The traditional propeller-based propulsion of underwater robots is inefficient and poorly adapted to practice. By contrast, underwater biomimetic robots show better stability and maneuverability in harsh marine environments. This is particularly true of undulating propulsion biomimetic robots. This paper classifies the existing underwater biomimetic robots and outlines their main contributions to the field. The propulsion mechanisms of underwater biomimetic undulating robots are summarized based on theoretical, numerical and experimental studies. Future perspectives on underwater biomimetic undulating robots are also presented, filling the gaps in the existing literature.

Detection technology of underwater pipeline leakage plays an important role in the subsea production system. In this paper, a new method based on the acoustic leak signal collected by a hydrophone is proposed to detect pipeline leakage in the subsea production system. Through the pipeline leakage test, it is found that the radiation noise is a continuous spectrum of the medium and high-frequency noise. Both the increase in pipe pressure and the diameter of the leak hole will narrow the spectral structure and shift the spectrum center towards the low frequencies. Under the same condition, the pipe pressure has a greater impact on the noise; every 0.05 MPa increase in the pressure, the radiation sound pressure level increases by 6-7 dB. The time-frequency images were obtained by processing the acoustic signals using the Ensemble Empirical Mode Decomposition (EEMD) and Hilbert–Huang transform (HHT), and fed into a two-layer Convolutional Neural Network (CNN) for leakage detection. The results show that CNN can correctly identify the degree of pipeline leakage. Hence, the proposed method provides a new approach for the detection of pipeline leakage in underwater engineering applications.