Development of an Unmanned Surface Vehicle for Remote Sediment Sampling with a Van Veen Grab Sampler

Bae, Jun Han; Min, Byung‐Cheol; Luo, Shuai; Kannan, Shyam Sundar; Singh, Yogang; Lee, Bumjoo; Voyles, Richard M.; Postigo-Malaga, Mauricio; Zenteno, Edgar Gonzales; Aguilar, Lizbeth Paredes

doi:10.23919/oceans40490.2019.8962837

Cited by 10 publications

(6 citation statements)

References 18 publications

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“…In addition, for official water quality survey reports, certified measuring instruments are required, and sometimes the size and weight properties cannot be covered by a small USV. In contrast to locally built USVs in Peru [26], it has greater versatility to support payloads and superior positioning accuracy than a commercial global positioning system (GPS) module. This vehicle is relatively cheaper than the one produced by the private sector.…”

Section: Resultsmentioning

confidence: 99%

Hybrid Control Architecture of an Unmanned Surface Vehicle Used for Water Quality Monitoring

et al. 2022

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Section: Resultsmentioning

confidence: 99%

Hybrid Control Architecture of an Unmanned Surface Vehicle Used for Water Quality Monitoring

et al. 2022

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“…R i denotes the i-th robot, here i ∈ {1, ..., N }. Let the generalized coordinate of R i be q i = (x i , y i , θ i ), we introduce a unicycle model [27], which has been validated previously through field tests using surface vehicles [28], [29], as below for the robot actuators shown in Fig. 3(a).…”

Section: B Mathematical Foundation For Boundary Shrink Control Method...mentioning

confidence: 99%

Asymptotic Boundary Shrink Control With Multirobot Systems

Luo

Kim

Min

2022

IEEE Trans. Syst. Man Cybern, Syst.

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Harmful marine spills, such as algae blooms and oil spills, damage ecosystems and threaten public health tremendously. Hence, an effective spill coverage and removal strategy will play a significant role in environmental protection. In recent years, low-cost water surface robots have emerged as a solution, with their efficacy verified at small scale. However, practical limitations such as connectivity, scalability, and sensing and operation ranges significantly impair their large-scale use. To circumvent these limitations, we propose a novel asymptotic boundary shrink control strategy that enables collective coverage of a spill by autonomous robots featuring customized operation ranges. For each robot, a novel controller is implemented that relies only on local vision sensors with limited vision range. Moreover, the distributedness of this strategy allows any number of robots to be employed without inter-robot collisions. Finally, features of this approach including the convergence of robot motion during boundary shrink control, spill clearance rate, and the capability to work under limited ranges of vision and wireless connectivity are validated through extensive experiments with simulation.Index Terms-Multi-robot coordination, Spill removal, Boundary shrink control, Distributed control, Artificial potential field I. INTRODUCTIONC OVERAGE operation has a wide application scope in environment searching and exploration. Currently, methods of coverage control have seen tremendous potential in solving environmental issues caused by side effects of urbanization and industrialization. One global issue of increasing importance is water pollution, including harmful algae blooms that result from eutrophication, and oil leakage in the oceans during transportation, due to its connections with potable water supplies and even marine ecosystems. It is a natural idea to deploy a team of water surface robots for cleaning such pollution, in order to protect human operators and to provide for immediate operation response before any ecological or economic damage results.Researchers from MIT developed one approach for the removal of oil spills in the ocean: Seaswarm, a fleet of low-cost, oil-absorbing robots [1]. These robots are powered by solar cells and designed to move on the water surface, absorbing oil spills through the long edge of an attached conveyor belt, as shown in Fig. 1. The Seaswarm robot Manuscript received...

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“…τ wind and τ wave are external forces or moments caused by the wind and the wave, respectively. The matrix M, C(V), D(V), and τ are expressed as Equations ( 9)- (12).…”

Section: Dynamics Of Usvmentioning

confidence: 99%

“…The development of USVs for nearly 15 years is introduced by Manley et al [10]. Mingxi et al employed the structure of catamaran USV aimed for estuary research; they applied Robotics Operating System (ROS) installed into Jetson Nano [11] which was also applied by Bae J. et al for sediment sampling [12]. Iovino et al from Cranfield University to experimental testing of a path manager [13].…”

Section: Introductionmentioning

confidence: 99%

Development and Performance Measurement of an Affordable Unmanned Surface Vehicle (USV)

et al. 2022

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Indonesia is a maritime country that has vast coastal resources and biodiversity. To support the Indonesian maritime program, a topography mapping tool is needed. The ideal topography mapping tool is the Unmanned Surface Vehicle (USV). This paper proposes the design, manufacture, and development of an affordable autonomous USV. The USV which is composed of thruster and rudder is quite complicated to build. This study employs rudderless and double thrusters as the main actuators. PID compensator is utilized as the feedback control for the autonomous USV. Energy consumption is measured when the USV is in autonomous mode. The Dynamics model of USV was implemented to study the roll stability of the proposed USV. Open-source Mission Planner software was selected as the Ground Control Station (GCS) software. Performance tests were carried out by providing the USV with an autonomous mission to follow a specific trajectory. The results showed that the developed USV was able to complete autonomous mission with relatively small errors, making it suitable for underwater topography mapping.

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Development of an Unmanned Surface Vehicle for Remote Sediment Sampling with a Van Veen Grab Sampler

Cited by 10 publications

References 18 publications

Hybrid Control Architecture of an Unmanned Surface Vehicle Used for Water Quality Monitoring

Hybrid Control Architecture of an Unmanned Surface Vehicle Used for Water Quality Monitoring

Asymptotic Boundary Shrink Control With Multirobot Systems

Development and Performance Measurement of an Affordable Unmanned Surface Vehicle (USV)

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