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.

The reconstruction algorithm for the probabilistic inspection of damage (RAPID) is aimed at localizing structural damage via the signal difference coefficient (SDC) between the signals of the present and reference conditions. However, tomography is only capable of presenting the approximate location and not the length and angle of defects. Therefore, a new quantitative evaluation method called the multiple back propagation neural network (Multi-BPNN) is proposed in this work. The Multi-BPNN employs SDC values as input variables and outputs the predicted length and angle, with each output node depending on an individual hidden layer. The cracks of different lengths and angles at the center weld seam of offshore platforms are simulated numerically. The SDC values of the simulations and experiments were normalized for each sample to eliminate external interference in the experiments. Then, the normalized simulation data were employed to train the proposed neural network. The results of the simulations and experimental verification indicated that the Multi-BPNN can effectively predict crack length and angle, and has better stability and generalization capacity than the multi-input to multi-output back propagation neural network.