In the realm of marine aquaculture, the netting of cages frequently accumulates marine fouling, which impedes water circulation and poses safety hazards. Traditional manual cleaning methods are marked by inefficiency, high labor demands, substantial costs, and considerable environmental degradation. This paper initially presents the current utilization of net-cleaning robots in the cleaning, underwater inspection, and monitoring of aquaculture cages, highlighting their benefits in enhancing operational efficiency and minimizing costs. Subsequently, it reviews key technologies such as underwater image acquisition, visual recognition, adhesion-based movement, efficient fouling removal, motion control, and positioning navigation. Ultimately, it anticipates the future trajectory of net-cleaning robots, emphasizing their potential for intelligence and sustainability, which could drive the marine aquaculture industry towards a more efficient and eco-friendly era.

Industrial robotic arms are often subject to significant end-effector pose deviations from the target position due to the combined effects of nonlinear deformations such as link flexibility, joint compliance, and end-effector load. To address this issue, a study was conducted on the analysis and compensation of end-position errors in a six-degree-of-freedom robotic arm. The kinematic model of the robotic arm was established using the Denavit–Hartenberg (DH) parameter method, and a rigid–flexible coupled virtual prototype model was developed using ANSYS and ADAMS. Kinematic simulations were performed on the virtual prototype to analyze the variation in end-effector position errors under rigid–flexible coupling conditions. To achieve error compensation, an approach based on an Enhanced Crayfish Optimization Algorithm (ECOA) optimizing a BP neural network was proposed to compensate for position errors. An experimental platform was constructed for error measurement and validation. The experimental results demonstrated that the positioning accuracy after compensation improves by 75.77%, fully validating the effectiveness and reliability of the proposed method for compensating flexible errors.

The research on tidal-current energy-capture technology mainly focuses on the conditions of high flow velocity, focusing on the use of differential pressure lift, while the average flow velocity in most sea areas of China is less than 1.5 m/s, especially in the marine aquaculture area, where tidal-current energy is needed to provide green energy locally. Due to the low flow velocity of this type of sea area, it seriously affects the effect of differential pressure lift, which is conducive to exerting the effect of impact resistance. In this regard, the coupling effect of the differential pressure lift and the impact resistance on the blade torque is comprehensively considered, this research puts forward the design method of the lift-–drag-composite thin-plate arc turbine blade. Based on the blade element momentum (BEM) theory and Bernoulli’s principle, the turbine dynamic model was established, and the nonlinear optimization method was used to solve the shape parameters of the turbine blades, and the thin-plate arc and NACA airfoil blade turbines were trial-produced under the same conditions. A model experiment was carried out in the experimental pool, and the Xiangshan sea area in Ningbo, East China Sea was taken as the experimental sea area. The results of the two experiments showed the same trend, indicating that the energy-harvesting performance of the lift–drag-composite blade was significantly better than that of the lift blade under the conditions of low flow velocity and small radius, which verified the correctness of the blade design method, and can promote the research and development of tidal energy under the conditions of low flow velocity and small radius.

In circular production lines, issues such as positional errors, manufacturing errors at different square groove workstations, and the accumulation of errors during continuous assembly reduce the assembly success rate and limit efficiency. To address these challenges in assembling square groove parts, this study focuses on the jamming and wedging problems encountered during the assembly of square grooves and square parts. It analyzes typical assembly hole searching contact situations and proposes corresponding strategies. Based on the relative geometric relationships between the assembly workpieces, the entire assembly process is divided into three stages: pre-assembly, hole search contact adjustment, and insertion. Due to the complexity of predicting assembly forces and the uncertainty of workstation assembly in circular production lines, this study emphasizes the hole search contact adjustment stage. An innovative vertical hole search strategy is proposed and compared with the Archimedes spiral search method. This strategy models the contact between the end effector and the environment as a mass–damping–spring second-order system, achieving compliant assembly of square holes through admittance control. By analyzing the admittance parameters using control variables, the optimal admittance parameters are determined, and the admittance parameter pattern is applied in the experiments. Experimental results on the square hole assembly platform show that, under the optimal admittance parameters, the vertical hole search strategy significantly reduces search time and improves efficiency. Compared to the traditional Archimedes spiral hole search strategy, the average search adjustment time was increased by 5.8 s, improving efficiency by 46.4%, and the desired assembly outcomes were achieved.