姜言清

Jiang Yanqing, male, 32 years old, Shandong Changyi nationality.
Doctor of Engineering, Associate Professor, Master's Degree Tutor.State Key Laboratory of Underwater Robot Technology, College of Shipbuilding Engineering, Harbin Engineering University.
Research Direction: Hydrodynamics, Maneuvering, Navigation and Control of Intelligent Underwater Vehicle (AUV/UUV) and Intelligent Unmanned Surface Vehicle (USV). Currently, we are focusing on Maneuvering and Control of autonomous underwater vehicle, guidance control of intelligent underwater vehicle (AUV-AUI) under Arctic ice for ice well upfloating with a fixed point out of the water, collaborative positioning and planning for cross-domain marine unmanned systems (Cd-UMS) under weak guidance conditions, the perturbation-resistant adaptive control of long-range intelligent underwater vehicles (LR-AUV), and collaborative undersea terrain matching navigation (Co-TAN). Focus on the practical application of theoretical results.
Academic Achievements: Published 39 papers (25 SCI search papers, 9 papers in Zone 1, 13 papers in Chinese), 1 book; applied for 63 Chinese invention patents (34 have been authorised). The results have been applied to 4 types of self-developed intelligent underwater vehicles, which have realised the autonomous operation of seawater element measurement, marine engineering detection, sediment sweeping and so on.
Project support: Presided over 5 projects above provincial and ministerial level, such as the National Natural Science Foundation of China, and 3 other projects.
Achievement awards: The adaptive optimal control of intelligent underwater robot was awarded the second prize of provincial natural science (ranked 2nd), the control technology of underwater robot against current disturbance was awarded the second prize of provincial natural science (ranked 3rd), the autonomous docking technology was awarded the second prize of the army's scientific and technological progress (ranked 4th), the silver prize of the 22nd China Patent Award (the main inventor), and the bonus prize of the Patent Award of the Shipbuilding and Offshore Engineering Industry (the main inventor). In 2016, the dissertation on the research of autonomous docking key technology for underwater robots was awarded the degree of Doctor of Engineering (D.Eng.) by Harbin Engineering University, specialising in the design and manufacture of ships and offshore structures, and was awarded the first Outstanding Doctoral Dissertation Award by Harbin Engineering University.
Cooperation with advantageous units at home and abroad: Invited to work for one year at the University of Southampton and the British National Maritime Centre for the achievements in topography matching navigation for underwater robots. At present, closely cooperate with China Shipbuilding Group 701, 707, 710 and 719 Research Institutes.
Recruitment and training services:
(1) Postgraduate students: Accepts 3 outstanding undergraduate students for postgraduate studies (2 recommendation + 1 examination) each year, which are included in the unified management of the State Key Laboratory of Underwater Robotics, and the group is equipped with more than 10 multidisciplinary scientific research assistants, such as computer software, computer hardware, mechanical design, etc., which are capable of assisting postgraduates to provide reliable and powerful research support and guarantee. We provide all postgraduates with basic living allowance, rewards for academic achievements, and employment recommendation.
(2) Undergraduate: Provide 2~4 undergraduate bachelor's thesis guidance for senior graduates and 1 science and innovation guidance for freshman/sophomore/junior undergraduates every year.
(3) Open: Provide voluntary counselling to current students and the whole society, including but not limited to career planning, employment guidance and psychological guidance.
Office address: Room 1202, Shuanhai Building, Harbin Engineering University, No. 145 Nantong Street, Nangang District, Harbin, Heilongjiang Province (jiangyanqing@hrbeu.edu.cn)

2012-2016, Design and Manufacture of Ships and Marine Structures, PhD in Engineering
2010-2013, Design and Manufacture of Ships and Marine Structures, M.Sc in Engineering.
2006-2010, Marine and Offshore Engineering, B.Eng.

June 2020 - present, Harbin Engineering University, Associate Professor, Master's supervisor
January 2019 - May 2020, Harbin Engineering University, Lecturer, Master's supervisor
October 2017 - October 2018, University of Southampton, UK & National Maritime Centre, UK, Postdoctor
January 2017 - January 2019, Harbin Engineering University, Postdoc

Autonomous guidance control of an intelligent underwater vehicle floating up an ice well with a fixed point out of the water, Distributed cooperative positioning and Cluster control for Unmanned Underwater Vehicle, Autonomous guided docking for underwater robots, Ultra-long range autonomous navigation under ice for underwater robots, Intelligent planning and Guidance control for unmanned systems

2021.01.01~2023.12.31, Overall design of modular detection underwater robot, JCKYS2022SXJQR-08, Project leader, Under research
2021.12.01~2024.05.31, R&D and validation of an AUV, 2021YFC2801300, Technical director, Under research
2021.12.01~2025.11.30, Autonomous control technology for an unmanned underwater vehicle, 50911020604, Technical director, Under research
2021.10.01~2023.09.30, AUV sensing driven deep sea navigation technology based on terrain features, GZ20210032, Project leader, Under research
2021.1~2022.12, Autonomous positioning system development, Project leader, Under research
2021.1~2022.12, Reinforcement learning intelligent control method for underwater robots, 520LH035, Project leader, Under research
2020.1~2022.12, Reinforcement learning control for underwater robots under complex llow lield, Project leader, Under research
2020.1~2021.12, A certain guidance control technology for an underwater robot, Project leader, Ready to finish the project
2019.1~2021.12, Research on guidance control technology for dynamic docking of AUV with underwater motion platform, Project leader, Ready to be completed
2019.1~2021.12, An underwater robotics, Project leader, Ready for completion
2020.8~2021.8, Research on multi-degree-of-freedom intelligent control technology for underwater robot under complex flow field, Project leader,?
2020.11~2021.11, Research on docking planning technology for autonomous navigation of submersible underwater vehicles, Project leader, Completed
2018.1~2020.12, Cross-media heterogeneous unmanned system group collaboration technology - collaborative positioning, Sub-undertaker in charge, Completed
2019.1~2019.12, Research on guidance control technology for dynamic docking of AUV, Project leader, Completed
2017.1~2019.1, Guidance and Planning technology for intelligent dynamic docking of AUVs, Project leader, Completed
2017.1~2017.12, Algorithm and test for "face-matching" positioning of deep-sea terrain based on bathymetric side-scan sonar, Project leader, Completed

201710258682.X 3D path understanding and tracking control methods for underdriven autonomous underwater vehicles
2017100538681 An AUV multibeam data framing method based on local offsets
2017100540662 A multi-robot collaborative underwater terrain matching navigation system and method
2016106246184 An adaptive fuzzy underwater vehicle control method using genetic algorithm for optimisation
2016104877863 A propeller thrust measurement device
2016101307321 An optically guided recovery system for an autonomous underwater robot and its recovery method
2016101528930 Miniature shoal composite energy harvesting device and a combined miniature shoal composite energy harvesting device
2016101415824 A vector thruster for underwater vehicles based on joint control of gimbal and worm gears
2015101409462 An intelligent underwater robot autonomous docking method based on dual gaze vision guidance
2016104877581 Glider adjustment device coupling cross roll adjustment and buoyancy adjustment
2016106246199 A retractable rudder wing mechanism for marine crafts
2016104877609 A kind of air pressure detecting high precision storage pressure buoyancy adjustment device
2015100837557 Hybrid surface and underwater navigation detector
2015108294489 Wave glider retractor device
2015105198634 Jellyfish-style bionic robot
2014100831293 An attitude control device and control method for a flying wing underwater glider
2013100128119 Face terrain matching navigation method for an underwater robot
201210506603X Seawater piston regulated gliding submersible
2013100127898 Multilinear terrain matching navigation method for underwater robots
2013100109442 Dual intelligent underwater robots mutual docking device and docking method

Intelligent Underwater Robot Seafloor Terrain Matching Navigation Technology, Science Press, November 2018

Jiang, Y., D. Ma, Z. Li, Y. Li, T. Ma, X. Xu, D. Hou, W. Zhang and H. Wu (2022). "Cooperative terrain matching navigation of double autonomous underwater vehicles under the arctic ice." Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University 43(8): 1091-1095.
Xu, S., Y. Jiang, Y. Li, S. Liu, S. Ding, D. Ma, H. Qi and W. Zhang (2022). "A stereo vision localization method for autonomous recovery of autonomous underwater vehicle." Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University 43(8): 1084-1090
Xie, T. Q., Y. Li, Y. Q. Jiang, S. Pang and X. F. Xu (2022). "Three-dimensional mobile docking control method of an underactuated autonomous underwater vehicle." Ocean Engineering 265: 14.
Wang, R. P., Y. Li, T. Ma, Z. Cong, Y. S. Gong, Y. Q. Jiang and Q. Zhang (2022). "A new model and method of terrain-aided positioning confidence interval estimation." Journal of Marine Science and Technology 27(1): 27-39.
Xie, T. Q., Y. Li, Y. Q. Jiang, S. Pang and H. W. Wu (2021). "Turning circle based trajectory planning method of an underactuated AUV for the mobile docking mission." Ocean Engineering 236: 12.
Ma, T., Y. Li, Y. X. Zhao, Y. Q. Jiang, Q. Y. Zhang and A. M. Pascoal (2021). "Efficient Bathymetric SLAM With Invalid Loop Closure Identification." Ieee-Asme Transactions on Mechatronics 26(5): 2570-2580.
Jiang Yanqing, Li Ye, Wang Youkang, Cao Jian, Li Yueming, Sun Yeyi, Yin Yuqi, Zhang Shengjun. Gravity and buoyancy analysis of full ocean depth autonomous underwater vehicle. Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University. Vol.41(4), 2020,4, P481-486. EI：20203209030417
Xie, T. Q., Y. Li, Y. Q. Jiang, L. An and H. W. Wu (2020). "Backstepping active disturbance rejection control for trajectory tracking of underactuated autonomous underwater vehicles with position error constraint." International Journal of Advanced Robotic Systems 17(2): 12.
An, L., Y. Li, J. Cao, Y. Q. Jiang, J. Y. He and H. W. Wu (2020). "Proximate time optimal for the heading control of underactuated autonomous underwater vehicle with input nonlinearities." Applied Ocean Research 95: 11.
He, J. Y., Y. Li, J. Cao, Y. M. Li, Y. Q. Jiang and L. An (2020). "An improved particle filter propeller fault prediction method based on grey prediction for underwater vehicles." Transactions of the Institute of Measurement and Control 42(11): 1946-1959
Ma, T., Y. Li, Y. X. Zhao, Y. Q. Jiang, Z. Cong, Q. Zhang and S. Xu (2020). "An AUV localization and path planning algorithm for terrain-aided navigation." Isa Transactions 103: 215-227.
Ma, T., Y. Li, Y. X. Zhao, Q. Zhang, Y. Q. Jiang, Z. Cong and T. W. Zhang (2020). "Robust bathymetric SLAM algorithm considering invalid loop closures." Applied Ocean Research 102: 10.
Jiang, Y. Q., Y. Li, Y. M. Su, J. Cao, Y. M. Li, Y. K. Wang and Y. Y. Sun (2019). "Statics variation analysis due to spatially moving of a full ocean depth autonomous underwater vehicle." International Journal of Naval Architecture and Ocean Engineering 11(1): 448-461.
An, L., Y. Li, Y. Q. Jiang, Y. M. Li, J. Cao and J. Y. He (2019). "Soft-Switching Proximate Time Optimal Heading Control for Underactuated Autonomous Underwater Vehicle." Ieee Access 7: 143233-143249
Cong, Z., Y. Li, Y. Q. Jiang, T. Ma, Y. S. Gong, R. P. Wang and H. W. Wu (2019). "An evaluation of path-planning methods for autonomous underwater vehicle based on terrain-aided navigation." International Journal of Advanced Robotic Systems 16(3): 8.
Sun, Y., H. Wu, Y. Li, Y. Jiang and Z. Zhou (2019). "Summary of AUV underwater recycle docking technology." Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University 40(1): 1-11.
Jiang, Y. Q., Y. Li, Y. M. Su, Z. Y. Zhou, T. Ma, L. An and J. Y. He (2018). "Route optimizing and following for autonomous underwater vehicle ladder surveys." International Journal of Advanced Robotic Systems 15(6): 16.
Zhou, Z. Y., Y. Q. Jiang, Y. Li, C. Jian and Y. Y. Sun (2018). "A single acoustic beacon-based positioning method for underwater mobile recovery of an AUV." International Journal of Advanced Robotic Systems 15(5): 10
Sun, Y., H. Wu, Y. Jiang, L. An and Y. Li (2018). "Dynamic Positioning of Ocean Observation Platform under Current Disturbance." Jiqiren/Robot 40(1): 8-15.
Li, Y., L. An, Y. Q. Jiang, J. Y. He, J. Cao and H. D. Guo (2018). "Dynamic positioning test for removable of ocean observation platform." Ocean Engineering 153: 112-121.
Ma, T., Y. Li, Y. Q. Jiang, R. P. Wang, Z. Cong and Y. S. Gong (2018). "A dynamic path planning method for terrain-aided navigation of autonomous underwater vehicles." Measurement Science and Technology 29(9): 15.
He, J. Y., Y. Li, Y. Q. Jiang, Y. M. Li and L. An (2018). "PROPELLER FAULT DIAGNOSIS BASED ON A RANK PARTICLE FILTER FOR AUTONOMOUS UNDERWATER VEHICLES." Brodogradnja 69(2): 147-164.
He, J. Y., Y. Li, Y. M. Li, Y. Q. Jiang and L. An (2018). "Fault diagnosis in autonomous underwater vehicle propeller in the transition stage based on GP-RPF." International Journal of Advanced Robotic Systems 15(6): 9.
Chen, P. Y., Y. Han, P. F. Zhang and Y. Q. Jiang (2018). "Intelligent S-plane controller for Micro Unmanned Aerial Vehicle." Ieee Access 6: 68096-68103.
Li, Y., T. Ma, P. Y. Chen, Y. Q. Jiang, R. P. Wang and Q. Zhang (2017). "Autonomous underwater vehicle optimal path planning method for seabed terrain matching navigation." Ocean Engineering 133: 107-115.
Li, Y., R. P. Wang, P. Y. Chen, P. Shen and Y. Q. Jiang (2017). "Terrain Matching Positioning Method Based on Node Multi-information Fusion." Journal of Navigation 70(1): 82-100.
Li, Y., H. D. Guo, H. Gong, Y. Q. Jiang, L. An and T. Ma (2016). THE IMPROVED ADAPTIVE HYBRID FUZZY CONTROL OF AUV HORIZONTAL MOTION. 2016 13th International Computer Conference on Wavelet Active Media Technology and Information Processing. J. P. Li, I. Bloshanskii, I. Ahmad and S. X. Yang. New York, Ieee: 408-414.
Li, Y., Y. Q. Jiang, J. Cao, B. Wang and Y. M. Li (2015). "AUV docking experiments based on vision positioning using two cameras." Ocean Engineering 110: 163-173.
Li, Y., Y. Q. Jiang, L. F. Wang, J. Cao and G. C. Zhang (2015). "Intelligent PID guidance control for AUV path tracking." Journal of Central South University 22(9): 3440-3449.
Li, Y., C. Wei, Q. Wu, P. Y. Chen, Y. Q. Jiang and Y. M. Li (2015). "Study of 3 dimension trajectory tracking of underactuated autonomous underwater vehicle." Ocean Engineering 105: 270-274.
Chen, P. Y., Y. Li, P. Shen, R. P. Wang, Y. Q. Jiang and Ieee (2015). Comparison and Analysis of Gridding Methods of Multi-beam Echo Sounder. 2015 27th Chinese Control and Decision Conference. New York, Ieee: 2576-2579.
Chen, P. Y., Y. Li, Y. M. Su, X. L. Chen and Y. Q. Jiang (2015). "Review of AUV Underwater Terrain Matching Navigation." Journal of Navigation 68(6): 1155-1172.
Chen, P. Y., Y. Li, Y. M. Su, X. L. Chen and Y. Q. Jiang (2015). "Underwater terrain positioning method based on least squares estimation for AUV." China Ocean Engineering 29(6): 859-874.
Li, Y., Y. Q. Jiang, S. Ma, P. Y. Chen and Y. M. Li (2014). "Inverse speed analysis and low speed control of underwater vehicle." Journal of Central South University 21(7): 2652-2659.

Yanqing Jiang (Ranked 7th), Silver Prize of the 22nd China Patent Award Dual Intelligent Underwater Robot Mutual Docking Device and Docking Method, State Intellectual Property Office, Silver Prize at State Level, 2021/5
Yanqing Jiang (Ranked 2nd), Natural Prize of Heilongjiang Provincial Science and Technology Award Adaptive Optimisation Control of Intelligent Underwater Robots Second Prize of Provincial and Ministerial Level, 2020/9
Yanqing Jiang (Ranked 7th), Ship and Ocean Engineering Industry Patent Award Dual Intelligent Underwater Robot Mutual Docking Device and Docking Method China Ship and Ocean Engineering Industry Intellectual Property Alliance Industry Prize Award, 2019/4/26
Jiang Yanqing (Ranked 4th), Army Science and Technology Progress Award Second Prize of Provincial and Ministerial Level for a Certain Autonomous Recycling Technology, 2017/12/29
Yanqing Jiang (Ranked 3rd), Natural Science Award of Heilongjiang Province Second-class Provincial Ministerial Prize of Intelligent Underwater Robot Anti-Disturbance Control Theory and Method, 2017/10/1
Yanqing Jiang (Ranked 3rd), Natural Prize of Heilongjiang Higher Education School Science and Technology Award Theory and Methods of Anti-turbulence Control for Intelligent Underwater Robots First-class prize of departmental level, 2017/1
Yanqing Jiang (Ranked 1st) Harbin Engineering University Outstanding Doctoral Degree Award Key Technology Research on AUV Recovery Control, 2017/12/1