption,restricted visibility,and ambient noise.The advancement of deep learning has introduced powerful techniques for processing large amounts of unstructured and imperfect data collected from underwater environments.This study evaluated the efficacy of the You Only Look Once(YOLO)algorithm,a real-time object detection and localization model based on convolutional neural networks,in identifying and classifying various types of pipeline defects in underwater settings.YOLOv8,the latest evolution in the YOLO family,integrates advanced capabilities,such as anchor-free detection,a cross-stage partial network backbone for efficient feature extraction,and a feature pyramid network+path aggregation network neck for robust multi-scale object detection,which make it particularly well-suited for complex underwater environments.Due to the lack of suitable open-access datasets for underwater pipeline defects,a custom dataset was captured using a remotely operated vehicle in a controlled environment.This application has the following assets available for use.Extensive experimentation demonstrated that YOLOv8 X-Large consistently outperformed other models in terms of pipe defect detection and classification and achieved a strong balance between precision and recall in identifying pipeline cracks,rust,corners,defective welds,flanges,tapes,and holes.This research establishes the baseline performance of YOLOv8 for underwater defect detection and showcases its potential to enhance the reliability and efficiency of pipeline inspection tasks in challenging underwater environments.
基金supported in part by the National Natural Science Foundation of China(U25A20473,62222314)the YanZhao Young Scientist Project of Hebei Province(F2024203047)+2 种基金the Natural Science Foundation of Hebei Province(F2022203001,F2024203072)the State Key Laboratory of Submarine Geoscience(sglkt2025-7)the Education Department Foundation of Hebei Province(JCZX2025027)。
文摘Dear Editor,This letter studies the motion planning issue for an autonomous underwater vehicle(AUV)in obstacle environment.We propose a novel integrated detection-communication waveform that enables simultaneous obstacle detection and self-localization.
基金supported by French Defense Innovation Agency(AID-DGA)(Grant No.ANR-21-ASM2-0002-02)in the framework of the Astrid Maturation SUCCESS+project,a collaborative French research project.
文摘This paper presents a simplified design tool based on semi-analytical formulations to investigate the dynamic response of an immersed composite cylinder subjected to a far-field underwater explosion.The cylinder is simply supported,fully submerged and filled with air inside.A classical shell theory using a Double Fourier series solution combined with the first-order Doubly Asymptotic Approximation(DAA1)formulation is adapted to model the fluid-structure interaction.An explicit non-standard finite difference scheme is applied to solve the coupled differential equations in time domain.The validity of DAA1 model is established by comparing the LS-DYNA/USA finite element results with existing experimental data from the literature.Then the proposed semi-analytical solutions are compared to the LS-DYNA/USA results,showing good correlation with a discrepancy of 7%for peak deflections and±9%for maximum stresses at the stand-off point for cylinders with relatively small length over radius ratios.Parametric studies examining the effect of different loading conditions,areal masses,and material configurations reveal that a large charge mass located far from the composite panel turns out to be more damaging than a small mass located nearby due to a broader pressure-time profile.Finally,the proposed model demonstrates a significant reduction in computation time,being approximately 30 times faster than its numerical counterpart,LS-DYNA/USA,making it a valuable tool for the preliminary design stages.
基金supported by the National Natural Science Foundation of China(No.52106080)the Jilin City Science and Technology Innovation Development Plan Project(No.20240302014)+2 种基金the Jilin Provincial Department of Education Science and Technology Research Project(No.JJKH20230135K)the Jilin Province Science and Technology Development Plan Project(No.YDZJ202401640ZYTS)the Northeast Electric Power University Teaching Reform Research Project(No.J2427)。
文摘The continuous decrease in global fishery resources has increased the importance of precise and efficient underwater fish monitoring technology.First,this study proposes an improved underwater target detection framework based on YOLOv8,with the aim of enhancing detection accuracy and the ability to recognize multi-scale targets in blurry and complex underwater environments.A streamlined Vision Transformer(ViT)model is used as the feature extraction backbone,which retains global self-attention feature extraction and accelerates training efficiency.In addition,a detection head named Dynamic Head(DyHead)is introduced,which enhances the efficiency of processing various target sizes through multi-scale feature fusion and adaptive attention modules.Furthermore,a dynamic loss function adjustment method called SlideLoss is employed.This method utilizes sliding window technology to adaptively adjust parameters,which optimizes the detection of challenging targets.The experimental results on the RUOD dataset show that the proposed improved model not only significantly enhances the accuracy of target detection but also increases the efficiency of target detection.
基金partially supported by the Natural Science Foundation of Shandong Province,China(No.ZR2023ME009)the National Natural Science Foundation of China(No.51909252)。
文摘Accurately estimating depth from underwater monocular images is essential for the target tracking task of unmanned underwater vehicles.This work proposes a method based on the Lpg-Lap Unet architecture.First,the Unet architecture integrates Laplacian pyramid depth residuals and Sobel operators to improve the boundary details in depth images,which may suffer from the feature loss caused by upsampling and the blurriness of underwater images.Multiscale local planar guidance layers then fully exploit the intermediate depth features,and a comprehensive loss function ensures robustness and accuracy.Experimental results on benchmarks demonstrate the effectiveness of Lpg-Lap Unet and its superior performance over state-of-the-art models.An underwater target tracking system is then designed to further validate its real-time capabilities in the AirSim simulation platform.
文摘The existence of absorption and reflection of light underwater leads to problems such as color distortion and blue-green bias in underwater images.In this study,a depthwise separable convolution-based generative adversarial network(GAN)algorithm was proposed.Taking GAN as the basic framework,it combined a depthwise separable convolution module,attention mechanism,and reconstructed convolution module to realize the enhancement of underwater degraded images.Multi-scale features were captured by the depthwise separable convolution module,and the attention mechanism was utilized to enhance attention to important features.The reconstructed convolution module further extracts and fuses local and global features.Experimental results showed that the algorithm performs well in improving the color bias and blurring of underwater images,with PSNR reaching 27.835,SSIM reaching 0.883,UIQM reaching 3.205,and UCIQE reaching 0.713.The enhanced image outperforms the comparison algorithm in both subjective and objective metrics.
基金The National Natural Science Foundation of China(Grant No.52201376)the Natural Science Foundation of Hubei Province,China(Grant No.2023AFB683).
文摘In this investigation,a hybrid approach integrating the IDDES turbulence model and FW-H is employed to forecast the hydroacoustic of the rim driven thruster(RDT)under non-cavitation and uniform flow conditions at varying loading conditions(J=0.3 and J=0.6).It is revealed that the quadrupole term contribution in the P-FWH method significantly affects the monopole term in the low-frequency region,while it mainly affects the dipole term in the high-frequency region.Specifically,the overall sound pressure levels(SPL)of the RDT using the P-FWH method are 2.27 dB,10.03 dB,and 16.73 dB at the receiving points from R1 to R3 under the heavy-loaded condition,while they increase by 0.67 dB at R1,and decrease by 14.93 dB at R2,and 22.20 dB at R3,for the light-loaded condition.The study also utilizes the pressure-time derivatives to visualize the numerical noise and to pinpoint the dynamics of the vortex cores,and the optimization of the grid design can significantly reduce the numerical noise.The computational accuracy of the P-FWH method can meet the noise requirements for the preliminary design of rim driven thrusters.
基金Supported by the National Natural Science Foundation of China(No.51905211)A Project of the“20 Regulations for New Universities”Funding Program of Jinan(No.202228116).
文摘Vortex-induced vibration(VIV)of an underwater manipulator in pulsating flow presents a notable engineering problem in precise control due to the velocity variation in the flow.This study investigates the VIV response of an underwater manipulator subjected to pulsating flow,focusing on how different postures affect the behavior of the system.The effects of pulsating parameters and manipulator arrangement on the hydrodynamic coefficient,vibration response,motion trajectory,and vortex shedding behaviors were analyzed.Results indicated that the cross flow vibration displacement in pulsating flow increased by 32.14%compared to uniform flow,inducing a shift in the motion trajectory from a crescent shape to a sideward vase shape.In the absence of interference between the upper and lower arms,the lift coefficient of the manipulator substantially increased with rising pulsating frequency,reaching a maximum increment of 67.0%.This increase in the lift coefficient led to a 67.05%rise in the vibration frequency of the manipulator in the in-line direction.As the pulsating amplitude increased,the drag coefficient of the underwater manipulator rose by 36.79%,but the vibration frequency in the cross-flow direction decreased by 56.26%.Additionally,when the upper and lower arms remained in a state of mutual interference,the cross-flow vibration amplitudes of the upper and lower arms were approximately 1.84 and 4.82 times higher in a circular-elliptical arrangement compared to an elliptical-circular arrangement,respectively.Consequently,the flow field shifted from a P+S pattern to a disordered pattern,disrupting the regularity of the motion trajectory.
基金supported by National Natural Science Foundations of China(Grant No.52308522).
文摘Gravity-caisson wharves have been widely constructed in coastal and island regions, which are threaten by potential underwater explosions. This work aims to study the dynamic behaviors and propose a damage evaluation approach of caisson wharf against underwater explosion. Firstly, based on both the underwater explosion loading test and underwater explosion test on the reduced-scale caisson specimen, a high-fidelity finite element analysis approach for numerically reproduce the dynamic behaviors of prototype caisson wharves against underwater explosions was proposed and verified. Secondly, the underwater explosion loadings and dynamic behaviors of prototype caisson wharf (14.9 m×8.1 m×10.95 m) against sequential blast wave and bubble pulsation of typical torpedo with a charge weight of 200 kg were studied. The influences of the seabed and cabin infill materials, as well as the explosion standoff distances of 3.4–10.2 m and depths of burst between 1/4 and 3/4 of water depth, on the blast resistance of caisson wharf were further examined through deflection distributions of exterior wall, damage evolution, and overall displacement of caisson wharf. Finally, a performance evaluation approach for prototype caisson wharves against underwater explosions was proposed by comprehensively considering the bearing, storage, and berthing capabilities. The corresponding protective measures and design recommendations were further provided. It indicates that: (i) under the explosion of a typical torpedo, the damage modes of prototype caisson wharf mainly involve the overall vibration, spalling and cracking of the exterior wall, collapse of the upper operating platform and cracking of the top plate;(ii) the blast wave and cavitation zone generated between the bubble and the exterior wall are the two primary causes of damage to caisson wharf;(iii) compared to the saturated calcareous sand seabed, the assumption of rigid seabed underestimates the spalling on the exterior wall, which is not recommended for scenarios where cavitation zones may generate;(iv) rock rubble is the most effective infill material in improving the blast resistance of caisson wharf among four types of infill configurations, i.e., fully filled and half-filled saturated calcareous sand, rock rubble and pure water;(v) the standoff distance of 10.2 m is regarded as a secure protective range in the scenarios discussed currently. As the standoff distance decreases and the depth of burst increases, the spalling of the exterior wall induced by the cavitation intensifies, posing a great threat to the functionality of caisson wharf.
基金supported in part by the National Natural Science Foundation of China(Key Program)under Grant No.62031021。
文摘Cascading failures pose a serious threat to the survivability of underwater unmanned swarm networks(UUSNs),significantly limiting their service ability in collaborative missions such as military reconnaissance and environmental monitoring.Existing failure models primarily focus on power grids and traffic systems,and don't address the unique challenges of weak-communication UUSNs.In UUSNs,cascading failure present a complex and dynamic process driven by the coupling of unstable acoustic channels,passive node drift,adversarial attacks,and network heterogeneity.To address these challenges,a directed weighted graph model of UUSNs is first developed,in which node positions are updated according to ocean-current-driven drift and link weights reflect the probability of successful acoustic transmission.Building on this UUSNs graph model,a cascading failure model is proposed that integrates a normal-failure-recovery state-cycle mechanism,multiple attack strategies,and routingbased load redistribution.Finally,under a five-level connectivity UUSNs scheme,simulations are conducted to analyze how dynamic topology,network load,node recovery delay,and attack modes jointly affect network survivability.The main findings are:(1)moderate node drift can improve survivability by activating weak links;(2)based-energy routing(BER)outperform based-depth routing(BDR)in harsh conditions;(3)node self-recovery time is critical to network survivability;(4)traditional degree-based critical node metrics are inadequate for weak-communication UUSNs.These results provide a theoretical foundation for designing robust survivability mechanisms in weak-communication UUSNs.
基金supported by the National Natural Science Foundation of China(Grant number U23A20625,U2141216,52375334)the Science and Technology Planning Project of Nansha District(Grant number 2025ZD003)the Science and Technology Program of Guangdong Province(Grant number 2023B1515250003).
文摘To improve the weld formation of underwater-welded Q355B steel and enhance its corrosion resistance,this study introduced pulsed laser welding technology into local dry underwater welding process,building upon continuous laser welding process.A systematic investigation was carried out covering process exploration,weld morphology,microstructure,and comprehensive properties.The results indicate that the pulsed laser weld seam exhibited a distinct ripple pattern on the surface,along with significantly less spatter compared to continuous laser weld seam.Both the weld penetration depth and weld bead width showed a decreasing trend with increasing pulse frequency.The weld metal was primarily composed of ferrite and martensite phases.As the pulse frequency increased,the ferrite content first rose and then declined,reaching a maximum of 39%at 80 Hz.The microhardness and tensile strength of the weld metal were both higher than those of the base material,and all tensile specimens fractured within the base metal during testing.Furthermore,the elongation initially increased and then decreased with rising pulse frequency.The weld produced at 80 Hz achieved the highest elongation of 23.1%,which was 8.9% higher than that of the continuous laser weld seam and reached 93.9% of the base material.Electrochemical corrosion tests revealed that the weld produced at 80 Hz exhibited the best corrosion resistance,reaching 67.0% of that of the base material,while the continuous laser weld seam attained only 47.3% of the base material.This study provides critical theoretical and data support for the process optimization and application of local dry underwater laser welding in the fabrication of marine engineering structures.
基金funded by Prince Sattam bin Abdulaziz University,grant number PSAU/2025/01/34620.
文摘This paper presents an image encryption scheme for underwater optical wireless communication(UOWC)systems based on dynamically generated hyperchaotic S-boxes,aiming to enhance both data security and transmission performance in underwater environments.The proposed encryption approach provides strong confusion and diffusion properties and is evaluated over five Jerlov water types with different optical attenuation characteristics.Security analysis demonstrates that the encrypted images achieve information entropy values close to the ideal value of 8(7.9925–7.9993),with very low correlation coefficients in horizontal,vertical,and diagonal directions,as well as the system achieves high values in key metrics such as the Unified Average Changing Intensity(UACI)and Number of Pixel Change Rate(NPCR),ranging from 33.42 to 33.47 and from 99.58%to 99.62%,respectively,both near their theoretical optima.In addition to improving confidentiality,the hyperchaotic encryption process decorrelates pixel intensities and redistributes image spectral content,which enhances robustness against underwater absorption and scattering effects.As a result,improved transmission performance is observed;for example,in Jerlov type I(JI)water,the effective transmission distance is extended from16mfor plain images to 24mfor encrypted images,while the Peak Signal to Noise Ratio(PSNR)at 24 m increases from 9.25 to 20.13 dB after decryption and enhancement.These results confirmthat the proposed scheme provides a dual benefit of secure and reliable image transmission in UOWC systems.
基金supported by the National Youth Top-notch Talent Support Program of China(Grant No.00389335)the National Natural Science Foundation of China(Grant No.52378392)+1 种基金the“Foal Eagle Program”Youth Top-notch Talent Project of Fujian Province(Grant No.00387088)supports are gratefully acknowledged.
文摘Enzyme-Induced Carbonate Precipitation(EICP)is an innovative technique to improve soil strength and reduce permeability.However,the use of EICP for reinforcing underwater sand beds remains largely unexplored.To advance EICP implementation in various geotechnical applications,this paper develops a model box system to investigate the effectiveness of the EICP technique in reinforcing underwater sand beds.An"injection-extraction"system is designed to facilitate the flow of the EICP solution through underwater sand layers.Key parameters,including conductivity,pH,and Ca^(2+)concentration of the solution,are measured and analyzed.Electrical resistivity tomography(ERT)is utilized to evaluate the reinforcement effect in the underwater sand bed.The permeability of the model is tested to verify the feasibility of EICP technology for strengthening underwater sands.Furthermore,scanning electron microscope(SEM)is performed to investigate the growth mechanisms of calcium carbonate(CaCO_(3))crystals.The results show that the permeability of the model decreases from 1.28×10^(-2)m/s to 9.66×10^(-5)m/s,representing a reduction of approximately three orders of magnitude.This verifies that the EICP technology can greatly reduce the permeability of underwater sand beds.With increasing grouting cycles,the resistivity of the underwater sand initially decreases and then increases.This variation in sand resistivity is significantly influenced by the ion concentration in the solution,resulting in marked differences in resistivity at various depths and positions within the sand.The findings from this study offer a theoretical basis for the application of EICP technology in reinforcing seabed foundations and supporting marine infrastructure such as offshore pipelines,wind turbines,and oil platforms.
基金supported by theHubei Provincial Technology Innovation Special Project and the Natural Science Foundation of Hubei Province under Grants 2023BEB024,2024AFC066,respectively.
文摘Underwater images frequently suffer from chromatic distortion,blurred details,and low contrast,posing significant challenges for enhancement.This paper introduces AquaTree,a novel underwater image enhancement(UIE)method that reformulates the task as a Markov Decision Process(MDP)through the integration of Monte Carlo Tree Search(MCTS)and deep reinforcement learning(DRL).The framework employs an action space of 25 enhancement operators,strategically grouped for basic attribute adjustment,color component balance,correction,and deblurring.Exploration within MCTS is guided by a dual-branch convolutional network,enabling intelligent sequential operator selection.Our core contributions include:(1)a multimodal state representation combining CIELab color histograms with deep perceptual features,(2)a dual-objective reward mechanism optimizing chromatic fidelity and perceptual consistency,and(3)an alternating training strategy co-optimizing enhancement sequences and network parameters.We further propose two inference schemes:an MCTS-based approach prioritizing accuracy at higher computational cost,and an efficient network policy enabling real-time processing with minimal quality loss.Comprehensive evaluations on the UIEB Dataset and Color correction and haze removal comparisons on the U45 Dataset demonstrate AquaTree’s superiority,significantly outperforming nine state-of-the-art methods across five established underwater image quality metrics.
基金supported by the National Natural Science Foundation of China(Nos.62372100 and 6237118)。
文摘The phenomenon of attenuation and scattering of light propagating in water leads to such problems as color deviation and blur in underwater imaging.These problems bring great challenges to the subsequent feature matching,target recognition and other tasks.Therefore,this paper proposes an underwater image enhancement method by double compensation with comparative adjustment or edge reinforcement.The experiments have found that the proposed method has good underwater color image quality evaluation(UCIQE)value,underwater image quality measures(UIQM)value,and the number of feature matching points.This demonstrates that the proposed method has good color correction ability for underwater images with different attenuation levels,where the processed images have more details suitable for feature matching.
基金funded by the Jilin City Science and Technology Innovation Development Plan Project(No.20240302014)the Jilin Provincial Department of Educa-tion Science and Technology Research Project(No.JJKH 20250879KJ)the Jilin Province Science and Tech-nology Development Plan Project(No.YDZJ202401640 ZYTS).
文摘Underwater imaging is frequently influenced by factors such as illumination,scattering,and refraction,which can result in low image contrast and blurriness.Moreover,the presence of numerous small,overlapping targets reduces detection accuracy.To address these challenges,first,green channel images are preprocessed to rectify color bias while improving contrast and clarity.Se-cond,the YOLO-DBS network that employs deformable convolution is proposed to enhance feature learning from underwater blurry images.The ECA attention mechanism is also introduced to strengthen feature focus.Moreover,a bidirectional feature pyramid net-work is utilized for efficient multilayer feature fusion while removing nodes that contribute minimally to detection performance.In addition,the SIoU loss function that considers factors such as angular error and distance deviation is incorporated into the network.Validation on the RUOD dataset demonstrates that YOLO-DBS achieves approximately 3.1%improvement in mAP@0.5 compared with YOLOv8n and surpasses YOLOv9-tiny by 1.3%.YOLO-DBS reduces parameter count by 32%relative to YOLOv8n,thereby demonstrating superior performance in real-time detection on underwater observation platforms.
基金supported by the National Science Foundation of China(Grant Nos.12372361,12102427,12372335 and 12102202)the Fundamental Research Funds for the Central Universities(Grant No.30923010908)Postgraduate Research&Practice Innovation Program of Jiangsu Province(Grant No.KYCX23_0520).
文摘Shaped charge has been widely used for penetrating concrete.However,due to the obvious difference between the propagation of shock waves and explosion products in water and air,the theory governing the formation of shaped charge jets in water as well as the underwater penetration effect of concrete need to be studied.In this paper,we introduced a modified forming theory of an underwater hemispherical shaped charge,and investigated the behavior of jet formation and concrete penetration in both air and water experimentally and numerically.The results show that the modified jet forming theory predicts the jet velocity of the hemispherical liner with an error of less than 10%.The underwater jets exhibit at least 3%faster and 11%longer than those in air.Concrete shows different failure modes after penetration in air and water.The depth of penetration deepens at least 18.75%after underwater penetration,accompanied by deeper crater with 65%smaller radius.Moreover,cracks throughout the entire target are formed,whereas cracks exist only near the penetration hole in air.This comprehensive study provides guidance for optimizing the structure of shaped charge and improves the understanding of the permeability effect of concrete in water.
基金funded by the National Natural Science Founda-tion of China(52071109).
文摘Unlike conventional spherical charges,a shaped charge generates not only a strong shock wave and a pulsating bubble,but also a high strain rate metal jet and a ballistic wave during the underwater explosion.They show significant characteristic differences and couple each other.This paper designs and conducts experiments with shaped charges to analyze the complicated process.The effects of liner angle and weight of shaped charge on the characteristics of metal jets,waves,and bubbles are discussed.It is found that in underwater explosions,the shaped charge generates the metal jet accompanied by the ballistic wave.Then,the shock wave propagates and superimposes with the ballistic wave,and the generated bubble pulsates periodically.It is revealed that the maximum head velocity of the metal jet versus the liner angle a and length-to-diameter ratio k of the shaped charge follows the laws of 1/(α/180°)^(0.55)andλ^(0.16),respectively.The head shape and velocity of the metal jet determine the curvature and propagation speed of the initial ballistic wave,thus impacting the superposition time and region with the shock wave.Our findings also reveal that the metal jet carries away some explosion products,which hinders the bubble development,causing an inward depression of the bubble wall near the metal jet.Therefore,the maximum bubble radius and pulsation period are 5.2%and 3.9%smaller than the spherical charge with the same weight.In addition,the uneven axial energy distribution of the shaped charge leads to an oblique bubble jet formation.
文摘Underwater Wireless Sensor Networks(UWSNs)are gaining popularity because of their potential uses in oceanography,seismic activity monitoring,environmental preservation,and underwater mapping.Yet,these networks are faced with challenges such as self-interference,long propagation delays,limited bandwidth,and changing network topologies.These challenges are coped with by designing advanced routing protocols.In this work,we present Under Water Fuzzy-Routing Protocol for Low power and Lossy networks(UWF-RPL),an enhanced fuzzy-based protocol that improves decision-making during path selection and traffic distribution over different network nodes.Our method extends RPL with the aid of fuzzy logic to optimize depth,energy,Received Signal Strength Indicator(RSSI)to Expected Transmission Count(ETX)ratio,and latency.Theproposed protocol outperforms other techniques in that it offersmore energy efficiency,better packet delivery,lowdelay,and no queue overflow.It also exhibits better scalability and reliability in dynamic underwater networks,which is of very high importance in maintaining the network operations efficiency and the lifetime of UWSNs optimized.Compared to other recent methods,it offers improved network convergence time(10%–23%),energy efficiency(15%),packet delivery(17%),and delay(24%).
基金Supported by the Key R&D Program of Heilongjiang Province(Grant No.JD22A024)the Science Fund for Excellent Youth Foundation of Heilongjiang Province of China(Grant No.YQ2021E010).
文摘Researchers have achieved notable advancements over the years in exploring ship damage and stability resulting from underwater explosions(UNDEX).However,numerous challenges and open questions remain in this field.In this study,the research progress of UNDEX load is first reviewed,which covers the explosion load during the shock wave and bubble pulsation stages.Subsequently,the research progress of ship damage caused by UNDEX is reviewed from two aspects:contact explosion and noncontact explosion.Finally,the research progress of ship navigation stability caused by UNDEX is reviewed from three aspects:natural factors,ship’s internal factors,and explosion factors.Analysis reveals that most existing research has focused on the damage to displacement ships caused by UNDEX.Meanwhile,less attention has been paid to the damage and stability of non-displacement ships caused by UNDEX,which are worthy of discussion.
