{"id":"https://openalex.org/W4410226557","doi":"https://doi.org/10.1109/lra.2025.3568568","title":"Nezha-H: An HAUV for Aerial and Underwater Observation and Sampling","display_name":"Nezha-H: An HAUV for Aerial and Underwater Observation and Sampling","publication_year":2025,"publication_date":"2025-05-09","ids":{"openalex":"https://openalex.org/W4410226557","doi":"https://doi.org/10.1109/lra.2025.3568568"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3568568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568568","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109788596","display_name":"Xuwang Song","orcid":"https://orcid.org/0009-0005-5723-5243"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuwang Song","raw_affiliation_strings":["State Key Laboratory of Submarine Geoscience, Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education, and School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China"],"raw_orcid":"https://orcid.org/0009-0005-5723-5243","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience, Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education, and School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I44675526"]},{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001431148","display_name":"Yulin Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulin Bai","raw_affiliation_strings":["State Key Laboratory of Submarine Geoscience, Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education, and School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China"],"raw_orcid":"https://orcid.org/0000-0003-3355-570X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience, Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education, and School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I44675526"]},{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062917908","display_name":"Yuanbo Bi","orcid":"https://orcid.org/0000-0002-7387-509X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanbo Bi","raw_affiliation_strings":["State Key Laboratory of Submarine Geoscience, Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education, and School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China"],"raw_orcid":"https://orcid.org/0000-0002-7387-509X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience, Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education, and School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I44675526"]},{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078750542","display_name":"Yingqiang Wang","orcid":"https://orcid.org/0000-0001-9876-4225"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingqiang Wang","raw_affiliation_strings":["State Key Laboratory of Submarine Geoscience, Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education, and School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China"],"raw_orcid":"https://orcid.org/0000-0001-9876-4225","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience, Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education, and School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I44675526"]},{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028917192","display_name":"Zheng Zeng","orcid":"https://orcid.org/0000-0003-1992-8282"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Zeng","raw_affiliation_strings":["State Key Laboratory of Submarine Geoscience, Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education, and School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China"],"raw_orcid":"https://orcid.org/0000-0003-1992-8282","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience, Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education, and School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I44675526"]},{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042348894","display_name":"Huaguo Zhang","orcid":"https://orcid.org/0000-0003-2072-5183"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaguo Zhang","raw_affiliation_strings":["School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China"],"raw_orcid":"https://orcid.org/0000-0003-2072-5183","affiliations":[{"raw_affiliation_string":"School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000812499","display_name":"Feng Zhou","orcid":"https://orcid.org/0000-0002-4635-9233"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Zhou","raw_affiliation_strings":["School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101746408","display_name":"Lian Lian","orcid":"https://orcid.org/0000-0002-9753-4337"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lian Lian","raw_affiliation_strings":["State Key Laboratory of Submarine Geoscience, Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education, and School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China"],"raw_orcid":"https://orcid.org/0000-0002-9753-4337","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience, Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education, and School of Oceanography, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I44675526"]},{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience; Key Laboratory of Polar Ecosystem and Climate Change, Ministry of Education; and School of Oceanography, Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7218,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.67594269,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"7","first_page":"6776","last_page":"6783"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9747999906539917,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9747999906539917,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9588000178337097,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9472000002861023,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7840851545333862},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5071201324462891},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.42163392901420593},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.39700132608413696},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.39106661081314087},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3630768358707428},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2694958448410034},{"id":"https://openalex.org/keywords/archaeology","display_name":"Archaeology","score":0.23049896955490112},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.18602851033210754}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7840851545333862},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5071201324462891},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.42163392901420593},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.39700132608413696},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.39106661081314087},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3630768358707428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2694958448410034},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.23049896955490112},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.18602851033210754},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3568568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568568","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.699999988079071,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1535761620","https://openalex.org/W1969000925","https://openalex.org/W2072094721","https://openalex.org/W2754138574","https://openalex.org/W2765248538","https://openalex.org/W2790429190","https://openalex.org/W2883660187","https://openalex.org/W2891144584","https://openalex.org/W2923127495","https://openalex.org/W2972441482","https://openalex.org/W4213428889","https://openalex.org/W4285179961","https://openalex.org/W4323066016","https://openalex.org/W4389038629","https://openalex.org/W4404809335"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W2324615561","https://openalex.org/W1999583034","https://openalex.org/W2086120259","https://openalex.org/W2245170124","https://openalex.org/W2076393078","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2953138830","https://openalex.org/W2773822314"],"abstract_inverted_index":{"Hybrid":[0],"aerial":[1,9,48],"underwater":[2,11,50,83,101],"vehicles":[3],"(HAUVs)":[4],"provide":[5],"unique":[6],"capabilities":[7],"for":[8],"and":[10,13,28,49,52,60,82,92,100,107,117,128,131,153],"observation":[12,51],"sampling,":[14,150],"with":[15,72,85],"a":[16,57,73,134],"variety":[17,136],"of":[18,41,95,137],"configurations":[19],"already":[20],"developed.":[21],"However,":[22],"challenges":[23],"in":[24,133,142,148],"maneuverability,":[25],"payload":[26],"integration,":[27],"practicality":[29],"persist,":[30],"while":[31],"their":[32,42],"specific":[33,122],"applications":[34],"remain":[35],"underexplored,":[36],"limiting":[37],"the":[38,98,115,143],"full":[39],"realization":[40],"potential.":[43],"This":[44,124],"letter":[45],"introduces":[46],"an":[47,61,68],"sampling":[53,88,132],"(AUOS)":[54],"system,":[55],"featuring":[56],"Nezha-H":[58,66,96],"HAUV":[59],"autonomous":[62],"water":[63,119],"sampler.":[64],"The":[65,90,109],"fuses":[67],"H-shaped":[69],"quadrotor":[70],"configuration":[71],"T-shaped":[74],"quad-thruster":[75],"mechanism,":[76],"enabling":[77],"mobility":[78],"across":[79],"air,":[80],"surface,":[81],"environments,":[84],"vertical":[86,149],"profiling":[87],"capabilities.":[89],"static":[91],"cruise":[93],"stability":[94],"on":[97],"surface":[99],"are":[102],"also":[103],"analyzed":[104],"through":[105],"theory":[106],"experiment.":[108],"intelligent":[110],"multi-water":[111],"sampler":[112],"automatically":[113],"detects":[114],"thermocline":[116,151],"collects":[118],"samples":[120],"at":[121],"depths.":[123],"feature":[125],"enables":[126],"speedy":[127],"precise":[129],"observations":[130],"wide":[135],"aerial-aquatic":[138],"environments.":[139],"Successful":[140],"trials":[141],"field":[144],"demonstrate":[145],"its":[146],"versatility":[147],"identification,":[152],"air-water":[154],"interface":[155],"observation.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
