Journal of Marine Science and Engineering

Traditional cooperative navigation algorithms for multiple AUVs are typically designed for a single specific configuration, such as parallel or leader-slave. This paper proposes a novel cooperative navigation algorithm based on factor graph and Lie group to address the multi-AUV localization problem, which is applicable to various multi-AUV configurations. First, the motion state of an AUV is represented within the two-dimensional special Euclidean group (SE(2)) space from Lie theory. Second, the motion of the AUV and acoustic-based range and bearing measurements are modeled to derive the motion error function and the range and bearing error function, respectively. Depending on the formulation of the motion error function, the proposed approach comprises two methods: Method 1 and Method 2. Third, the Gauss-Newton method is employed for nonlinear optimization to obtain the optimal estimates of the motion states for all AUVs. Finally, a parameter-level simulation system for AUV cooperative navigation is established to evaluate the algorithm’s performance under two different multi-AUV configurations. Method 1 is designed for parallel configurations, reducing the average RMSE of position and orientation errors by 29% compared to the EKF. Method 2 is tailored for leader-slave configurations, reducing the average RMSE of position and orientation errors by 38% compared to the EKF. Simulation results demonstrate that the proposed algorithm achieves superior performance across different AUV configurations compared to conventional EKF-based approaches.

It is widely recognized that benthic sediment plumes generated by deep-sea mining may pose significant potential risks to ecosystems, yet their dispersion behavior remains difficult to predict with accuracy. In this study, we combined laboratory experiments with three-dimensional numerical simulations using the Environmental Fluid Dynamics Code (EFDC) to investigate the dispersion of sediment plumes composed of particles of different sizes. Laboratory experiments were conducted with deep-sea clay samples from the western Pacific under varying conditions for plume dispersion. Experimental data were used to capture horizontal diffusion and vertical entrainment through a Gaussian plume model, and the results served for parameter calibration in large-scale plume simulations. The results show that ambient current velocity and discharge height are the primary factors regulating plume dispersion distance, particularly for fine particles, while discharge rate and sediment concentration mainly control plume duration and the extent of dispersion in the horizontal direction. Although the duration of a single-source release is short, continuous mining activities may sustain broad dispersion and result in thicker sediment deposits, thereby intensifying ecological risks. This study provides the first comprehensive numerical assessment of deep-sea mining plumes across a range of particle sizes with clay from the western Pacific. The findings establish a mechanistic framework for predicting plume behavior under different operational scenarios and contribute to defining threshold values for discharge-induced plumes based on scientific evidence. By integrating experimental, theoretical, and numerical approaches, this work offers quantitative thresholds that can inform environmentally responsible strategies for deep-sea resource exploitation.

Pakistan’s coastline encompasses the Indus Delta, a critical ecosystem that sustains biodiversity, fisheries, and local livelihoods, yet it is increasingly threatened by both natural and anthropogenic pressures. This study quantifies multi-decadal shoreline changes in the Indus Delta and examines how changes in climatic factors (precipitation and wind) affect these changes, using the Digital Shoreline Analysis System (DSAS v5.1) and multi-temporal Landsat imagery (TM, ETM+, OLI) to quantify long-term shoreline dynamics from 1990 to 2020 (30-year period). Key metrics, including End Point Rate (EPR), Net Shoreline Movement (NSM), and Linear Regression Rate (LRR), indicated an overall retreat, with a mean NSM of −1810 m and a mean LRR of −173 m·year across the 30-year period. Shoreline change rates exhibited a significant relationship with climatic variables, particularly wind speed and precipitation, with dynamics shifting from erosion-dominated to localized accretion in areas where mangrove rehabilitation programs were implemented after 2005. Seasonal variability further influenced shoreline behavior: low-rainfall years intensified erosion due to reduced sediment availability, while high-rainfall years enhanced accretion through increased sediment input. These findings underscore the urgent need for integrated coastal management strategies, including mangrove conservation, sustainable sediment management, and climate-adaptive planning, to strengthen the resilience of the Indus Delta.

This research explores the potential introduction of marine waste-derived biological fillers within bio-epoxy matrices to mitigate the environmental impact of traditional materials, like fiberglass, in boat construction. However, this raises concerns about biofouling and degradation, issues that have not been extensively investigated in composites, especially over a time frame representative of issues that could arise during service. Although protective solutions like biocides and specific coatings exist, degradation remains challenging when attempting to use eco-friendly natural fillers. This study specifically integrates various biological fillers, namely ceramics (mussel, oyster, clam powder) or ligno-cellulosic (i.e., Posidonia oceanica fibers) into epoxy for use in some boat components (bench seats for the bridge deck), aiming to evaluate the biofouling process under extreme (or decommissioning) conditions. In itself, epoxy does represent an ideal enclosing matrix for biomass waste, which ideally needs to be introduced in significant amounts. The development of biofouling in the specific context of Kotor’s Bay, Montenegro, for a duration of six months, and relevant composite degradation were examined. In particular, three situations were reproduced by positioning the samples in a harbor environment: (i) on the bottom of the sea (2 m. depth), (ii) immersed just below the surface (0.5 m. depth), and (iii) on the splashing surface (pier). The concerns identified appear generally limited in the case of the envisaged application, despite some significant wear effect in the case of the samples containing Posidonia. However, this study also offers information and caveats in terms of more ambitious prospective applications (e.g., the boat hull structure).