Heterogeneous robotic system for underwater oil spill survey

Vasilijević, Antonio; Calado, Pedro; Castejón, Francisco López; Hayes, Dan; Stilinović, Nikola; Nađ, Ðula; Mandić, Filip; Dias, Paulo Sousa; Gomes, João; Molina, Javier; Guerrero, Antonio José Lozano; Gilabert, Javier; Mišković, Nikola; Vukić, Zoran; Sousa, João Borges de; Georgiou, Georgios C.

doi:10.1109/oceans-genova.2015.7271492

Cited by 24 publications

(11 citation statements)

References 3 publications

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“…Most works on oil spills detection use either UUVs [107,134], since they try to find the underwater location of the oil spill, or UAVs [135] since it is easier to estimate the amount of oil on the surface. Liu et al [105] affirm that in areas where oil spills frequently occur, such as coastal ports and oil drilling platform surroundings, the use of USV is seemingly more convenient when compared to traditional airborne and shipborne laser fluorosensors.…”

Section: Use Of Usvs In Environmental Disasters With Contaminantsmentioning

confidence: 99%

“…Thus, the system can draw a precise map of the oil plume, adding information on spill location, volume, extent, direction, and speed. Vasilijevic et al [93,107] use a heterogeneous robotic system composed of UUVs, USVs, and UAVs to deliver timely information on sub-surface hydrocarbon concentration. In this system, UUVs measure the hydrocarbon concentration while a UAV does an initial survey over a wide area and a USV performs the acoustic localization of underwater agents.…”

Section: Use Of Usvs In Environmental Disasters With Contaminantsmentioning

confidence: 99%

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A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions

Jorge

Granada

Maidana

et al. 2019

Sensors

126

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Disaster robotics has become a research area in its own right, with several reported cases of successful robot deployment in actual disaster scenarios. Most of these disaster deployments use aerial, ground, or underwater robotic platforms. However, the research involving autonomous boats or Unmanned Surface Vehicles (USVs) for Disaster Management (DM) is currently spread across several publications, with varying degrees of depth, and focusing on more than one unmanned vehicle—usually under the umbrella of Unmanned Marine Vessels (UMV). Therefore, the current importance of USVs for the DM process in its different phases is not clear. This paper presents the first comprehensive survey about the applications and roles of USVs for DM, as far as we know. This work demonstrates that there are few current deployments in disaster scenarios, with most of the research in the area focusing on the technological aspects of USV hardware and software, such as Guidance Navigation and Control, and not focusing on their actual importance for DM. Finally, to guide future research, this paper also summarizes our own contributions, the lessons learned, guidelines, and research gaps.

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Section: Use Of Usvs In Environmental Disasters With Contaminantsmentioning

confidence: 99%

Section: Use Of Usvs In Environmental Disasters With Contaminantsmentioning

confidence: 99%

A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions

Jorge

Granada

Maidana

et al. 2019

Sensors

126

View full text Add to dashboard Cite

show abstract

“…It is actuated by four thrusters positioned in such a way that they form an X-shaped configuration ( Figure 3) which allows movement in every direction while maintaining arbitrary desired heading. The ASV [15] and down looking high definition (HD) camera for diver tracking [16] or shallow water mosaicking [17]. RTK GPS uses two GPS antennas; one is on the ASV (rover), while the other is ground-based station (base).…”

Section: The Autonomous Surface Vehicle -Pladyposmentioning

confidence: 99%

Mechanical Design of an Autonomous Marine Robotic System for Interaction With Divers

Stilinović

Marković

Mišković

et al. 2016

Brod

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SummarySCUBA diving, professional or recreational, remains one of the most hazardous activities known by man, mostly due to the fact that the human survival in the underwater environment requires use of technical equipment such as breathing regulators. Loss of breathing gas supply, burst eardrum, decompression sickness and nitrogen narcosis are just a few problems which can occur during an ordinary dive and result in injuries, long-term illnesses or even death. Most common way to reduce the risk of diving is to dive in pairs, thus allowing divers to cooperate with each other and react when uncommon situation occurs. Having the ability to react before an unwanted situation happens would improve diver safety. This paper describes an autonomous marine robotic system that replaces a human dive buddy. Such a robotic system, developed within an FP7 project "CADDY -Cognitive Autonomous Diving Buddy" provides a symbiotic link between robots and human divers in the underwater. The proposed concept consists of a diver, an autonomous underwater vehicle (AUV) Buddy and an autonomous surface vehicle (ASV) PlaDyPos, acting within a cooperative network linked via an acoustic communication channel. This is a first time that an underwater human-robot system of such a scale has ever been developed. In this paper, focus is put on mechanical characteristics of the robotic vehicles.

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“…UAVs and USVs play an important role in marine environment monitoring, marine mapping, and maritime patrol and rescue [1][2][3]. In scenarios such as ocean environment monitoring, it is difficult to perform large-scale coverage monitoring in a short time, owing to the limitation of the ship's movement speed and maneuverability.…”

Section: Introductionmentioning

confidence: 99%

“…Fletcher developed an air-ground marsupial unmanned platform [6]. At present, air-to-water surface marsupial unmanned platforms are mainly composed of rotary UAVs and USVs [1][2][3]7,8]. For a marsupial platform consisting of fixed-wing UAVs and USVs, due to the difficulty of recovering fixed-wing UAVs on USVs, it is necessary to design an efficient and reliable autonomous recovery system for small fixed-wing UAVs.…”

Section: Introductionmentioning

confidence: 99%

Marine UAV–USV Marsupial Platform: System and Recovery Technic Verification

Zhang

et al. 2020

Applied Sciences

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Heterogeneous unmanned systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) have great application potential in marine environments. At present, the fully autonomous recovery of UAVs is a key problem that restricts any significant application of a heterogeneous unmanned system. This paper presents a novel fully autonomous recovery system, covering the entire process of recovery of small fixed-wing UAVs on mobile platforms at sea. We describe methods or solutions for the key problems encountered by the current system, including active modeling of the UAV–USV heterogeneous platform motion model, accurate estimation of the highly dynamic relative motion of the heterogeneous platform, dynamic analysis of the arresting cable system, and compliance control of the manipulator recovery system. Based on these methods, a physical simulation platform for the fully autonomous recovery system, including an actively adjustable arresting cable, manipulator compliance recovery system, and other subsystems, is developed and verified through experiments. The experiments show that the system proposed in this study can achieve full autonomous recovery of a small ship-based fixed-wing UAV with a high success rate in a short period. This system is the foundation for practical applications of UAV–USV heterogeneous unmanned systems in the marine environment.

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Heterogeneous robotic system for underwater oil spill survey

Cited by 24 publications

References 3 publications

A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions

A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions

Mechanical Design of an Autonomous Marine Robotic System for Interaction With Divers

Marine UAV–USV Marsupial Platform: System and Recovery Technic Verification

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