严浙平

Yan Zheping, male, a secondary professor and doctoral supervisor, is currently the director of the Engineering Research Center of the Ministry of Education for Ship Control engineering of the School of Intelligent Science and Engineering, and the Team leader of the underwater unmanned system and intelligent technology of the Marine Information and System Research Institute of Qingdao Innovation and Development Base. He has worked for nearly 30 years and has been engaged in the overall design, autonomous and intelligent control, system optimization and Integration testing, environmental application and other technical research of underwater unmanned systems and submersibles. He has published more than 130 SCI and EI retrieval papers and two monographs. By June 2023, a total of 2 postdoctoral students have been instructed to leave the station, 20 doctoral graduates have been trained, 52 master's graduates have been trained, 3 postdoctoral students are in the station, 17 doctoral students are studying, 12 master's students are studying. Now, he is the editorial board member of journals such as China Ship Research, Journal of Underwater Unmanned Systems, Journal of Harbin Engineering University, etc. Presided over and completed 13 projects such as National Natural Science Foundation of China, New Century Talent Support, Provincial Outstanding Youth Fund, equipment pre research and development, and 1 equipment model project under research. Among them, scientific research achievements have won 2 national second prizes, 1 national defense special prize, 4 national defense first prizes, 1 national innovation first prize, and the first inventor has been granted 32 invention patents; The teaching achievements have won one second prize of national level teaching achievements and one special prize of provincial level teaching achievements. In 2017, he was selected as the National Baiqianwan Talents Project and a Distinguished Professor of Longjiang Scholars. In 2019, he was selected as the National WR Leading Talent Support Program. In 2020, he took the lead in winning the First National Defense Science and Technology Industry Outstanding Contribution Award. In 2021, he was awarded the title of the Second National University Huang Danian Style Teacher Team.

1990.09-1994.07, Harbin Engineering University, nuclear power plant, Undergraduate;
1994.09-1997.04, Harbin Engineering University, Special Auxiliary Devices and Systems for Ship and Ocean Engineering, Master;
1997.09-2001.07, Harbin Engineering University, Control theory and Control engineering, Doctor;

1997.07-2000.08, Harbin Engineering University, Assistant;
1999.05-2012.03, Harbin Engineering University，Secretary and Deputy Director of the Party Branch；
2000.09-2002.08, Harbin Engineering University, Lecturer;
2001.12-2005.03,Harbin Institute of Technology, Mechanical and Electronic engineering, Postdoctoral;
2002.09-2005.08, Harbin Engineering University, Associate professor;
2005.09-now, Harbin Engineering University, Professor;
2007.09-now, Harbin Engineering University, Doctoral supervisor; 
2012.04-2022.06, Harbin Engineering University, Director of Institute of Marine Equipment and Control Technology;
2017.09-now, Harbin Engineering University ,Director of Engineering Research Center of Ship Control Engineering Ministry of Education;

[1]The overall design of underwater unmanned systems and submarines;
[2]Autonomous and intelligent control of underwater unmanned systems and underwater vehicles;
[3]Optimization and Integration testing of underwater unmanned system and submarine system;
[4]Technologies such as underwater unmanned systems and underwater vehicle environmental applications;

[1] National special project, July 2008 to April 2015, project acceptance, Project leader；
[2] National Plan Project, March 2010- November 2014, Project Acceptance, Project Leader；
[3] The Ministry of Education's New Century Excellent Talents Support Program, project acceptance from January 2011 to December 2013, Project leader;
[4] Equipment development, November 2011- November 2014, project acceptance, Project leader;
[5] General project of the National Natural Science Foundation of China, project acceptance from January 2012 to December 2015, Project leader;
[6] Equipment pre research, project acceptance from June 2015 to October 2015, Project leader;
[7] Equipment pre research, project acceptance from July 2015 to December 2015, Project leader;
[8] Outstanding Youth Fund of Heilongjiang Province, January 2016 to December 2019, project conclusion, Project leader;
[9] General project of the National Natural Science Foundation of China, 2017.01-2020.12, project conclusion, Project leader;
[10] National Key R&D Plan, July 2017 to June 2018, project acceptance, Project leader;
[11] Equipment pre research, August 2019- December 2022, project conclusion, Project leader;
[12] Equipment pre research, December 2019- December 2022, project conclusion, Project leader;
[13] Equipment development, October 2022- December 2024, project in progress, Project leader.

2015.03-2015.04, National University of Singapore, Senior Visiting scholar;
2016.02-2016.03, Australian National University, Visiting scholar;
2017.02-2017.03, University of Guelph, Canada, Senior Visiting scholar;
2017.07-2017.08, Technical University of Berlin, Germany, Industry 4.0 trainee；

2008.11-now, Deputy Secretary General of the National Submersible Standardization Committee;
2014.12-now, a Member of the Academic Committee of Harbin Engineering University;
2021.01-now, a Member of the Academic Committee of the State Key Laboratory of Underwater Robots;
2016.07-now, served as the editorial board and member of Journal of Research on Chinese Ships;
2018.07-now, served as the editorial board member of the Journal of Underwater Unmanned Systems;
2015.10-now, served as the editorial board and member of Journal of Harbin Engineering University;
2016.12-2020.12: H863-5 Theme Expert Group of the Science and Technology Commission of the Military Commission, Responsible expert;
2017.10-now, a Academic Committee Member of the Key Laboratory of Underwater Unmanned Vehicle Technology, Ministry of Industry and Information Technology;
2017.09-now, the Director of the Engineering Research Center of the Ministry of Education for Ship Control engineering.

[1] Yan Zheping; Yang Haoyu; Zhang Wei; Wang Yanbin; Tang Maowen; Feng Shuang; Nie Ziyu; Lin Fantai; Gong Qingshuo; Wan Tong. A Motion Mode Switching Mechanism and Its Application in an Aerial Climbing Biomimetic Robot, 20221025, China, ZL202010649174.6；
[2] Yan Zheping; Yang Zewen; Zhao Xinyi; Zhou Jiajia; Pan Xiaoli; Zhang Jinzhong. A Control Method for Longitudinal Plane Trajectory Tracking of Unmanned Submarine Vehicle Based on Fuzzy Switching Gain and Reverse Sliding Mode, 20220902, China, ZL 201910639698.4；
[3] Yan Zheping; Huang Fei; Wu Di; Tian Kaixin; Wan Chuang .Underwater Unmanned Vehicle Cluster Simulation Platform. 2020715, China, ZL201910311092.8；
[4] Yan Zheping; Yang Zewen; Zhao Xinyi; Wu Di; Zeng Jia; Wang Haibin. A depth backstepping control method for Underactuation cableless underwater vehicle based on dynamic surface sliding mode. 2020715. China, ZL201910639537.5；
[5] Yan Zheping; Wang Di; Wu Di; Liu Rui. A localization and composition method for underwater robots based on multi-sensor fusion, 20220715, China, ZL 202011601957.3；
[6] Yan Zheping; Gong Peng; Zhang Wei; Wei Shilin; Li Zixuan; Wu Wenhua; Pan Jun; Gao Saibo; Chen Ximing. An AUV underwater deployment and retrieval docking device and docking method, 20211001, China, ZL 201911222643. X；
[7] Yan Zheping; Yang Haoyu; Zhang Wei; Lin Fantai; Gong Qingshuo; Wan Tong; Feng Shuang; Wang Yanbin; Nie Ziyu; Tang Maowen . A connecting rod biomimetic fish tail with gear ring gear transmission, 20210928, China, ZL202010031433.9；
[8] Yan Zheping; Yang Haoyu; Zhang Wei; Lin Fantai; Gong Qingshuo; Guo Shuaike; Gao Saibo; Wan Tong; Wang Yanbin; Feng Shuang.. A biomimetic fish tail based on gear linkage mechanism, 20210723, China, ZL 201911220849.9；
[9] Yan Zheping; Wang Lu; Wang Tongda; Yang Zewen; Yue Lidong; Pan Xiaoli. A Pole Collaborative Navigation Method for Multiple Underwater Unmanned Vehicles Considering Underwater Acoustic Communication Delay, 20210423, China, ZL 201810109921. X；
[10] Yan Zheping; Li Hang; Song Jinxue. A Method for Constructing UUV Coast Patrol Contour Based on Wavelet Clustering, 20201229, China, ZL201710501661.6；
[11] Yan Zheping; Xu Da; Chen Tao; Zhang Honghan; Du Xue. A method for USV water surface dynamic autonomous recovery of UUV, 20200403, China, ZL 201710347631.4；
[12] Yan Zheping; Xu Da; Wan Chuang; Chen Tao; Zhang Wei. A Route Generation Method for UUV Approaching Submarine Operations, 20200117, China, ZL 201710347926.1；
[13] Yan Zheping; Xu Da; Chen Tao; Zhou Jiajia; Zhang Xun. A space trajectory tracking control method for compensating UUV Kinematics and dynamics interference, 20191206, China, ZL 2017103479134；
[14] Yan Zheping; Xu Da; Zhou Yi; Chen Tao; Zhang Honghan; Zhou Jiajia. A Navigation Switching System and Switching Method for UUV Submarine Terrain Tracking, 20181225 China, ZL201610312367.6；
[15] Yan Zheping; Chen Ye; Hou Ruping; Zhou Jiajia; Zhang Wei; Luo Pengfei. A sliding mode tracking control method for UUV moving targets considering local collision avoidance, 20181026 China, ZL201610312434.4；
[16] Yan Zheping; Jiang An Zuo; Zhang Honghan; Chen Tao; Zhang Xun; Wang Lu. A combined speed measurement system suitable for micro and small UUVs, 20181009 China, ZL201610150512.5；
[17] Yan Zheping; Zhang Gengshi; Li Benyin; Xu Jian; Chen Tao. Collision avoidance methods for unmanned underwater vehicle IVFH, 20180928 China, ZL201610133445.6；
[18] Yan Zheping; Chen Jian; Zhou Jiajia; Zhang Xun; Jiang Anzuo; Wang Lu; Deng Nanming. UUV based Side-scan sonar image aided interpretation method, 20180928 China, ZL201610200682. X；
[19] Yan Zheping; Deng Nanming; Zhou Jiajia; Luo Pengfei. A Route Planning Method for UUV Tracking of Mother Ships Suitable for High Sea Conditions, 20180921 China, ZL20161014141644.1；
[20] Yan Zheping; Zhu Fengqing; Luo Pengfei; Zhang Honghan; Zhou Jiajia. Self positioning sonar positioning buoy, 20180209 China, ZL201610244341.2；
[21] Yan Zheping; Zhao Jinyang; Hao Yue; Li Benyin. A Behavior Based Abnormal Identification Method for UUV Propulsion Control System, 20170620 China, ZL201410381881.6；
[22] Yan Zheping; Hao Yue; Zhang Wei; Wang Qianyi; Zhao Jinyang; Zhang Honghan. A Harris SIFT Binocular Visual Localization Method Based on Horse Step Measure, 20170524 China, ZL201410373212.4；
[23] Yan Zheping; Zhang Gengshi; Xu Jian; Li Benyin; Wang Man. Yacht Status Remote Monitoring System and Method, 20170125 China, ZL201410003183.2；
[24] Yan Zheping; Li Congcong; Xu Jian; Zhou Jiajia; Zhang Honghan; Chen Tao. A Synchronous Virtual Inference Device for Underwater Unmanned Vehicle Observation Tasks, 20170104 China, ZL201310563459.8；
[25] Yan Zheping; Liu Yibo; Zhang Honghan; Zhang Wei; Zhou Jiajia; Hao Bing. A Fast Balancing Adjustment Method for Underwater Unmanned Vehicle Load After Delivery, 20161123 China, ZL201410486144.2；
[26] Yan Zheping; Li Congcong; Xu Jian; Chen Tao; Zhou Jiajia; Zhang Honghan. A Threat Based UUV Multilevel Survival Emergency Self rescue Method, 20160504 China, ZL201310652153. X；
[27] Yan Zheping; Deng Chao; Zhao Yufei; Li Benyin; Zhang Xun; Zhou Jiajia. A Method for Calibrating the Coordinate Position of Submarine Responders on Surface Mothership, July 22, 2015 China, ZL201310470447.0；
[28] Yan Zheping; Deng Chao; Li Congcong; Zhao Yufei; Xu Jian; Chen Tao. UUV 3D Route Planning Method in Sports Barrier Environment, 20150624 China, ZL201410011297.1；
[29] Yan Zheping; Wu Di; Xu Jian; Zhou Jiajia; Hao Lichao. Adaptive Cascade Control Method for Underactuation UUV Submarine Floatation at High Angle of Attack for Complex Sea Conditions, 20130227 China, ZL201110196749.4； 
[30]Yan Zheping; Jiang Ling; Zhao Yufei; Chi Dongnan. A safety indicator and starting device for underwater vehicles, 20120509 China, ZL201010595377.8;
[31]Yan Zheping; Wu Yueyuan; Zhang Xinyu; Li Jufeng; Zhang Wei. Closed cycle fuel cell system suitable for AUV, 201111116 China, ZL200910073442.8;
[32] Yan Zheping; Zhang Yong; Zhu Yifeng; Xu Jian; Zhang Wei; Zhang Xun. Vector hydrophone drag line array transceiver, 20110615 China, ZL200810137210. X;

[1] Compiled by Yan Zheping and Zhou Jiajia, reviewed by Bian xinqian. Underwater Unmanned Vehicle Control Technology, Arms industry Press, 2015;
[2] Written by Carlos C. Insulard, translated by Zhang Xun and Xu Bo, and reviewed by Yan Zheping. Intelligent Autonomous Control of Marine Unmanned Vehicles, Arms industry Press, 2018;

[1]Yan, Zheping(#); Yan, Jinyu(*); Wu, Yifan; Cai, Sijia; Wang, Hongxing. A novel reinforcement learning based tuna swarm optimization algorithm for autonomous underwater vehicle path planning.         MATHEMATICS AND COMPUTERS IN SIMULATION. V209,pp55-86, 10.1016/j.matcom.2023.02.003, JUL,2023,WOS:000948493000001.
[2]Yan, Zheping(#); Yue, Lidong(*); Zhou, Jiajia; Pan, Xiaoli; Zhang, Chao. Formation Coordination Control of Leaderless Multi-AUV System with Double Independent Communication Topology and Nonconvex Control Input Constraints. JOURNAL OF MARINE SCIENCE AND ENGINEERING.V11(       1)，Article No.107,10.3390/jmse11010107 JAN 2023 WOS:000915626300001.
[3]Yan, Zheping(#); Yan, Jinyu(*); Wu, Yifan; Zhang, Chao. An improved hybrid mayfly algorithm for global optimization     . JOURNAL OF SUPERCOMPUTING. V79(6), pp    5878-5919. 10.1007/s11227-022-04883-9.APR, 2023.WOS:000874402000001.
[4]Yan, Zheping(#); Zhang, Chao(*); Tian, Weida; Cai, Sijia; Zhao, Luoyin.Distributed observer-based formation trajectory tracking method of leader-following multi-AUV system.OCEAN ENGINEERING  .Vol 260,  Article No.112019,10.1016/j.oceaneng.2022.112019,SEP.15,2022, WOS:000835495500004.
[5]Yan, Zheping(#); Yang, Haoyu(*); Zhang, Wei; Gong, Qingshuo; Lin, Fantai; Zhang, Yu. Bionic Fish Trajectory Tracking Based on a CPG and Model Predictive Control. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS.V105(2), Article No.       29, 10.1007/s10846-022-01644-x, JUN .2022, WOS:000796973800003.
[6]Yan, Zheping(#); Zhang, Chao(*); Zhang, Mingyao; Yan, Jinyu; Tian, Weida. Distributed event-triggered formation control for multi-AUV system via asynchronous periodic sampling control approach. OCEAN ENGINEERING, V256, Article No.111561, 10.1016/j.oceaneng.2022.111561     ,JUL. 15 ,2022,WOS:000861036600001.
[7]Yan, Zheping(#); Zhang, Mingyao(*); Zhang, Chao; Zeng, Jia. Decentralized formation trajectory tracking control of multi-AUV system with actuator saturation.OCEAN ENGINEERING,V255, Article No.111423,10.1016/j.oceaneng.2022.111423,JUL. 1 ,2022,        WOS:000855676600003.
[8]Yan, Zheping(#); Yang, Haoyu(*); Zhang, Wei; Gong, Qingshuo; Zhang, Yu; Zhao, Luoyin. Robust nonlinear model predictive control of a bionic underwater robot with external disturbances. OCEAN ENGINEERING, V253, Article No.111310, 10.1016/j.oceaneng.2022.111310,JUN 1,2022, WOS:000798184100001
[9]Yan, Zheping(#); Jiang, Anzuo(*); Lai, Chonglang; Li, Heng. Velocity-Free Formation Control and Collision Avoidance for UUVs via RBF: A High-Gain Approach. ELECTRONICS. Vol.11（8），Article No.1170，10.3390/electronics11081170，APR  2022，WOS:000785675900001.
[10]Yan, Zheping(#); Jiang, Anzuo(*); Lai, Chonglang. Adaptive Formation Control of Unmanned Underwater Vehicles with Collision Avoidance under Unknown Disturbances. JOURNAL OF MARINE SCIENCE AND ENGINEERING. Vol.10(4),  Article No.516, 10.3390/jmse10040516, APR 2022, WOS:000785238100001.
[11]Yan, Zheping(#); Zhang, Jinzhong(*); Zeng, Jia; Tang, Jialing. Three-dimensional path planning for autonomous underwater vehicles based on a whale optimization algorithm. OCEAN ENGINEERING  . Vol.250,  Article No.111070, 10.1016/j.oceaneng.2022.111070, APR 15, 2022, WOS:000783635200008.
[12]Yan, Zheping(#); Zhang, Chao(*); Tian, Weida; Zhang, Mingyao. Formation trajectory tracking control of discrete-time multi-AUV in a weak communication environment. OCEAN ENGINEERING, Vol.    245, Article No.110495, 10.1016/j.oceaneng.2021.110495, FEB 1,2022, WOS:000861028700004.
[13] Yan, Zheping(#); Zhang, Jinzhong(*); Zeng, Jia; Tang, Jialing. Nature-inspired approach: An enhanced whale optimization algorithm for global optimization, MATHEMATICS AND COMPUTERS IN SIMULATION, Vol.185, pp17-46       ,10.1016/j.matcom.2020.12.008,JUL,2021, WOS:000632026600002.
[14]Yan, Zheping(#); Zhang, Jinzhong(*); Tang, Jialing. Path planning for autonomous underwater vehicle based on an enhanced water wave optimization algorithm, MATHEMATICS AND COMPUTERS IN SIMULATION, Vol.   181, pp192-241,  10.1016/j.matcom.2020.09.019,MAR 2021, WOS:000585853800013.
[15]Yan, Zheping(#); Xu, Da(*); Chen, Tao; Zhou, Jiajia. Formation control of unmanned underwater vehicles using local sensing means in absence of follower position information. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, Vol.18(1)   , Article No. 1729881420986740, 10.1177/1729881420986745,  JAN . 2021 , WOS:000613617600001.
[16]Yan, Zheping(#); Zhang, Jinzhong(*); Tang, Jialing. Whale optimization algorithm based on lateral inhibition for image matching and vision-guided AUV docking. JOURNAL OF INTELLIGENT & FUZZY SYSTEMS,Vol.40(3)，pp 4027-4038,10.3233/JIFS-200365,2021,WOS:000626775000016.
[17]Yan, Zheping(#); Zhang, Jinzhong(*); Zeng, Jia; Tang, Jialing. Water wave optimization algorithm for autonomous underwater vehicle path planning problem. JOURNAL OF INTELLIGENT & FUZZY SYSTEMS, Vol.  40(5), pp   9127-9141, 10.3233/JIFS-201544,2021,WOS:000644456300033.
[18]Yan, Zheping(#); Zhang, Jinzhong(*); Yang, Zewen; Tang, Jialing. Two-dimensional optimal path planning for autonomous underwater vehicle using a whale optimization algorithm. CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE,Vol.33(9), Article No.       e6140, 10.1002/cpe.6140,MAY.10, 2021, WOS:000597065200001.
[19]Yan, Zheping(#); Gong, Peng(*); Zhang, Wei; Wu, Wenhua. Model predictive control of autonomous underwater vehicles for trajectory tracking with external disturbances . OCEAN ENGINEERING, Vol.217,         Article No.107884, 10.1016/j.oceaneng.2020.107884,DEC.1,2020 , WOS:000597316900058.
[20]Yan, Zheping(#); Yang, Zewen(*); Pan, Xiaoli; Zhou, Jiajia; Wu, Di. Virtual leader based path tracking control for Multi-UUV considering sampled-data delays and packet losses   . OCEAN ENGINEERING,Vol.         216   , Article No.      108065, 10.1016/j.oceaneng.2020.108065,NOV 15,2020, WOS:000596863000076.
[21]Yan, Zhe-ping(#); Wu, Yi(*); Liu, Yi-bo; Ren, Hong-liang; Du, Xue. Multiple Unmanned Underwater Vehicles Consensus Control with Unmeasurable Velocity Information and Environmental Disturbances Under Switching Directed Topologies. CHINA OCEAN ENGINEERING,Vol.34(5),pp.    631-640         ,10.1007/s13344-020-0063-z      ,SEP 2020         ,WOS:000581840300004.
[22]Yan, Zheping(#); Zhang, Jinzhong; Tang, Jialing. Modified whale optimization algorithm for underwater image matching in a UUV vision system. MULTIMEDIA TOOLS AND APPLICATIONS, V ol.80(1),pp.187-213,         10.1007/s11042-020-09736-2,JAN, 2021,WOS:000565163400004.
[23]Yan, Zheping(#); Zhang, Jinzhong(*); Tang, Jialing. Modified water wave optimization algorithm for underwater multilevel thresholding image segmentation        .MULTIMEDIA TOOLS AND APPLICATIONS , Vol.79(43-44),pp32415-     32448,10.1007/s11042-020-09664-1,NOV.2020,WOS:000564978000005.
[24]Yan, Zheping(#); Wu, Y(*)i; Liu, Yibo; Ren, Hongliang; Du, Xue        .Leader-Following Multiple Unmanned Underwater Vehicles Consensus Control under the Fixed and Switching Topologies with Unmeasurable Disturbances.          COMPLEXITY, 2020         ,Article No.       5891459, 10.1155/2020/5891459,FEB 10,2020, WOS:000518015800003.
[25] Yan, Zheping(#); Wang, Man(*); Xu, Jian. Global Adaptive Neural Network Control of Underactuated Autonomous Underwater Vehicles with Parametric Modeling Uncertainty    . ASIAN JOURNAL OF CONTROL,Vol.21(3),pp.  1342-1354,10.1002/asjc.1819,MAY,2019, WOS:000468801000026.
[26]Yan, Zheping(#); Wang, Man(*); Xu, Jian. Integrated guidance and control strategy for homing of unmanned underwater vehicles. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS,Vol.356(7), pp        3831-3848，10.1016/j.jfranklin.2018.11.042，MAY， 2019，WOS:000465563800002.
[27]Yan, Zheping(#); Wang, Man(*); Xu, Jian. Robust adaptive sliding mode control of underactuated autonomous underwater vehicles with uncertain dynamics. OCEAN ENGINEERING, Vol.173,pp 802-809         ,10.1016/j.oceaneng.2019.01.008      ,FEB 1 ,2019,    WOS:000460709700061.
[28]Yan, Zheping(#); Yang, Zewen(*); Yue, Lidong; Wang, Lu; Jia, Heming; Zhou, Jiajia.       Discrete-time coordinated control of leader-following multiple AUVs under switching topologies and communication delays. OCEAN ENGINEERING, Vol.172 , pp361-372,      10.1016/j.oceaneng.2018.12.018, JAN 15 ,2019,WOS:000458591300029.
[29]Yan, Zhe-Ping(#); Liu, Yi-Bo(*); Zhou, Jia-Jia; Zhang, Wei; Wang, Lu.      Consensus of multiple autonomous underwater vehicles with double independent Markovian switching topologies and timevarying delays, CHINESE PHYSICS B , Vol.26(4      ), Article No.     40203,         10.1088/1674-1056/26/4/040203,        APR 2017, WOS:000400904400003.
[30]Yan Zhe-ping(#); Liu Yi-bo(*); Yu Chang-bin; Zhou Jia-jia. Leader-following coordination of multiple UUVs formation under two independent topologies and time-varying delays, JOURNAL OF CENTRAL SOUTH UNIVERSITY, Vol.       24(2), pp   382-393,10.1007/s11771-017-3440-x,FEB 2017, WOS:000400462700016.
[31] Yan Zheping, Li Jiyun, Wu Yi, Yang Zewen. Prediction of motion parameters of underwater moving obstacles based on forward-looking sonar [J]. Journal of Huazhong University of Science and Technology (Natural Science Edition), 2019,47 (05): 105-109 (EI);
[32] Yan Zheping, Wang Lu. Research status and progress of UUV underwater positioning method [J]. Journal of Harbin Engineering University, 2017,38 (07): 989-1000 (EI);
[33] Yan Zheping, Yu Haomiao, Li Benyin, Zhou Jiajia. Underactuation terrain tracking control based on integral sliding mode [J]. Journal of Harbin Engineering University, 2016,37 (05): 701-706 (EI);
[34] Yan Zheping, Deng Chao, Li Benyin, Zhao Yufei. Particle swarm optimization square root strong tracking CKF and its application [J]. Journal of Beijing Institute of Technology, 2015, 35 (08): 828-835 (EI);
[35] Yan Zheping, Zhao Yufei, Chen Tao, Zhou Jiajia. A path planning method for unmanned underwater vehicles based on navigation error space [J]. Journal of Military Engineering, 2014,35 (08): 1243-1250 (EI);
[36] Yan Zheping, Deng Chao, Sun Haitao, Chi Dongnan. Competitive particle swarm optimization algorithm and its application in UUV route planning [J]. Journal of Beijing Institute of Technology, 2014,34 (08): 813-818 (EI);
[37] Yan Zheping, Deng Chao, Zhao Yufei, Li Benyin. The method of near seabed spatial path planning for unmanned underwater vehicles [J]. Journal of Harbin Engineering University, 2014,35 (03): 307-312 (EI);
[38] Yan Zheping, Deng Chao, Zhao Yufei, Li Benyin. Application of improved particle swarm optimization algorithm in UUV route planning [J]. Journal of Huazhong University of Science and Technology (Natural Science Edition), 2013,41 (12): 64-68 (EI);
[39] Yan Zheping, Wu Di, Zhou Jiajia, Xu Jian. Navigation method based on UUV dynamic model [J]. Journal of Huazhong University of Science and Technology (Natural Science Edition), 2013,41 (11): 108-113 (EI);
[40] Yan Zheping, Zhao Yufei, Chen Tao. Research on Autonomous Control Technology of Underwater Unmanned Vehicle for Ocean Survey [J]. Journal of Harbin Engineering University, 2013,34 (09): 1152-1158 (EI);
[41] Yan Zheping, Zhao Yufei, Chen Tao, Chi Dongnan. UUV path planning under imprecise navigation information [J]. Journal of Harbin Engineering University, 2013,34 (06): 715-720;
[42] Yan Zheping, Li Benyin, Bian Xinqian, Deng Chao. Research on UUV 3D robust tracking control based on error space [J]. Journal of Beijing Institute of Technology, 2013,33 (05): 490-494 (EI);
[43] Yan Zheping, Chi Dongnan, Zhao Zhi, Zhao Yufei. Inert detection of Acnode of UUV obstacles based on support vector clustering [J]. Journal of Harbin Engineering University, 2012,33 (11): 1377-1383 (EI);
[44] Yan Zheping, Chi Dongnan, Zhao Zhi, Chen Tao. Fuzzy adaptive fusion fault diagnosis method for UUV propulsion system [J]. Journal of Electrical Machinery and Control, 2012,16 (09): 14-20 (EI);
[45] Yan Zheping, Chi Dongnan, Zhou Jiajia, Zhao Zhi. NGPC based UUV path following control [J]. Journal of Huazhong University of Science and Technology (Natural Science Edition), 2012,40 (05): 120-124 (EI);
[46] Yan Zheping, Wu Yueyuan. UUV Closed Cycle Fuel Cell System and Propulsion Power Matching Control [J]. Journal of Chemical Engineering, 2011,62 (01): 170-178 (EI).

[1] In 2021, a national team of Huang Danian style teachers from universities;
[2] In 2020, the National Innovation Excellence Award;
[3] In 2019, the national "WR Plan";
[4] In 2018, the State Council government special allowance;
[5] In 2017, young and middle-aged experts who made outstanding contributions to the National Hundred Million Talents Project;
[6] In 2017, Longjiang Scholars supported the program as a distinguished professor;
[7] In 2016, outstanding youth in Heilongjiang Province;
[8] In 2010, the New Century Excellent Talent Support Program;
[9] In 2009, Heilongjiang Province Youth Science and Technology Award;

[1] In 2020, the National Science and Technology Progress Award, Second prize;
[2] In 2019, the National Defense Science and Technology Progress Award, Grand Prize;
[3] In 2016, the National Defense Science and Technology Progress Award, First prize;
[4] In 2015, the National Defense Science and Technology Progress Award, First prize;
[5] In 2008, the National Science and Technology Progress Award, Second prize;
[6] In 2007, the National Defense Science and Technology Progress Award, First prize;
[7] In 2002, the National Defense Science and Technology Progress Award, First prize;