Development of an Unmanned Surface Vehicle for Harmful Algae Removal

Jo, Wonse; Park, Jee-Hwan; Hoashi, Yuta; Min, Byung‐Cheol

doi:10.23919/oceans40490.2019.8962677

Cited by 5 publications

(5 citation statements)

References 12 publications

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“…10(c) shows that the completion progress of coverage was steadily declining. Since Spill 4 was detected with only one robot, its Lyapunov candidate function was defined according to (30) while other spills have Lyapunov candidate function defined according to (29). The convergence figure in Fig.…”

Section: B Experiments Cases and Resultsmentioning

confidence: 99%

“…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%

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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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Section: B Experiments Cases and Resultsmentioning

confidence: 99%

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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“…Physical tion of the habitat to make it unfavorable for cyan For instance, artificial shading [24,27], pressurizatio bubble ozonation, or sonication/ultrasound/acoust physically suppress or damage cyanobacterial cell aquatic soil and sediment can be used to reduce p toxic cyanobacterial dormant stages [32][33][34]. Potenti or otherwise improved using recent advances in ro gence, such as low-cost unmanned surface vehicles and mesh-based algae filtration systems [35]. such as the ability to fix nitrogen and tolerate higher temperatures [13], adjust their vertical positions within the water column [14], or escape predation [15].…”

Section: Control Methodsmentioning

confidence: 99%

“…For instance, artificial shading [24,27], pressurization [28], and physical aeration, nanobubble ozonation, or sonication/ultrasound/acoustic cavitation [29][30][31] can be used to physically suppress or damage cyanobacterial cells, and the capping and dredging of aquatic soil and sediment can be used to reduce pre-existing nutrient loads and viable toxic cyanobacterial dormant stages [32][33][34]. Potentially, these methods can be automated or otherwise improved using recent advances in robotic technology and artificial intelligence, such as low-cost unmanned surface vehicles equipped with active suction pumps and mesh-based algae filtration systems [35].…”

Section: Control Methodsmentioning

confidence: 99%

Incorporating Microbial Species Interaction in Management of Freshwater Toxic Cyanobacteria: A Systems Science Challenge

Banerji

Benesh

2022

Ecologies

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Water resources are critically important, but also pose risks of exposure to toxic and pathogenic microbes. Increasingly, a concern is toxic cyanobacteria, which have been linked to the death and disease of humans, domesticated animals, and wildlife in freshwater systems worldwide. Management approaches successful at reducing cyanobacterial abundance and toxin production have tended to be short-term solutions applied on small scales (e.g., algaecide application) or solutions that entail difficult multifaceted investments (e.g., modification of landscape and land use to reduce nutrient inputs). However, implementation of these approaches can be undermined by microbial species interactions that (a) provide toxic cyanobacteria with protection against the method of control or (b) permit toxic cyanobacteria to be replaced by other significant microbial threats. Understanding these interactions is necessary to avoid such scenarios and can provide a framework for novel strategies to enhance freshwater resource management via systems science (e.g., pairing existing physical and chemical approaches against cyanobacteria with ecological strategies such as manipulation of natural enemies, targeting of facilitators, and reduction of benthic occupancy and recruitment). Here, we review pertinent examples of the interactions and highlight potential applications of what is known.

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“…USVs with varying shapes include the Catamaran type Springer (Naeem et al, 2006), MIT's AutoCat (Manley et al, 2000) and Charlie (Caccia et al, 2006); kayak type USVs developed at MIT (Goudey et. Al, 1998) and SCOUT (Curcio et al, 2005) and other low cost small USVs developed specific to different applications (Thirunavukkarasu et al, 2017;Jo et al, 2019). Relevant to heterogenous multi-USV control, CARACaS (Control Architecture for Robotic Agent Command and Sensing) was developed at the NASA Jet Propulsion Laboratory as an autonomy architecture for heterogenous multi-agent systems and provided foundational software infrastructure, core executive functions, and several default robotic technology modules (Wolf et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Maneuvering Ability-Based Weighted Potential Field Framework for Multi-USV Navigation, Guidance, and Control

Mina¹,

Singh²,

Min³

2020

mar technol soc j

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Numerous types of unmanned surface vehicles (USVs) are currently available for different applications with a wide spectrum of maneuvering capabilities. We present a generalized multi-USV navigation, guidance, and control framework adaptable to specific USV maneuvering response capabilities for dynamic obstacle avoidance. The proposed method integrates offline optimal path planning with a safety distance constrained A* algorithm, and an online extended adaptively weighted (EAW) artificial potential field-based path following approach with dynamic collision avoidance, based on USV maneuvering response times. The framework adaptively weighs inter-USV interaction, waypoint following, and collision avoidance based on USV maneuvering capabilities. The EAW system allows USVs with fast maneuvering abilities to react late and slow USVs to react sooner to oncoming moving obstacles gradually, with a carefully designed series of repulsive potential with diminishing weighting along the predicted path of detected moving obstacles, such that a smooth path is followed by the USV group with reduced cross-track error and reduced maneuvering effort. We emphasize the importance of such requirements in constrained and busy maritime environments such as narrow channels in busy harbors. Simulation results validate the proposed EAW artificial potential field framework for different sized multi-USV teams showing reduced cross-track error and maneuvering effort compared to the unweighted or traditional approach, for both slow- and fast-maneuvering multi-USV teams.

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Development of an Unmanned Surface Vehicle for Harmful Algae Removal

Cited by 5 publications

References 12 publications

Asymptotic Boundary Shrink Control With Multirobot Systems

Asymptotic Boundary Shrink Control With Multirobot Systems

Incorporating Microbial Species Interaction in Management of Freshwater Toxic Cyanobacteria: A Systems Science Challenge

Maneuvering Ability-Based Weighted Potential Field Framework for Multi-USV Navigation, Guidance, and Control

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