{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T18:41:57Z","timestamp":1775328117789,"version":"3.50.1"},"reference-count":32,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2021,4,12]],"date-time":"2021-04-12T00:00:00Z","timestamp":1618185600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Scientific Research Program Foundation for Talents from Department of Education of Hubei Province","award":["Q20191108"],"award-info":[{"award-number":["Q20191108"]}]},{"name":"Youth Project of Hubei Natural Science Foundation","award":["2020CFB116"],"award-info":[{"award-number":["2020CFB116"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, an intelligent water shooting robot system for situations of carrier shake and target movement is designed, which uses a 2 DOF (degree of freedom) robot as an actuator, a photoelectric camera to detect and track the desired target, and a gyroscope to keep the robot\u2019s body stable when it is mounted on the motion carriers. Particularly, for the accurate shooting of the designed system, an online tuning model of the water jet landing point based on the back-propagation algorithm was proposed. The model has two stages. In the first stage, the polyfit function of Matlab is used to fit a model that satisfies the law of jet motion in ideal conditions without interference. In the second stage, the model uses the back-propagation algorithm to update the parameters online according to the visual feedback of the landing point position. The model established by this method can dynamically eliminate the interference of external factors and realize precise on-target shooting. The simulation results show that the model can dynamically adjust the parameters according to the state relationship between the landing point and the desired target, which keeps the predicted pitch angle error within 0.1\u00b0. In the test on the actual platform, when the landing point is 0.5 m away from the position of the desired target, the model only needs 0.3 s to adjust the water jet to hit the target. Compared to the state-of-the-art method, GA-BP (genetic algorithm-back-propagation), the proposed method\u2019s predicted pitch angle error is within 0.1 degree with 1\/4 model parameters, while costing 1\/7 forward propagation time and 1\/200 back-propagation calculation time.<\/jats:p>","DOI":"10.3390\/s21082704","type":"journal-article","created":{"date-parts":[[2021,4,12]],"date-time":"2021-04-12T11:05:06Z","timestamp":1618225506000},"page":"2704","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Two-Stage Water Jet Landing Point Prediction Model for Intelligent Water Shooting Robot"],"prefix":"10.3390","volume":"21","author":[{"given":"Yunhan","family":"Lin","sequence":"first","affiliation":[{"name":"College of Computer Science and Technology, Wuhan University of Science and Technology, Wuhan 430000, China"},{"name":"Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, Wuhan 430000, China"},{"name":"Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology, Wuhan 430000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenlong","family":"Ji","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Wuhan University of Science and Technology, Wuhan 430000, China"},{"name":"Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, Wuhan 430000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haowei","family":"He","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Wuhan University of Science and Technology, Wuhan 430000, China"},{"name":"Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, Wuhan 430000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yaojie","family":"Chen","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Wuhan University of Science and Technology, Wuhan 430000, China"},{"name":"Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, Wuhan 430000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,4,12]]},"reference":[{"key":"ref_1","first-page":"58","article-title":"Design of Fire Boat \u201cXiaolong 119\u201d for Xiamen Port","volume":"6","author":"Huang","year":"2014","journal-title":"Guangdong Shipbuild."},{"key":"ref_2","first-page":"62","article-title":"Applied Research on High-Pressure Water Jet Cutting Technology in Anti-Terrorist","volume":"6","author":"Sun","year":"2015","journal-title":"Mech. 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