专著：

1. 任勇，王景璟，杜军，胡泰龙. 自主潜航器关键技术及应用，北京：人民邮电出版社，2021年9月，276千字，ISBN: 978-7-115-56631-7.

2. 任勇，姜春晓，杜军，王景璟. 空间信息网络体系架构及其应用. 北京：人民邮电出版社，2019年1月1日，315千字，ISBN: 978-7-115-46586-3.

3. 任勇，徐蕾，姜春晓，王景璟，杜军. 非对称信息共享网络理论与技术. 北京：高等教育出版社，2019年6月11日，380千字，ISBN: 978-7-04-051855-9.

4. L. Xu, Chunxiao Jiang, Y. Qian, and Yong Ren, "Data Privacy Games", Springer.

6. J. Du, Chunxiao Jiang, E. Gelenbe, H. Zhang and Yong Ren "Traffic Offloading in Software Defined Ultra-Dense Networks" in "Ultra-dense Networks Principles and Applications", Cambridge University Press.

代表性论文：

[1] Z Wang, J Du, C Jiang, Z Xia, Yong Ren, Z Han, “Task Scheduling for Distributed AUV Network Target Hunting and Searching: An Energy-Efficient AoI-Aware DMAPPO Approach”, IEEE Internet of Things Journal, vol. 10, no. 9, pp. 8271-8285, May. 2022.

[2] W Wei, J Wang, Z Fang, J Chen, Yong Ren, Y Dong, “3U: Joint Design of UAV-USV-UUV Networks for Cooperative Target Hunting”, IEEE Transactions on Vehicular Technology, vol. 72, no. 3, pp. 4085-4090, Mar. 2023.

[3] X Hou, J Wang, T Bai, Y Deng, Yong Ren, L. Hanzo, “Environment-Aware AUV Trajectory Design and Resource Management for Multi-Tier Underwater Computing”, IEEE Journal on Selected Areas in Communications, vol. 41, no. 2, pp. 474-490, Feb. 2023.

[4] Z Fang, J Wang, C Jiang, X Wang, Yong Ren, “Average Peak Age of Information in Underwater Information Collection with Sleep-scheduling”, IEEE Transactions on Vehicular Technology, 2022.

[5] Z Fang, J Wang, Yong Ren, Z Han, H.-V. Poor, L. Hanzo, “Age of Information in Energy Harvesting Aided Massive Multiple Access Networks”, IEEE Journal on Selected Areas in Communications, vol. 40, no. 5, pp. 1441-1456, May 2022.

[6] Z Fang, J Wang, J Du, X Hou, Yong Ren, Z Han, “Stochastic Optimization Aided Energy-Efficient Information Collection in Internet of Underwater Things Networks”, IEEE Internet of Things Journal, vol. 9, no. 3, pp. 1775-1789, Feb. 2022.

[7] Z Xia, J Du, J Wang, C Jiang, Yong Ren, G Li, Z Han, “Multi-Agent Reinforcement Learning Aided Intelligent UAV Swarm for Target Tracking”, IEEE Transactions on Vehicular Technology, vol. 71, no. 1, pp. 931 - 945, Nov. 2021.

[8] J Du, J Song, Yong Ren, J Wang, “Convergence of Broadband and Broadcast/Multicast in Maritime Information Networks”, Tsinghua Science and Technology, vol. 26, no. 5, pp. ·592 – 607, Oct. 2021. 

[9] S Guan, J Wang, C Jiang, R Duan, Yong Ren, T.-Q.-S. Quek, “MagicNet: The Maritime Giant Cellular Network”, IEEE Communications Magazine, vol. 59, no. 3, pp. 117-123, Mar. 2021.

[10] X Hou, J Wang, Z Fang, X Zhang, S Song, X Zhang, Yong Ren, “Machine Learning Aided Mission-Critical Internet of Underwater Things”, IEEE Network, vol. 35, no. 4, pp. 160-166, Aug. 2021.

[11] J Du, C Jiang, J Wang, Yong Ren, M. Debbah, “Machine Learning for 6G Wireless Networks: Carrying Forward Enhanced Bandwidth, Massive Access, and Ultrareliable/Low-Latency Service”, IEEE Vehicular Technology Magazine, vol. 15, no. 4, pp. 123 - 134, Dec. 2020.

[12] J. Wang, C. Jiang, H. Zhang, Yong Ren, K.-C. Chen, and L. Hanzo, “Thirty years of machine learning: The road to pareto-optimal wireless networks,” IEEE Communications Surveys & Tutorials, vol. 22, no. 3, pp. 1472–1514, 2020.

[13] Z. Fang, J. Wang, C. Jiang, Q. Zhang and Yong Ren, “AoI Inspired Collaborative Information Collection for AUV Assisted Internet of Underwater Things”, IEEE Internet of Things Journal, vol. 8, no. 19, pp. 14559-14571, Oct. 2021.

[14] S. Guan, J. Wang, Z. Fang and Yong Ren, “On Solving Link-a-Pix Picture Puzzle“, IEEE Transactions on Games, vol. 13, no. 3, pp. 321-324, Sep. 2021.

[15] R. Duan, J. Du, C. Jiang, and Yong Ren, "Value-Based Hierarchical Information Collection for AUV-Enabled Internet of Underwater Things", IEEE Internet of Things Journal, vol. 7, no. 10, pp. 9870-9883, Oct. 2020.

[16] X. Hou, Z. Ren, J. Wang, W. Cheng, Yong Ren, C-K. Chen and H. Zhang, “Reliable Computation Offloading for Edge Computing-Enabled Software-Defined IoV”, IEEE Internet of Things Journal, vol. 7, no. 8, pp. 7097-7111, Aug. 2020.

[17] J. Wang, C. Jiang, K. Zhang, X. Hou, Yong Ren and Y. Qian, "Distributed Q-Learning Aided Heterogeneous Network Association for Energy-Efficient IIoT", IEEE Transactions on Industrial Informatics, vol. 16, no. 4, pp. 2756-2764, Apr. 2020.

[18]  R. Duan, J. Wang, H. Zhang, Yong Ren and L. Hanzo, ''Joint Multicast Beamforming and Relay Design for Maritime Communication Systems'', IEEE Transactions on Green Communications and Networking, vol. 4, no. 1, pp. 139-151, Mar. 2020.

[19] H. Zhang, C. Jiang, J. Wang, L. Wang, Yong Ren and L. Hanzo, "Multicast Beamforming Optimization in Cloud-Based Heterogeneous Terrestrial and Satellite Networks", IEEE Transactions on Vehicular Technology, vol. 69, no. 2, pp. 1766-1776, Feb. 2020.

[20] J. Wang, S. Guan, C. Jiang, D. Alanis, Yong Ren and L. Hanzo, "Network Association in Machine-Learning Aided Cognitive Radar and Communication Co-Design", IEEE Journal on Selected Areas in Communications, vol. 37, no. 10, pp. 2322-2336, Oct. 2019.

[21]  F. Luo, C. Jiang, S. Yu, Y. Li, Yong Ren and Z. Liu, "Stability of Cloud-based UAV System Supporting Big Data Acquisition and Processing", IEEE Transactions on Cloud Computing, vol. 7, no. 3, pp. 866-877, Sep. 2019.

[22]  R. Duan, J. Wang, C. Jiang, H. Yao, Yong Ren and Y. Qian, ''Resource Allocation for Multi-UAV Aided IoT NOMA Uplink Transmission Systems'', IEEE Internet of Things Journal, vol. 6, no. 4, pp. 7025-7037, Aug. 2019.

[23] T. Bai, J. Wang, Yong Ren and L. Hanzo, ''Energy-Efficient Computation Offloading for Secure UAV-Edge-Computing Systems'', IEEE Transactions on Vehicular Technology, vol. 68, no. 6, pp. 6074-6087, Jun. 2019.

[24] J. Du, C. Jiang, Z. Han, H. Zhang, S. Mumtaz, and Yong Ren, "Contract Mechanism and Performance Analysis for Data Transaction in Mobile Social Networks", IEEE Transactions on Network Science and Engineering, vol. 6, no. 2, pp. 103-115, Jun. 2019.

[25] J. Du, E. Gelenbe, C. Jiang, H. Zhang, Yong Ren and V. Poor, "Peer Prediction-Based Trust Assessment and Trustworthy Service Rating in Social Networks", IEEE Transactions on Information Forensics & Security, vol. 14, no. 6, pp. 1582-1594, Jun. 2019.

[26] R. Duan, J. Wang, C. Jiang, Yong Ren and L. Hanzo, "The Transmit-Energy vs Computation-Delay Trade-off in Gateway-Selection for Heterogeneous Cloud Aided Multi-UAV Systems", IEEE Transactions on Communications, vol. 64, no. 4, pp. 3026-3039, Apr. 2019.

[27] L. Xu, C. Jiang, Y. Chen, Yong Ren and K. J. R. Liu, "User Participation in Collaborative Filtering Based Recommendation Systems: A Game Theoretic Approach", IEEE Transactions on Cybernetics, vol. 49, no. 4, pp. 1339-1352, Apr. 2019.

[28] J. Wang, C. Jiang, Z. Wei, C. Pan, H. Zhang and Yong Ren, "Joint UAV Hovering Altitude and Power Control for Space-Air-Ground IoT Networks", IEEE Internet of Things Journal, vol. 6, no. 2, pp. 1741-1753, Apr. 2019.

[29] J. Du, E. Gelenbe, C. Jiang, H. Zhang, Yong Ren and T. Quek, "Double Auction Mechanism Design for Video Caching in Heterogeneous Ultra-Dense Networks", IEEE Transactions on Wireless Communications, vol. 18, no. 3, pp. 1669-1683, Mar. 2019.

[30] J. Du, C. Jiang, E. Gelenbe, L. Xu, J. Li and Yong Ren. "Distributed Data Privacy Preservation in IoT Applications", IEEE Wireless Communications, vol. 25, no. 6, pp. 68 - 76, Dec. 2018.

[31] J. Du, C. Jiang, H. Zhang, Yong Ren and M. Guizani. "Auction Design and Analysis for SDN-Based Traffic Offloading in Hybrid Satellite-Terrestrial Networks", IEEE Journal on Selected Areas in Communications, vol. 36, no. 10, pp. 2202-2217, Oct. 2018.

[32] L. Xu, C. Jiang, N. He, Y. Qian, Yong Ren and J. Li, "Check in or Not? A Stochastic Game for Privacy Preserving in Point-of-Interest Recommendation System", IEEE Internet of Things Journal, vol. 5, no. 5, pp. 4178-4190, Oct. 2018.

[33] Y. Meng, C. Jiang, T. Quek, Z. Han, and Yong Ren, "Social Learning Based Inference for Crowdsensing in Mobile Social Networks", IEEE Transactions on Mobile Computing, vol. 17, no. 8, pp. 1966-1979, Aug. 2018.

[34] J. Du, C. Jiang, H. Zhang, X. Wang, Yong Ren and M. Debbah. "Secure Satellite-Terrestrial Transmission Over Incumbent Terrestrial Networks via Cooperative Beamforming", IEEE Journal on Selected Areas in Communications, vol. 36, no. 7, pp. 1367-1382, Jul. 2018.

[35] J. Wang, C. Jiang, Z. Han, Yong Ren and L. Hanzo, "Internet of Vehicles: Sensing Aided Transportation Information Collection and Diffusion", IEEE Transactions on Vehicular Technology, vol. 67, no. 5, pp. 3813-3825, May 2018.

[36] Z. Zhang, C. Jiang, S. Guo, Y. Qian, and Yong Ren, "Temporal Centrality-Balanced Traffic Management for Space Satellite Networks", IEEE Transactions on Vehicular Technology, vol. 67, no. 5, pp. 4427-4439, Apr. 2018.

[37] J. Wang, C. Jiang, K. Zhang, T. Q. S. Quek, Yong Ren and L. Hanzo, "Vehicular Sensing Networks in a Smart City: Principles, Technologies and Applications", IEEE Wireless Communications, vol. 25, no. 1, pp. 122-132, Feb. 2018.

[38] J. Du, C. Jiang, C. Chen, Yong Ren, and V. Poor, "Community-Structured Evolutionary Game for Privacy Protection in Social Networks", IEEE Transactions on Information Forensics & Security, vol. 13, no. 3, pp. 574-589, Mar. 2018.

[39] X. Zhang, J. Wang, C. Jiang, H. Li, Q. Guo, X. Wang and Yong Ren, “Hardware-in-the-Loop Simulation System for Space Information Networks”, Journal of Communications and Information Networks, vol. 2, no. 4, pp. 131-141, Dec. 2017.

[40] J. Du, E. Gelenbe, C. Jiang, H. Zhang and Yong Ren. "Contract Design for Traffic Offoading and Resource Allocation in Heterogeneous Ultra-Dense Networks", IEEE Journal on Selected Areas in Communications, vol. 35, no. 11, pp. 2457-2467, Nov. 2017.

[41] J. Wang, C. Jiang, Z. Han, Yong Ren and L. Hanzo, "Taking Drones to the Next Level: Cooperative Distributed Unmanned-Aerial-Vehicular Networks for Small and Mini Drones", IEEE Vehicular Technology Magazine, vol. 12, no. 3, pp. 73-82, Sep. 2017.

[42] C. Jiang, N. Beaulieu, Y. Li, Y. Zou, and Yong Ren, "DYWAMIT: Asynchronous Wideband Dynamic Spectrum Sensing and Access System", IEEE Systems Journal, vol. 11, no. 3, pp. 1777-1788, Sep. 2017.

[43] Y. Meng, C. Jiang, H. Chen and Yong Ren, "Cooperative Device-to-Device Communications -Social Networking Perspectives", IEEE Network, vol. 31, no. 3, pp. 38-44, Jun. 2017.

[44] J. Du, C. Jiang, J. Wang, S. Yu, Z. Han, and Yong Ren, "Resource Allocation in Space Multi-Access Systems", IEEE Transactions on Aerospace and Electronic Systems, vol. 53, no. 2, pp. 598-618, Apr. 2017.

[45] C. Jiang, H. Zhang, Yong Ren, Z. Han, K. Chen, and L. Hanzo, "Machine Learning Paradigms for Next-Generation Wireless Networks", IEEE Wireless Communications, vol. 24, no. 2, pp. 98-105, Apr. 2017. (ESI高被引论文)

[46] C. Jiang, L. Kuang, Z. Han, Yong Ren, and L. Hanzo, "Information Credibility Modeling in Cooperative Networks: Equilibrium and Mechanism Design", IEEE Journal on Selected Areas in Communications, vol. 35, no. 2, pp. 432-448, Feb. 2017.

[47] L. Xu, C. Jiang, Y. Qian, Yong Ren, Y. Zhao and J. Li, "Dynamic Privacy Pricing: a Multi-armed Bandit Approach with Time-variant Rewards", IEEE Transactions on Information Forensics & Security, vol. 12, no. 2, pp. 271-285, Jan. 2017.

[48] C. Jiang, H. Zhang, Z. Han, Yong Ren, V. Leung, and L. Hanzo, "Information-Sharing Outage-Probability Analysis of Vehicular Networks", IEEE Transactions on Vehicular Technology, vol. 65, no. 12, pp. 9479-9492, Dec. 2016.

[49] J. Wang, C. Jiang, Z. Han, Yong Ren and L. Hanzo, "Network Association Strategies for an Energy Harvesting Aided Super-WiFi Network Relying on Measured Solar Activity", IEEE Journal on Selected Areas in Communications, vol. 34, no. 12, pp. 3785-3797, Dec. 2016.

[50] L. Xu, C. Jiang, Y. Shen, T. Quek, Z. Han and Yong Ren, "Energy Efficient D2D Communications: a Perspective of Mechanism Design", IEEE Transactions on Wireless Communications, vol. 15, no. 11, pp. 7272-7285, Nov. 2016.

[51] Y. Gan, C. Jiang, N. Beaulieu, J. Wang, and Yong Ren, "Secure Collaborative Spectrum Sensing: a Peer-Prediction Method", IEEE Transactions on Communications, vol. 64, no. 10, pp. 4283-4294, Oct. 2016.

[52] J. Wang, C. Jiang, Z. Bie, T. Q. S. Quek and Yong Ren, "Mobile Data Transactions in Device-to-Device Communication Networks: Pricing and Auction", IEEE Wireless Communications Letters, vol. 5, no. 3, pp. 300-303, Jun. 2016.

[53] Y. Shen, C. Jiang, T. Quek and Yong Re, "Location-Aware Device Communication Design: Exploration and Exploitation on Energy", IEEE Wireless Communications, vol. 23, no. 2, pp. 46-52, May 2016.

[54] J. Du, C. Jiang, Q. Guo, M. Guizani and Yong Ren. "Cooperative Earth Observation through Complex Space Information Networks", IEEE Wireless Communications, vol. 23, no. 2, pp. 136-144, May 2016.

[55] J. Wang, C. Jiang, H. Zhang, Yong Ren and V. Leung, "Aggressive Congestion Control Mechanism for Space Systems", IEEE Aerospace and Electronic Systems Magazine, vol. 31, no. 3, pp. 28-33, Mar. 2016.

[56] J. Du, C. Jiang, Y. Qian, Z. Han, and Yong Ren, "Resource Allocation with Video Traffic Prediction in Cloud-based Space Systems", IEEE Transactions on Multimedia, vol. 18, no. 5, pp. 820-830, Mar. 2016.

[57] L. Xu, C. Jiang, Yong Ren, and H. Chen, "Microblog Dimensionality Reduction: A Deep Learning Approach", IEEE Transactions on Knowledge and Data Engineering, vol. 28, no. 7, pp. 1779-1789, Mar. 2016.

[58] Y. Meng, C. Jiang, L. Xu, Yong Ren, and Z. Han, "User Association in Heterogeneous Networks: A Social Interaction Approach", IEEE Transactions on Vehicular Technology, vol. 65, no. 12, pp. 9982-9993, Feb. 2016.

[59] L. Xu, C. Jiang, Y. Chen, J. Wang and Yong Ren, "A Framework for Categorizing and Applying Privacy-Preservation Techniques in Big Data Mining", IEEE Computer, vol. 49, no. 2, pp. 54-62, Feb. 2016.

[60] Y. Shen, C. Jiang, T. Quek and Yong Ren, "Device-to-Device-Assisted Communications in Cellular Networks: An Energy Efficient Approach in Downlink Video Sharing Scenario", IEEE Transactions on Wireless Communications, vol. 15, no. 2, pp. 1575-1587, Feb. 2016.

[61] J. Guo, X. Liu, C. Jiang, J. Cao and Yong Ren, "Distributed Fault-Tolerant Topology Control in Cooperative Wireless Ad Hoc Networks", IEEE Transactions on Parallel and Distributed Systems, vol. 26, no. 10, pp. 2699-2710, Oct. 2015.

[62] C. Jiang, X. Wang, J. Wang, H. Chen and Yong Ren, "Security in Space Information Networks", IEEE Communications Magazine, vol. 53, no. 8, pp. 82-88, Aug. 2015.

[63] L. Xu, C. Jiang, Y. Chen, Yong Ren and K. J. R. Liu, "Privacy or Utility in Data Collection? A Contract Theoretic Approach", IEEE Journal of Selected Topics in Signal Processing, vol. 9, no. 7, pp. 1256-1269, Apr. 2015.

[64] C. Jiang, N. Beaulieu, L. Zhang, Yong Ren, M. Peng and H. Chen, "Cognitive Radio Networks with Asynchronous Spectrum Sensing and Access", IEEE Network, vol. 29, no. 3, pp. 88-95, Jun. 2015.

[65] C. Jiang, Y. Chen, K. J. R. Liu and Yong Ren, "Network Economics in Cognitive Networks", IEEE Communications Magazine, vol. 53, no. 5, pp. 75-81, May 2015.

[66] F. Luo, C. Jiang, J. Du, J. Yuan, Yong Ren, S. Yu and M. Guizani, "A Distributed Gateway Selection Algorithm for UAV Networks", IEEE Transactions on Emerging Topics in Computing, vol. 3, no. 1, pp. 22-33, Dec. 2014.

[67] C. Jiang, Y. Chen, Yong Ren and K. J. R. Liu, "Maximizing Network Capacity with Optimal Source Selection: A Network Science Perspective", IEEE Signal Processing Letters, vol. 22, no. 7, pp. 938-942, Dec. 2014.

[68] C. Jiang, Y. Chen, K. J. R. Liu and Yong Ren, "Optimal Pricing Strategy for Operators in Cognitive Femtocell Networks", IEEE Transactions on Wireless Communications, vol. 13, no. 9, pp. 5288-5301, Jun. 2014.

[69] C. Jiang, H. Zhang, Yong Ren and H. Chen, "Energy-Efficient Non-cooperative Cognitive Radio Networks: Micro, Meso and Macro Views", IEEE Communications Magazine, vol. 52, no. 7, pp. 14-20, Jul. 2014.

[70] C. Jiang, Y. Chen, K. J. R. Liu and Yong Ren, "Renewal-Theoretical Dynamic Spectrum Access in Cognitive Radio Network with Unknown Primary Behavior", IEEE Journal on Selected Areas in Communications, vol. 31, no. 3, pp. 406-416, Feb. 2013.

[71] C. Jiang, N. He, Yong Ren, C. Chen and J. Ma, "uSD: Universal Sensor Entry Data Card", IEEE Transactions on Consumer Electronics, vol.56, no.03, pp. 1450-1456, Aug. 2010.

代表性专利：

[1] 发明专利：空间节点的协同探测方法和装置，ZL 201710569172.4，发明人：任勇，王景璟，肖志东，姜春晓，张凯，权利人：清华大学，清华大学天津高端装备研究院，已授权.

[2] 发明专利：水下潜航器的协作定位方法和系统，ZL 201910569143.8，发明人：任勇，沈渊，王云龙，王景璟，肖志东，姜春晓，权利人：清华大学，清华大学天津高端装备研究院，已授权.

[3] 发明专利：一种基于契约的水下声学传感网信息收集方法，ZL 202010255726.5，发明人：任勇，夏照越，王景璟，杜军，权利人：清华大学，已授权.

[4] 发明专利：一种面向水下多智能体的Q学习蚁群路由方法，ZL 202010033962.2，发明人：任勇，王景璟，方政儒，权利人：清华大学，已授权.

[5] 发明专利：异构AUV协同的水下信息采集系统及能量优化方法，ZL 202011416321.1，发明人：任勇，方政儒，王景璟，侯向往，权利人：清华大学，已公开.

[6] 发明专利：基于无人机网络的深远海信息服务质量优化方法，ZL 202010879783.0，发明人：王景璟，杜军，关桑海，侯向往，方政儒，任勇，权利人：清华大学，已授权.

[7] 发明专利：基于无人机网络的近海中继通信传输效率优化方法，ZL 202010878489.8，发明人：王景璟，杜军，关桑海，侯向往，方政儒，任勇，权利人：清华大学，已授权.

[8] 发明专利：水声信道测量方法、装置、无人潜航器和存储介质，ZL 202110639526.4，发明人：任勇，夏照越，杜军，王景璟，李刚，权利人：清华大学，已授权.

[9] 发明专利：水下曲线声道传输路由计算方法和装置，ZL 202111404479.1，发明人：任勇，王子源，杜军，夏照越，侯向往，权利人：清华大学，已授权.

[10] 发明专利：网络资源配置方法、装置、计算机设备及可读存储介质，ZL 202010193870.0，发明人：王剑; 杜军; 王景璟; 任勇，权利人：清华大学，已授权.

[11] 发明专利：动态网络告警分析方法、装置、计算机设备及存储介质，ZL 202010159923.7，发明人：王剑; 杜军; 王景璟; 任勇，权利人：清华大学，已授权.

[12] 实用新型：浮盘及应用其的漂浮式通信中继塔，ZL 201721134239.3，发明人：任勇，肖志东，王景璟，权利人：清华大学，清华大学天津高端装备研究院，已授权.

[13] 实用新型：锚结构及应用其的漂浮式通信中继塔，ZL 201721134341.3，发明人：任勇，肖志东，王景璟，权利人：清华大学，清华大学天津高端装备研究院，已授权.

[14] 实用新型：浮体固定桩、浮动防浪堤及防浪堤，ZL 201821620728.4，发明人：任勇，肖志东，权利人：任勇，肖志东，已授权.

[15] 实用新型：海浪发电装置及海浪发电系统，ZL 201821620363.5，发明人：任勇，肖志东，权利人：清华大学，已授权.

[16] 发明专利：漂浮式通信中继塔，ZL 201710793504.7，发明人：任勇，肖志东，王景璟，权利人：清华大学，清华大学天津高端装备研究院，已公开.

[17] 发明专利：海上风力发电系统，ZL 201811484653.6，发明人：任勇，肖志东，权利人：清华大学，已公开

代表性软著：

[1] AUV飞轮电机驱动系统，2019SR0863971，发明人：任勇、肖志东、王大雨、刘雨昊，权利人：清华大学，已授权.

[2] AUV滑台电机驱动系统，2019SR0863145，发明人：任勇、肖志东、王大雨、刘雨昊，权利人：清华大学，已授权.

[3] AUV远程保障系统，2019SR0863156，发明人：任勇、肖志东、王大雨、刘雨昊，权利人：清华大学，已授权.

[4] AUV整体通信系统，2019SR0863164，发明人：任勇、肖志东、王大雨、刘雨昊，权利人：清华大学，已授权.

[5] AUV综合控制系统，2019SR0863168，发明人：任勇、肖志东、王大雨、刘雨昊，权利人：清华大学，已授权.