海洋机器人与无人系统协同控制
深海技术与装备（海洋资源开发技术、深海探测与作业技术）
水声探测与信号处理
海洋大数据、人工智能与机器学习
海洋环境流体力学与海气相互作用
流动稳定性与计算流体力学

主持国家科技重大专项、国家重点研发计划、国家自然科学基金面上项目、上海市科委、教育部博士点基金、青岛海洋科学与技术试点国家实验室、上海交通大学优秀教师基金、中国海洋石油总公司、海洋石油工程股份有限公司、中国船舶集团有限公司等央企委托课题20余项。

♪Hao Wen,Zixuan Liang,Hexiong Zhou,Baoheng Yao*, Zhihua Mao, Lian Lian. Distributed adaptive consensus protocol for heterogeneous nonlinear uncertain multi-agent system with disturbance, International Journal of Robust and Nonlinear Control,2023,1-18, doi: 10.1002/rnc.7043.
♪Xinyang Li,Hao Wen, Junjun Cao,Baoheng Yao*, Lian Lian,Zhihua Mao.Adaptive sliding mode controller combined with pseudo-inverse-based thruster allocator design for ROV with variable coefficients,Ocean Engineering,2023,286,1,115530.
♪Jian Fu,Hexiong Zhou,Xu Zhang,Hao Wen,Baoheng Yao*,Lian Lian.A unified switching dynamic modelling of multi-mode underwater vehicle,Ocean Engineering, 2023,278,114359.
♪Hao Wen,Zixuan Liang,Hexiong Zhou,Xinyang Li,Baoheng Yao*, Zhihua Mao, Lian Lian.Adaptive sliding mode control for unknown uncertain non-linear systems with variable coefficients and disturbances ,Communications  in Nonlinear Science and Numerical Simulation,2023,101725.
♪Hao Wen,Xinyang Li,Zixuan Liang,Baoheng Yao*,Lian Lian.Orientation control of the Wave Glider with uncertain environment disturbances and unknown variable hydrodynamics coefficients: theory and simulation,Ocean Engineering, 2023,275:114110.
♪Xu Zhang,Hexiong Zhou,Jian Fu,Hao Wen,Baoheng Yao*, Lian Lian.Adaptive integral terminal sliding mode based trajectory tracking control of underwater glider,Ocean Engineering, 2023,269: 113436.
♪Xinyang Li,Hao Wen,Jian Fu,Xu Zhang,Hexiong Zhou,Baoheng Yao*, Lian Lian,Dequan Yu,Lifeng Mao.Modeling and system analysis of floating underwater vehicle with variable mass and center of gravity,Ocean Engineering,2023,267:113303.
♪Hao Wen,Hexiong Zhou,Jian Fu,Xu Zhang,Baoheng Yao*, Lian Lian. Consensus protocol based attitudes coordination control for an Underwater Glider formation, Ocean Engineering, 2022, 262 :112307.
♪Hao Wen,Hexiong Zhou, Jian Fu, Xu Zhang, Baoheng Yao*,Lian Lian. Multi-body coupled dynamic modelling of the Wave Glider,Ocean Engineering,2022,257:111499.
♪Hao Wen,Hexiong Zhou,Jian Fu,Baoheng Yao*, Lian Lian. A consensus protocol considering Lipschitz constant and communication topology condition of high-order nonlinear multi-agent systems, Communications in Nonlinear Science and Numerical Simulation,2022,111:106499.
♪Hexiong Zhou,Jian Fu, Zheng Zeng,Caoyang Yu,Zhaoyu Wei,Baoheng Yao*, Lian Lian. Adaptive robust tracking control for underwater gliders with uncertainty and time-varying input delay,Ocean Engineering,2021,240 :109945.
♪Hexiong Zhou,Junjun Cao,Jian Fu, Chunhu Liu,Zhaoyu Wei,Caoyang Yu,,Baoheng Yao*, Lian Lian. Dynamic modeling and motion control of a novel conceptual multimodal underwater vehicle for autonomous sampling,Ocean Engineering,2021,240:109917.
♪Hexiong Zhou,Junjun Cao,Baoheng Yao*,and Lian Lian.Hierarchical NMPC-ISMC of active heave motion compensation system for TMS-ROV recovery,Ocean Engineering,2021,239: 109834.
♪Hexiong Zhou,Jian Fu,Chunhu Liu,Zheng Zeng,Caoyang Yu,Baoheng Yao*, Lian Lian.Dynamic modeling and endurance enhancement analysis of deep-sea gliders with a hybrid buoyancy regulating system,Ocean Engineering,2020,217:108146.
♪HexiongZhou,Zhaoyu Wei,ZhengZeng,Caoyang Yu,Baoheng Yao*,and LianLian.Adaptive robust sliding mode control of autonomous underwater glider with input constraints for persistent virtual mooring,Applied Ocean Research,2020,95:102027.
♪Baoheng Yao,Lian Lian.Series solution of the rotationally symmetric flow in the presence of an infinite rotating disk with uniform suction,European Journal of Mechanics-B/Fluids,2019,74:159-166.
♪Baoheng Yao,Lian Lian.A new analysis of the rotationally symmetric flow in the presence of an infinite rotating disk, International Journal of Mechanical Sciences,2018,136:106-111.
♪Yongli Hu,Junjun Cao, Baoheng Yao, Zheng Zeng,Lian Lian.Dynamic behaviors of a marine riser with variable length during the installation of a subsea production tree,Journal of Marine Science and Technology,2017,22,8:1-11.
♪X Xu, B Yao.Dynamics calculation for underwater moving slender bodies based on flexible segment model ,Ocean Engineering, 2013, Vol.57, 111–127.
♪Baoheng Yao.Approximate analytical solution to diffusion of a chemically reactive species from a stretching sheet. Chemical Engineering Communications, 2014,Vol 201, No.4,516-527.
♪Baoheng Yao,GuoxiongWu.Approximate analytical multiple solutions of the boundary layer flow over a shrinking sheet with power-law velocity,International Journal of Heat and Mass Transfer, 2015,85:615-619.
♪Baoheng Yao.Approximate analytical solution to the Falkner–Skan wedge flow with the permeable wall of uniform suction,Communications in Nonlinear Science and Numerical Simulation ,2009,Vol.215, No.3, 1146-1153.
♪Baoheng Yao.A series solution to the Thomas–Fermi equation, Applied Mathematics and Computation, 2008,Vol.203, No.1, 396-401.
♪Baoheng Yao.Series solution of the temperature distribution in the Falkner–Skan wedge flow by the homotopy analysis method, European Journal of Mechanics-B/Fluids,2009,Vol.28 ,No.5,689-693.
♪Baoheng Yao.A new analytical solution branch for the Blasius equation with a shrinking sheet,Applied Mathematics and Computation, 2009,Vol.215,No.3, 1146-1153.
♪Baoheng Yao.Series solution to the Falkner-Skan equation with stretching boundary, Applied Mathematics and Computation,2009,Vol.208, No.1, 156-164.
♪工程信号处理与设备诊断，科学出版社，刊号（978-7-03-021277-1），2008.4。