Affected by acoustic transmission loss (TL), angular responses of sediments, time varying gain (TVG) residuals, and so on, side-scan sonar (SSS) images have the problem of gray attenuation perpendicular to the track direction. This problem seriously affects the subsequent stitching, detection, or other tasks. In this case, it is necessary to perform gray scale correction. The existing methods have a good correction effect on flat terrain but do not consider SSS images with rugged terrain. This article presents a gray scale correction method for SSS images with rugged terrain based on compensating acoustic attenuation. First, the influence of TL and the incident angle is analyzed, and a multiplicative attenuation model is established. Then, the image is segmented along the attenuation direction, and the segmentation intensity is calculated by using the multiplicative model for the echo points. Finally, the maximum segmentation intensity is taken as the target intensity, and the nonshaded points of the image are compensated and corrected. The experimental results show that our method (OURS) ensures the gray consistency of flat terrain on SSS images with rugged seafloor, highlights the seabed topography, and significantly improves the effect of image mosaic.

Background: To construct gene co-expression networks, it is necessary to evaluate the correlation between different gene expression profiles. However, commonly used correlation metrics, including both linear (such as Pearson’s correlation) and monotonic (such as Spearman’s correlation) dependence metrics, are not enough to observe the nature of real biological systems. Hence, introducing a more informative correlation metric when constructing gene co-expression networks is still an interesting topic.Results: In this paper, we test distance correlation, a correlation metric integrating both linear and non-linear dependence, with other three typical metrics (Pearson’s correlation, Spearman’s correlation, and maximal information coefficient) on four different arrays (macrophage and liver) and RNA-seq (cervical cancer and pancreatic cancer) datasets. Among all the metrics, distance correlation is distribution free and can provide better performance on complex relationships and anti-outlier. Furthermore, distance correlation is applied to Weighted Gene Co-expression Network Analysis (WGCNA) for constructing a gene co-expression network analysis method which we named Distance Correlation-based Weighted Gene Co-expression Network Analysis (DC-WGCNA). Compared with traditional WGCNA, DC-WGCNA can enhance the result of enrichment analysis and improve the module stability.Conclusions: Distance correlation is better at revealing complex biological relationships between gene profiles compared with other correlation metrics, which contribute to more meaningful modules when analyzing gene co-expression networks. However, due to the high time complexity of distance correlation, the implementation requires more computer memory.

Because of the unique physical and chemical properties of water, obtaining high-quality underwater images directly is not an easy thing. Hence, recovery and enhancement are indispensable steps in underwater image processing and have therefore become research hotspots. Nevertheless, existing image-processing methods generally have high complexity and are difficult to deploy on underwater platforms with limited computing resources. To tackle this issue, this paper proposes a simple and effective baseline named UIR-Net that can recover and enhance underwater images simultaneously. This network uses a channel residual prior to extract the channel of the image to be recovered as a prior, combined with a gradient strategy to reduce parameters and training time to make the operation more lightweight. This method can improve the color performance while maintaining the style and spatial texture of the contents. Through experiments on three datasets (MSRB, MSIRB and UIEBD-Snow), we confirm that UIR-Net can recover clear underwater images from original images with large particle impurities and ocean light spots. Compared to other state-of-the-art methods, UIR-Net can recover underwater images at a similar or higher quality with a significantly lower number of parameters, which is valuable in real-world applications.

When side-scan sonars collect data, sonar energy attenuation, the residual of time varying gain, beam patterns, angular responses, and sonar altitude variations occur, which lead to an uneven gray level in side-scan sonar images. Therefore, gray scale correction is needed before further processing of side-scan sonar images. In this paper, we introduce the causes of gray distortion in side-scan sonar images and the commonly used optical and side-scan sonar gray scale correction methods. As existing methods cannot effectively correct distortion, we propose a simple, yet effective gray scale correction method for side-scan sonar images based on Retinex given the characteristics of side-scan sonar images. Firstly, we smooth the original image and add a constant as an illumination map. Then, we divide the original image by the illumination map to produce the reflection map. Finally, we perform element-wise multiplication between the reflection map and a constant coefficient to produce the final enhanced image. Two different schemes are used to implement our algorithm. For gray scale correction of side-scan sonar images, the proposed method is more effective than the latest similar methods based on the Retinex theory, and the proposed method is faster. Experiments prove the validity of the proposed method.

This paper presents the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle (AUV) and a manipulator. The modeling processes are described with the incorporation of the most dominating hydrodynamic effects such as added mass, lift and drag forces. The hydrodynamic coefficients are derived using strip theory and are adjusted according to dynamical similarity. A fuzzy decoupling controller (FDC) is proposed for an autonomous underwater vehicle-manipulator system (UVMS) which consists of two subsystems, an underwater vehicle and a manipulator. The proposed controller uses a fuzzy algorithm (FA) to adaptively tune the gain matrix of the error function (EF). The EF is described by the integral sliding surface function. This technique allows the off-diagonal elements developed for decoupling the system to be incorporated in the gain matrix. Tracing the FA and EF back to the principle of feedback linearization, one further obtains evidence about the decoupling and stability of the system. Moreover, a desired trajectory with the consideration of the dynamic coupling of the AUV is designed to reduce the thruster forces and manipulator’s torques. This technique provides high performance in terms of tracking error norms and expended energy norms. A major contribution of this study is that it adopts the off-diagonal elements to exploit the dynamic coupling between the degrees of freedom of the subsystem and the dynamic coupling between the two subsystems. Simulation results demonstrate the effectiveness and robustness of the proposed technique in the presence of parameter uncertainties and external disturbances.

In the medical field and industry application, fishlike microrobot and micro biped robot with multi DOF that can swim smoothly in water or aqueous medium has urgently been demanded. And IPMC (ionic polymer metal composite) can generate large bending motions under a low driving voltage (about 1 V), and it has a good response and soft characteristic. In this paper, we have developed a new jellyfish type of microrobot which can imitate the jellyfish. It has a movement process as the jellyfish does when it is floating and sinking. The process of floating and sinking can be controlled. Four legs using IPMC actuators are designed to replace the antennae of the jellyfish. Characteristic of the underwater microrobot is measured. Some improvement has been done for higher efficiency. The experimental results indicate that the moving and swimming speed of underwater microrobot can be controlled by changing the frequency of input voltage.