Over time, the utilization of the Underwater Vehicle-Manipulator System (UVMS) has steadily increased in exploring and harnessing marine resources. However, the underwater environment poses big challenges for controlling, navigating, and communicating with UVMS. These challenges have not only spurred the continuous advancement of related technologies, but also made the development of the UVMS even more captivating. This article firstly provides a review of development status of the UVMS and discusses the current limitations and future directions, and then reviews in detail the dynamic and hydrodynamic modeling methods, and analyzes the principles, advantages, and disadvantages of various approaches. Then, we try to review 2 key technologies of operation control methods, including underwater positioning and navigation technologies and vehicle-manipulator coordinated control approaches. Finally, a reasonable prospect for the future development of UVMS is given.


Anomaly detection has wide applications to help people recognize false, intrusion, flaw, equipment failure, etc. In most practical scenarios, the amount of the annotated data and the trusted labels is low, resulting in poor performance of the detection. In this paper, we focus on the anomaly detection for the text type data and propose a detection network based on biological immunity for few-shot detection, by imitating the working mechanism of the immune system of biological organisms. This network enabling the protected system to distinguish the aggressive behavior of “nonself” from the legitimate behavior of “self” by embedding characters. First, it constructs episodic task sets and extracts data representations at the character level. Then, in the pretraining phase, Word2Vec is used to embed the representations. In the meta-learning phase, a dynamic prototype containing encoder, routing, and relation is designed to identify the data traffic. Compare to the mean-based prototype, the proposed prototype applies a dynamic routing algorithm that assigns different weights to samples in the support set through multiple iterations to obtain a prototype that combines the distribution of samples. The proposed method is validated on 2 real traffic datasets. The experimental results indicate that (a) the proposed anomaly detection prototype outperforms state-of-the-art few-shot techniques with 1.3% to 4.48% accuracy and 0.18% to 4.55% recall; (b) under the premise of ensuring the accuracy and recall, the number of training samples is reduced to 5 or 10; (c) ablation experiments are designed for each module, and the results show that more accurate prototypes can be obtained by using the dynamic routing algorithm.