IROS 2025 Keynotes - Field Robotics: Jiancheng Yu

Original Description

"Keynote Title: ""Multidisciplinary Optimization Design and Key Technologies for Long-range Autonomous Underwater Vehicles""

Speaker Biography

Jiancheng Yu is a Professor and the Director of the Center for Innovative Marine Robotics at the Shenyang Institute of Automation, Chinese Academy of Sciences. He received his Ph.D. in Mechanical and Electrical Engineering from the institute in 2006 and has been working there since March 2006. His research specializes in novel-concept underwater vehicles, long range autonomous underwater vehicles, adaptive ocean sampling theory and technology, and control methods for underwater robots. From August 2009 to July 2010, he was a Visiting Scholar in the Department of Electronics and Computer Science at the Georgia Institute of Technology.

Abstract

The endurance of AUV is closely related to its sailing resistance, the amount of carrying batteries and equipment load, which involves interactions among multiple disciplines. In order to develop the conceptual design of a long-range AUV in the early stage, a multidisciplinary optimization design framework is presented for decision-makers to explore the given design space, which takes into account the coupling between the disciplines of hull form, structural design and energy use. A Self-adaptive Surrogate Ensemble (SASE) method is proposed to replace the expensive process of hydrodynamic analysis, a recommended approach by the China Classification Society (CCS) specification is applied to carry out the design of metallic pressure hulls, and the classical lamination theory and Tsai–Wu criteria are adopted in the design of composite pressure hulls. The evaluation model of AUV endurance is created from the perspective of energy capacity and consumption. The conceptual design of a 200 kg-class AUV is executed to maximize the endurance based on the proposed multidisciplinary optimization design framework. Then, a brief introduction is given to the key technical issues involved in the development of long-range autonomous underwater vehicles. Finally, The Sea-Whale 2000 AUV was developed based on the optimal result and the excellent endurance performance in the sea trial validated the effectiveness of the proposed design method.

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