{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T05:12:43Z","timestamp":1768453963756,"version":"3.49.0"},"reference-count":21,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2022,2,24]],"date-time":"2022-02-24T00:00:00Z","timestamp":1645660800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Hainan Key R&amp;D Project\u3001Fundamen-tal Research Funds for the Central Universities","award":["ZDYF2020197\u30012021XZZX014"],"award-info":[{"award-number":["ZDYF2020197\u30012021XZZX014"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Real-time status monitoring is an important prerequisite for coral reef ecological protection. Existing equipment does not provide an ocean observation platform with adequate mobility and efficiency. This paper describes the design considerations of a proposed autonomous underwater helicopter (AUH) dedicated for ecological observation of coral reefs, including the system architecture, electronic devices, sensors and actuators, and explains the path control algorithm and controller to follow a specific path for ocean exploration. The structure and dynamic model of the AUH are first introduced, and then the corresponding simplification is made for motion analysis. Furthermore, computational fluid dynamics (CFD) simulation is carried out to evaluate the dynamic performance of the AUH. Fuzzy-PID control algorithm is utilized to achieve a good antidisturbance effect. In order to validate the performance of the proposed underwater vehicle, a field test was performed, and results confirmed the feasibility of the proposed prototype.<\/jats:p>","DOI":"10.3390\/s22051770","type":"journal-article","created":{"date-parts":[[2022,2,24]],"date-time":"2022-02-24T21:11:07Z","timestamp":1645737067000},"page":"1770","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Design and Development of an Autonomous Underwater Helicopter for Ecological Observation of Coral Reefs"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3791-1871","authenticated-orcid":false,"given":"Jing","family":"Zhou","sequence":"first","affiliation":[{"name":"Hainan Institute, Zhejiang University, Sanya 570203, China"},{"name":"Polytechnic Institute, Zhejiang University, Hangzhou 310015, China"},{"name":"College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nanxi","family":"Zhou","sequence":"additional","affiliation":[{"name":"Polytechnic Institute, Zhejiang University, Hangzhou 310015, China"},{"name":"College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuchao","family":"Che","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jian","family":"Gao","sequence":"additional","affiliation":[{"name":"Polytechnic Institute, Zhejiang University, Hangzhou 310015, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liming","family":"Zhao","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8096-0439","authenticated-orcid":false,"given":"Haocai","family":"Huang","sequence":"additional","affiliation":[{"name":"Hainan Institute, Zhejiang University, Sanya 570203, China"},{"name":"Ocean College, Zhejiang University, Zhoushan 316021, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1285-556X","authenticated-orcid":false,"given":"Ying","family":"Chen","sequence":"additional","affiliation":[{"name":"Hainan Institute, Zhejiang University, Sanya 570203, China"},{"name":"Ocean College, Zhejiang University, Zhoushan 316021, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,2,24]]},"reference":[{"key":"ref_1","first-page":"2008","article-title":"Reefs at risk revisited in the coral triangle","volume":"22","author":"Burke","year":"2011","journal-title":"Ethics Med."},{"key":"ref_2","first-page":"105","article-title":"Development of a comprehensive monitoring system on environmental information in sea ranching","volume":"32","author":"Xing","year":"2017","journal-title":"J. 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