However, when the UUV needs to operate inside a wreckage or other complex structure, and needs make adjustment in real time, the cost would have become prohibitive because mission planning software must include all possible scenarios, which may not cover everything, so when there are plenty opportunities where the unexpected could happen, it would be far more cost effective to deploy a ROUV so human operators can adjust accordingly to the situation as it arises.

The mechanical legs of Qilin are designed by Huazhong University of Science and Technology, and the finally assembly was at Sea King Electrical Co. (Hai-Wang Dian-Ji Gong-Si, 海王机电公司).

海鳐) unmanned surface vehicle (USV) is a wave glider jointly developed by the Qingdao Pilot National Lab for Marine Science and Technology (青岛海洋科学与技术国家实验室) of CSSC, and the 710th Research Institute of CSSC,[19][20][21][22] and the general designer is Mr. Wu Xiaotao (吴小涛).

[20][21] Sea Sentry (Hai-Shao-Bing, 海哨兵) USV is a small wave glider whose development is headed by Oceanic Dynamic Process and Climate Functionality Laboratory (海洋动力过程与气候功能实验室) of Qingdao Pilot National Lab for Marine Science and Technology (青岛海洋科学与技术国家实验室) of CSSC.

[22][23][24][25] Sea Sentry has been deployed in weather reconnaissance missions to monitor the progress of Typhoon Bailu, Lingling, Mitag,[23][24] Hato, and Pakhar.