High coupling accuracy and efficiency attract wide attention in waterjet-guided laser technology due to the requirements for high processing performance in hard-to-cut material and diamond industries. The behaviors of axisymmetric waterjets injected into the atmosphere through different types of orifices are investigated by adopting a two-phase flow k-epsilon algorithm. The water-gas interface is tracked with Coupled Level Set and Volume of Fluid method. The electric field distributions of laser radiation inside the coupling unit are modeled by wave equations and numerically solved with the full-wave Finite Element Method. The coupling efficiency of the laser beam affected by waterjet hydrodynamics is studied by considering the profiles of the waterjet shaped at transient stages, namely vena contracta, cavitation, and hydraulic flip. The growth of the cavity leads to a larger water-air interface and increases the coupling efficiency. Eventually, two types of fully developed laminar waterjets, i.e. constricted waterjets and non-constricted waterjets, are formed. Constricted waterjets that are detached from the wall throughout the nozzle are preferable to guide laser beams since they significantly increase the coupling efficiency compared to non-constricted waterjets. Furthermore, the trends of coupling efficiency affected by Numerical Aperture (NA), wavelengths, and alignments errors are analyzed to optimize the physical design of the coupling unit and develop the alignment strategies.

Waterjet guided laser processing is technology using laminar waterjet as optical waveguide to process materials. The stability of capillary waterjet as the optical waveguide is investigated with the effects of cavitation. Combined with the fluid interface tracking method and the cavitation model, a numerical simulation model of water jet is established. The inlet pressure ranges from 0Mpa to 5Mpa. The hydraulic flip and cavitation effect lead to a constricted water jet which is produced by sharp edges orifices. The theory of constricted laminar water jet with long breakup length theoretically can be used as optical waveguide is based on total reflection.

The study addresses trajectory tracking control for underactuated vessels with uncertain backlash-type hysteresis. First, an improved practical L1-based guidance strategy is developed by embedding the L1 mechanism into the virtual ship framework to eliminate steering overshoot and yaw angle error accumulation, which can facilitate the smooth turning of ships along waypoint-based paths with large curvature. Next, to mitigate control performance degradation induced by backlash-like hysteresis nonlinearity, an improved quadratic function is utilized to boost the closed-loop system’s convergence capability. Moreover, system model uncertainty-induced perturbations are compensated using the resilient neural damping method, which can simplify the structure and reduce the computation burden of the proposed controller. Utilizing Lyapunov-based approaches and the special Young’s inequality, uniformly ultimately bounded stability over a semi-global domain is established. Finally, numerical simulations are executed to validate the efficacy of the developed control architecture.