Autonomous marine vehicles(AMVs)have received considerable attention in the past few decades,mainly because they play essential roles in broad marine applications such as environmental monitoring and resource explorat...Autonomous marine vehicles(AMVs)have received considerable attention in the past few decades,mainly because they play essential roles in broad marine applications such as environmental monitoring and resource exploration.Recent advances in the field of communication technologies,perception capability,computational power and advanced optimization algorithms have stimulated new interest in the development of AMVs.In order to deploy the constrained AMVs in the complex dynamic maritime environment,it is crucial to enhance the guidance and control capabilities through effective and practical planning,and control algorithms.Model predictive control(MPC)has been exceptionally successful in different fields due to its ability to systematically handle constraints while optimizing control performance.This paper aims to provide a review of recent progress in the context of motion planning and control for AMVs from the perceptive of MPC.Finally,future research trends and directions in this substantial research area of AMVs are highlighted.展开更多
Economic factors along with legislation and policies to counter harmful pollution apply specifically to maritime drive research for improved power generation and energy storage.Proton exchange membrane fuel cells are ...Economic factors along with legislation and policies to counter harmful pollution apply specifically to maritime drive research for improved power generation and energy storage.Proton exchange membrane fuel cells are considered among the most promising options for marine applications.Switching converters are the most common interfaces between fuel cells and all types of load in order to provide a stable regulated voltage.In this paper,a method using artificial neural networks(ANNs)is developed to control the dynamics and response of a fuel cell connected with a DC boost converter.Its capability to adapt to different loading conditions is established.Furthermore,a cycle-mean,black-box model for the switching device is also proposed.The model is centred about an ANN,too,and can achieve considerably faster simulation times making it much more suitable for power management applications.展开更多
This article presents a numerical study of the forces induced by hydrodynamic impact, that is, the impact of a part of the bottom of the hull on the water surface. The prediction of these efforts is often based on num...This article presents a numerical study of the forces induced by hydrodynamic impact, that is, the impact of a part of the bottom of the hull on the water surface. The prediction of these efforts is often based on numerical simulations to determine the shock intensity of a structure on the surface of a weakly compressible fluid (for example, water). The short duration of the impact is also investigated in this work. This phenomenon occurs especially when a ship encounters a harsh and difficult sea conditions. Under such conditions, it is important to know how to predict the hydrodynamic forces applied to the structure to correctly optimize the ship elements during its design stage or to prevent possible damage. Indeed, various factors such as speed of the ship and height of the swell can cause the hull to partially emerge and then fall violently onto the water surface, which is referred to by naval personnel as tossing or slamming causing vibrations, stresses, and fatigue to the structural elements of the ship. In this work, we present an example of phenomenon modeling and then a numerical study of the different geometries (dihedron) that play a role in different sections of the bow. Then, we compare our present results with the theoretical and experimental results of other researchers in the field. The average interval impact time for a dihedral model corresponding to the section of the chosen ship and other experimental and theoretical data is in good agreement with the experimental and theoretical measurements.展开更多
Development of man-packable,versatile marine surface vehicle with ability to rescue a drowning victim and also capable of carrying mission specific sensor is explored.Design thinking methodology is implemented by usin...Development of man-packable,versatile marine surface vehicle with ability to rescue a drowning victim and also capable of carrying mission specific sensor is explored.Design thinking methodology is implemented by using existing equipment/platform with the addition of external attachment to make it a functional product.Iterative prototyping process with extensive testing to achieve user-centric solution.Individual prototypes and their possible sub-configurations with their integration and characteristics are studied and compared with numerical model,inferences obtained are utilised to improve for the next iteration.A novel hinge-clamp assembly enables this marine surface vehicle to operate in the event of an overturn,this phenomenon is further studied with the aid of a mathematical model(Pendulum in a fluid).This research project aims to demonstrate a multi-role unmanned surface vehicle.展开更多
Unmanned surface vehicles （USVs） have become a focus of research because of their extensive applications. To ensure safety and reliability and to perform complex tasks autonomously, USVs are required to possess accu...Unmanned surface vehicles （USVs） have become a focus of research because of their extensive applications. To ensure safety and reliability and to perform complex tasks autonomously, USVs are required to possess accurate perception of the environment and effective collision avoidance capabilities. To achieve these, investigation into real- time marine radar target detection and autonomous collision avoidance technologies is required, aiming at solving the problems of noise jamming, uneven brightness, target loss, and blind areas in marine radar images. These technologies should also satisfy the requirements of real-time and reliability related to high navigation speeds of USVs. Therefore, this study developed an embedded collision avoidance system based on the marine radar, investigated a highly real-time target detection method which contains adaptive smoothing algorithm and robust segmentation algorithm, developed a stable and reliable dynamic local environment model to ensure the safety of USV navigation, and constructed a collision avoidance algorithm based on velocity obstacle （V-obstacle） which adjusts the USV＇s heading and speed in real-time. Sea trials results in multi-obstacle avoidance firstly demonstrate the effectiveness and efficiency of the proposed avoidance system, and then verify its great adaptability and relative stability when a USV sailing in a real and complex marine environment. The obtained results will improve the intelligent level of USV and guarantee the safety of USV independent sailing.展开更多
The unmanned semi-submersible vehicle(USSV) developed by the unmanned surface vehicle team of the Institute of Atmospheric Physics is an unmanned, rugged, and high-endurance autonomous navigation vessel designed for t...The unmanned semi-submersible vehicle(USSV) developed by the unmanned surface vehicle team of the Institute of Atmospheric Physics is an unmanned, rugged, and high-endurance autonomous navigation vessel designed for the collection of long-term, continuous and real-time marine meteorological measurements, including atmospheric sounding in the lower troposphere. A series of river and sea trials were conducted from May 2016 to November 2017, and the first rocketsonde was launched from the USSV. Real-time meteorological parameters in the marine atmospheric boundary layer(MABL) were obtained, including sea surface temperature, and vertical profiles of the pressure, temperature, relative humidity, wind speed,and wind direction. These data are extremely useful and important for research on air–sea interactions, sea surface heat and latent heat flux estimations, MABL modeling, and marine satellite product validation.展开更多
基金supported by the Natural Sciences and Engineering Research Council of Canada(NSERC)。
文摘Autonomous marine vehicles(AMVs)have received considerable attention in the past few decades,mainly because they play essential roles in broad marine applications such as environmental monitoring and resource exploration.Recent advances in the field of communication technologies,perception capability,computational power and advanced optimization algorithms have stimulated new interest in the development of AMVs.In order to deploy the constrained AMVs in the complex dynamic maritime environment,it is crucial to enhance the guidance and control capabilities through effective and practical planning,and control algorithms.Model predictive control(MPC)has been exceptionally successful in different fields due to its ability to systematically handle constraints while optimizing control performance.This paper aims to provide a review of recent progress in the context of motion planning and control for AMVs from the perceptive of MPC.Finally,future research trends and directions in this substantial research area of AMVs are highlighted.
基金This work has been funded by the Helmholtz Alliance ROBEX–Robotic Exploration of Extreme Environments.The authors would also like to thank the National Science Foundation(NSF)and specifically the Energy,Power,Control and Networks(EPCN)program for their valuable ongoing support in this research within the framework of grant ECCS-1809182‘Collaborative Research:Design and Control of Networked Offshore Hydrokinetic Power-Plants with Energy Storage’.
文摘Economic factors along with legislation and policies to counter harmful pollution apply specifically to maritime drive research for improved power generation and energy storage.Proton exchange membrane fuel cells are considered among the most promising options for marine applications.Switching converters are the most common interfaces between fuel cells and all types of load in order to provide a stable regulated voltage.In this paper,a method using artificial neural networks(ANNs)is developed to control the dynamics and response of a fuel cell connected with a DC boost converter.Its capability to adapt to different loading conditions is established.Furthermore,a cycle-mean,black-box model for the switching device is also proposed.The model is centred about an ANN,too,and can achieve considerably faster simulation times making it much more suitable for power management applications.
文摘This article presents a numerical study of the forces induced by hydrodynamic impact, that is, the impact of a part of the bottom of the hull on the water surface. The prediction of these efforts is often based on numerical simulations to determine the shock intensity of a structure on the surface of a weakly compressible fluid (for example, water). The short duration of the impact is also investigated in this work. This phenomenon occurs especially when a ship encounters a harsh and difficult sea conditions. Under such conditions, it is important to know how to predict the hydrodynamic forces applied to the structure to correctly optimize the ship elements during its design stage or to prevent possible damage. Indeed, various factors such as speed of the ship and height of the swell can cause the hull to partially emerge and then fall violently onto the water surface, which is referred to by naval personnel as tossing or slamming causing vibrations, stresses, and fatigue to the structural elements of the ship. In this work, we present an example of phenomenon modeling and then a numerical study of the different geometries (dihedron) that play a role in different sections of the bow. Then, we compare our present results with the theoretical and experimental results of other researchers in the field. The average interval impact time for a dihedral model corresponding to the section of the chosen ship and other experimental and theoretical data is in good agreement with the experimental and theoretical measurements.
文摘Development of man-packable,versatile marine surface vehicle with ability to rescue a drowning victim and also capable of carrying mission specific sensor is explored.Design thinking methodology is implemented by using existing equipment/platform with the addition of external attachment to make it a functional product.Iterative prototyping process with extensive testing to achieve user-centric solution.Individual prototypes and their possible sub-configurations with their integration and characteristics are studied and compared with numerical model,inferences obtained are utilised to improve for the next iteration.A novel hinge-clamp assembly enables this marine surface vehicle to operate in the event of an overturn,this phenomenon is further studied with the aid of a mathematical model(Pendulum in a fluid).This research project aims to demonstrate a multi-role unmanned surface vehicle.
基金supported by the National Natural Science Foundation of China(Grant No.51409054)National High Technology Research and Development Program of China(863 Program,Grant No.2014AA09A509)
文摘Unmanned surface vehicles （USVs） have become a focus of research because of their extensive applications. To ensure safety and reliability and to perform complex tasks autonomously, USVs are required to possess accurate perception of the environment and effective collision avoidance capabilities. To achieve these, investigation into real- time marine radar target detection and autonomous collision avoidance technologies is required, aiming at solving the problems of noise jamming, uneven brightness, target loss, and blind areas in marine radar images. These technologies should also satisfy the requirements of real-time and reliability related to high navigation speeds of USVs. Therefore, this study developed an embedded collision avoidance system based on the marine radar, investigated a highly real-time target detection method which contains adaptive smoothing algorithm and robust segmentation algorithm, developed a stable and reliable dynamic local environment model to ensure the safety of USV navigation, and constructed a collision avoidance algorithm based on velocity obstacle （V-obstacle） which adjusts the USV＇s heading and speed in real-time. Sea trials results in multi-obstacle avoidance firstly demonstrate the effectiveness and efficiency of the proposed avoidance system, and then verify its great adaptability and relative stability when a USV sailing in a real and complex marine environment. The obtained results will improve the intelligent level of USV and guarantee the safety of USV independent sailing.
基金supported by the Research Equipment Development Project of the Chinese Academy of Sciences and the National Natural Science Foundation of China(Grant No.41627808)
文摘The unmanned semi-submersible vehicle(USSV) developed by the unmanned surface vehicle team of the Institute of Atmospheric Physics is an unmanned, rugged, and high-endurance autonomous navigation vessel designed for the collection of long-term, continuous and real-time marine meteorological measurements, including atmospheric sounding in the lower troposphere. A series of river and sea trials were conducted from May 2016 to November 2017, and the first rocketsonde was launched from the USSV. Real-time meteorological parameters in the marine atmospheric boundary layer(MABL) were obtained, including sea surface temperature, and vertical profiles of the pressure, temperature, relative humidity, wind speed,and wind direction. These data are extremely useful and important for research on air–sea interactions, sea surface heat and latent heat flux estimations, MABL modeling, and marine satellite product validation.
