15 accepted papers
Hybrid aerial underwater vehicles (HAUVs) are developing rapidly with the urgent need for joint air-sea observation missions. This paper proposes a novel HAUV that combines a folding wing mechanism and an underwater thrust system with a centralized tail in an inverted triangle configuration. In addi…
Large Language Models (LLMs) often require domain-specific fine-tuning to address targeted tasks, which risks degrading their general capabilities. Maintaining a balance between domain-specific enhancements and general model utility is a key challenge. This paper proposes a novel approach named APT…
Hybrid aerial underwater vehicles (HAUVs) provide unique capabilities for aerial and underwater observation and sampling, with a variety of configurations already developed. However, challenges in maneuverability, payload integration, and practicality persist, while their specific applications remai
Hybrid aerial underwater vehicles (HAUVs) hold great promise but face challenges like air-water integration and high underwater resistance. This paper presents Nezha-Morphing, a bio-inspired HAUV that emulates seabirds’ adaptive wing extension and retraction mechanisms for efficient movement in both
Hybrid aerial-underwater vehicles (HAUVs) are attracting significant interest for their unique capability to operate across both air and water. However, achieving a lightweight design coupled with efficient cross-domain performance remains a formidable challenge. This paper introduces Nezha-T, a nov
Hybrid aerial underwater vehicles (HAUVs) are developing rapidly with the urgent need for joint air-sea observation missions. This paper proposes a novel HAUV that combines a folding wing mechanism and an underwater thrust system with a centralized tail in an inverted triangle configuration. In addi
Existing alignment methods for preference optimization of large language models (LLMs) aim to enhance model performance by utilizing pairs of positive and negative samples. However, due to the limited capacity of models in scoring or generating responses, the quality of positive and negative samples
With instruction tuning, Large Language Models (LLMs) can enhance their ability to adhere to commands. Diverging from most works focusing on data mixing, our study concentrates on enhancing the model’s capabilities from the perspective of data sampling during training. Drawing inspiration from the h…
Consistency learning (CL) has proven to be a valuable technique for improving the robustness of models in conditional sentence generation (CSG) tasks by ensuring stable predictions across various input data forms. However, models augmented with CL often face challenges in optimizing consistency feat…
The hybrid aerial underwater vehicles (HAUVs) have promising applications due to their capability to operate in both air and water domains. It is a challenge to balance the rapid maneuverability in both media and the stability at the cross-domain phase. In this letter, Nezha-B, a bone-shaped HAUV pr
This letter proposes a novel conceptual multimodal underwater vehicle, named “Swift”, which is capable of dexterous attitude transition for multiple operation modes. Aside from being competent to adjust pitch and roll angles in the range of −90 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/
This letter introduces a small hybrid aerial underwater vehicle (HAUV), which we named Nezha-F, that can fly in the air, perform vertical profiling underwater, and vertically take off and land from both the water surface and ground. A foldable and self-deployable arm mechanism linked to and driven b
Underwater thermocline, common in the lakes and ocean, plays a vital role in meteorological forecasting in the ocean and lakes dynamics research. This letter proposes a method for rapid and multipoint observation of thermocline variations with time and space using an airdropped micro-profiler array,…
The distinct design concepts of the vehicles operating in air and water is one of the tremendous challenges that constrain the development of the hybrid aerial underwater vehicle (HAUV). This incompatibility consequently results in the enlarging volume and weight of the existing prototypes, as well
A new solution to improving the poor endurance of the existing hybrid aerial underwater vehicle (HAUV) is proposed in this paper. The proposed multimodal hybrid aerial underwater vehicle (MHAUV) merges the design concept of the fixed-wing unmanned aerial vehicle (UAV), the multirotor, and the underw…