NI: NERC-MOST: Development of Multiple Collaborative Unmanned Marine Vehicles for Monitoring and Removing Marine Debris

NI：NERC-MOST：开发用于监测和清除海洋碎片的多种协作式无人海洋车辆

• 批准号: NE/V008080/1
• 负责人: Mien Van
• 金额: $ 10.27万
• 依托单位: Queen's University Belfast
• 依托单位国家: 英国
• 项目类别: Research Grant
• 财政年份: 2021
• 资助国家: 英国
• 起止时间: 2021 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=NE%2FV008080%2F1
• 关键词: NI; NERC; MOST; Development; Multiple

The marine debris catastrophe is beginning to catch serious attention worldwide due to its severe impacts on environment and ecosystem. This project addresses the need for ocean monitoring and cleaning techniques to reduce the effects of marine litter. The proposed project will provide core technologies necessary for the development of Unmanned Surface Vehicle-linked-Unmanned Underwater Vehicles (USV-linked-UUVs) system to enable these vehicles can work more safely, efficiently and collaboratively. To unleash the full potential of ocean exploration, several scientific boundaries must be pushed, ensuring the efficiency of both USV and UUVs. This research will fill critical technological gaps in robotic design, localization, control and coordination to promote the applications of USV and UUV team for marine monitoring and cleaning tasks. In specific, four important advanced technologies will be developed in this project: (i) design of heterogeneous USV-linked-UUVs system, (ii) dynamic behaviors analysis of USV-linked-UUVs System, (iii) path planning optimization-based collaborative control for USV-UUVs team, and (iv) integrated Robotic Operating System-Mission Orientated Operating Suite (ROS-MOOS) middleware to facilitate the communication between UUVs and USV. Theoretical advancements will proceed alongside with experimental research toward demonstrating the potential of marine robotics to efficiently reduce the marine debris.

由于其对环境和生态系统的严重影响，海洋碎片灾难开始引起全世界的严重关注。该项目解决了海洋监测和清洁技术的需求，以减少海洋垃圾的影响。拟议的项目将为开发无人链接的无人接下来的水下车辆（USV与UVS）系统提供必要的核心技术，以使这些车辆能够更安全，有效，有效地工作。要释放海洋探索的全部潜力，必须推动几个科学界限，以确保USV和UUV的效率。这项研究将填补机器人设计，本地化，控制和协调方面的关键技术空白，以促进USV和UUV团队在海洋监测和清洁任务中的应用。 In specific, four important advanced technologies will be developed in this project: (i) design of heterogeneous USV-linked-UUVs system, (ii) dynamic behaviors analysis of USV-linked-UUVs System, (iii) path planning optimization-based collaborative control for USV-UUVs team, and (iv) integrated Robotic Operating System-Mission Orientated Operating Suite (ROS-MOOS) middleware to facilitate the communication between UUVs and USV。理论进步将与实验研究一起进行，以证明海洋机器人技术有效减少海洋碎片的潜力。

项目成果

Towards More Efficient EfficientDets and Real-Time Marine Debris Detection

• DOI: 10.1109/lra.2023.3245405
• 发表时间: 2022-03
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Federico Zocco;Tzu-Chieh Lin;Ching-I Huang;Hsueh-Cheng Wang;M. O. Khyam;Mien Van

Global finite-time cooperative control for multiple manipulators using integral sliding mode control

• DOI: 10.1002/asjc.2706
• 发表时间: 2022-03-09
• 期刊: ASIAN JOURNAL OF CONTROL
• 影响因子: 2.4
• 作者: Van, Mien;Ge, Shuzhi Sam;Ceglarek, Dariusz
• 通讯作者: Ceglarek, Dariusz

Asian Journal of Control

• DOI: 10.1002/asjc.903
• 发表时间: 2014-05
• 期刊: Asian Journal of Control
• 影响因子: 2.4

Control of Multiple AUV Systems With Input Saturations Using Distributed Fixed-Time Consensus Fuzzy Control

• DOI: 10.1109/tfuzz.2024.3368352
• 发表时间: 2024-05
• 期刊: IEEE Transactions on Fuzzy Systems
• 影响因子: 11.9
• 作者: Mien Van;Yuzhu Sun;Stephen Mcllvanna;Minh-Nhat Nguyen;Federico Zocco;Zhijie Liu

Towards More Efficient EfficientDets and Low-Light Real-Time Marine Debris Detection

迈向更高效的 EfficientDets 和微光实时海洋碎片检测

• DOI: 10.48550/arxiv.2203.07155
• 发表时间: 2022
• 作者: Zocco F