Cooperative use of unmanned sea surface and micro aerial vehicles at Hurricane Wilma

Murphy, Robin R.; Steimle, Eric T.; Griffin, Chandler; Cullins, Charlie; Hall, Mike; Pratt, Kevin

doi:10.1002/rob.20235

Cited by 199 publications

(112 citation statements)

References 23 publications

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“…Collected data are mostly images but can also be gas concentrations or radioactivity levels as demonstrated by the tragic event in Fukushima (Sanada and Torii, 2015;Martin et al, 2016). Focusing on image collection, they can be used for early impact assessment, to inspect collapsed buildings and to evaluate structural damages on common infrastructures (Chou et al, 2010;Molina et al 2012;Murphy et al, 2008;Pratt et al, 2009) or cultural heritage sites (Pollefeys et al, 2001;Manferdini et al, 2012;Koutsoudisa et al, 2014;Lazzari et al, 2017). Environmental and geological monitoring can profit from fast multi-temporal acquisitions delivering high-resolution images (Thamm and Judex, 2006;Niethammer et al, 2010).…”

Section: Introductionmentioning

confidence: 99%

Review article: the use of remotely piloted aircraft systems (RPASs) for natural hazards monitoring and management

Giordan

Hayakawa

Nex

et al. 2018

Nat. Hazards Earth Syst. Sci.

145

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Abstract. The number of scientific studies that consider possible applications of remotely piloted aircraft systems (RPASs) for the management of natural hazards effects and the identification of occurred damages strongly increased in the last decade. Nowadays, in the scientific community, the use of these systems is not a novelty, but a deeper analysis of the literature shows a lack of codified complex methodologies that can be used not only for scientific experiments but also for normal codified emergency operations. RPASs can acquire on-demand ultra-high-resolution images that can be used for the identification of active processes such as landslides or volcanic activities but can also define the effects of earthquakes, wildfires and floods. In this paper, we present a review of published literature that describes experimental methodologies developed for the study and monitoring of natural hazards. IntroductionIn the last three decades, the number of natural disasters showed a positive trend with an increase in the number of affected populations. Disasters not only affected the poor and characteristically more vulnerable countries but also those thought to be better protected. The Annual Disaster Statistical Review describes recent impacts of natural disasters on the population and reports 342 naturally triggered disasters in 2016 (Guha-Sapir et al., 2017). This is less than the annual average disaster frequency observed from 2006 to 2015 (376.4 events). However, natural disasters are still responsible for a high number of casualties (8733 death). In the period 2006-2015, the average number of causalities caused annually by natural disasters is 69 827. In 2016, hydrological disasters (177) had the largest share in natural disaster occurrence (51.8 %), followed by meteorological disasters (96; 28.1 %), climatological disasters (38; 11.1 %) and geophysical disasters (31; 9.1 %) (Guha-Sapir et al., 2017). To face these disasters, one of the most important solutions is the use of systems able to provide an adequate level of information for correctly understanding these events and their evolution. In this context, surveying and monitoring natural hazards gained importance. In particular, during the emergency phase it is very important to evaluate and control the phenomenon of evolution, preferably operating in near real time or real time, and consequently, use this information for a better risk assessment scenario. The available acquired data must be processed rapidly to support the emergency services and decision makers.Recently, the use of remote sensing (satellite and airborne platform) in the field of natural hazards and disasters has become common, also supported by the increase in geospatial technologies and the ability to provide and process up-to-date imagery (Joyce et al., 2009;Tarolli, 2014). Remotely sensed data play an integral role in predicting hazard events such as floods and landslides, subsidence events and other ground instabilities. Because of their acquisition mode and capabilPublished by Copern...

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Section: Introductionmentioning

confidence: 99%

Review article: the use of remotely piloted aircraft systems (RPASs) for natural hazards monitoring and management

Giordan

Hayakawa

Nex

et al. 2018

Nat. Hazards Earth Syst. Sci.

145

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“…En losúltimos años debido al desarrollo de la tecnología y al descenso de sus costes, han proliferado multitud de pequeños vehículos autónomos aéreos (UAV, Unmaned Aerial Vehicle), submarinos (AUV, Autonomous Underwater Vehicle) o de superficie (USV, Unmanned Surface Vehicle), utilizándose en tareas que involucran a un sólo vehículo (Ribas et al, 2012;Sutton et al, 2011;Patterson et al, 2013) o a una combinación dé estos (Murphy et al, 2008;Lindemuth et al, 2011). En muchas aplicaciones los múltiples vehículos autónomos deben actuar e interactuar en entornos humanos, lo que requiere la existencia de sistemas que realicen un seguimiento de las operaciones realizadas, guiar o asignar tareas y actuar en cualquier momento a fin de preservar la seguridad de la operación y de los demás agentes, incluyendo humanos.…”

Section: Introductionunclassified

Centro de Control de Tierra para Colaboración de Vehículos Autónomos Marinos

Seco

Canto

Martinez

et al. 2017

Rev. iberoam. autom. inform. ind.

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ResumenEl Centro de Control de Tierra (CCT) es uno de los elementos imprescindibles para la supervisión y control de vehículos autónomos que realizan misiones complejas. En la actualidad cada vez hay más aplicaciones donde se utilizan múltiples vehículos autónomos y el tradicional Centro de Control está evolucionando para ser capaz de gestionar diversos vehículos y operadores. Este artículo presenta las características más relevantes de un CCT adaptable y versátil, especialmente diseñado para que un equipo heterogéneo de operadores puedan monitorizar y supervisar el funcionamiento colaborativo de un conjunto heterogéneo de vehícu-los autónomos. Entre estas características destacan la posibilidad de, según las necesidades de los operadores y de la misión, 1) reconfigurar cuál (y cómo) es la información que se muestra de cada vehículo a cada operador, 2) definir alarmas que atraigan la atención de los operadores ante determinados eventos (y liberen su carga de trabajo mientras estos no se den) y 3) re-asignar en tiempo real la gestión de los vehículos a los diferentes operadores. Para alcanzarlas, se ha realizado un cuidadoso diseño de la arquitectura software del CCT, que se detalla en el artículo y que se encuentra formada por: un módulo de comunicaciones; un módulo planificador de alto nivel; un módulo (replicable en tantos equipos como se desee) de monitorización y supervisión de vehículos; y tantos módulos comandadores como vehículos diferentes existan en la misión. Este CCT ha sido desarrollado dentro del proyecto de investigación SALACOM (Sistema Autónomo de Localización y Actuación ante Contaminantes en el Mar), en el que dos barcos autónomos maniobran de forma colaborativa para desplegar una barrera para la contención de un vertido contaminante en el mar y donde la incorporación del operador en la supervisión y control de las maniobras de los vehículos es un requisito imprescindible para dar seguridad y confianza a la operación realizada. Finalmente, se presenta un caso de uso del Centro de Control de Tierra donde se realiza una maniobra de seguimiento entre dos vehículos autónomos de superficie. Palabras Clave:Monitorización y supervisión, Planificación y rutas, Control cooperativo, Control de sistemas distribuidos, Sistemas marinos y subacuáticos, Centro de control de tierra A Ground Control Station for Collaborative Unmanned Surface Vehicles AbstractThe Ground Control Station (GCS) is one of the essential elements to supervise and control autonomous vehicles performing complex missions. The increasing number of systems that involve multiple autonomous vehicles is making traditional GCSs evolve to let them handle different vehicles and operators. In this article, we present the more relevant properties of a versatile adaptable GCS that has been especially designed to let multiple operators, each using a different computer equipment, be in charge of controlling a heterogeneous team of autonomous vehicles. Its main properties are the possibility of 1) reconfiguring which information is displayed to each o...

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“…Here are some obvious advantages: (1) the smaller size allows the USVs to access to narrow and small space to get detailed information; (2) remote operation can avoid casualties of the rescuers caused by the unexpected potential dangers. After Hurricane Wilma in 2005, USVs have been used for emergency response by detecting damage to seawalls and piers, locating submerged debris, and determining safe lanes for sea navigation [2]. After the Fukushima nuclear accident in 2011, the United States and Japan have used robots to assess the damage jointly [3].…”

Section: Introductionmentioning

confidence: 99%

Design, Implementation and Modeling of Flooding Disaster-Oriented USV

Xiong¹,

Gu²,

Li³

et al. 2016

Recent Advances in Robotic Systems

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Although there exist some unmanned surface platforms, and parts of them have been applied in flooding disaster relief, the autonomy of these platforms is still so weak that most of them can only work under the control of operators. The primary reason is the difficulty of obtaining a dynamical model that is sufficient rich for model-based control and sufficient simple for model parameters identification. This makes them difficult to be used to achieve some high-performance autonomous control, such as robust control with respect to disturbances and unknown dynamics and trajectory tracking control in complicated and dynamical surroundings. In this chapter, a flooding disaster-oriented unmanned surface vehicle (USV) designed and implemented by Shenyang Institute of Automation, Chinese Academy of Sciences (SIA, CAS) is introduced first, including the hardware and software structures. Then, we propose a quasi-linear parameter varying (qLPV) model to approach the dynamics of the USV system. We first apply this to solve a structured modeling problem and then introduce model error to solve an unstructured modeling problem. Subsequently, the qLPV model identification results are analyzed and the superiority compared to two linear models is demonstrated. At last, extensive application experiments, including rescuing rope throwing using an automatic pneumatic and water sampling in a 2.5 m radius circle, are described in detail to show the performance of course keeping control and GPS point tracking control based on the proposed model.

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Cooperative use of unmanned sea surface and micro aerial vehicles at Hurricane Wilma

Cited by 199 publications

References 23 publications

Review article: the use of remotely piloted aircraft systems (RPASs) for natural hazards monitoring and management

Review article: the use of remotely piloted aircraft systems (RPASs) for natural hazards monitoring and management

Centro de Control de Tierra para Colaboración de Vehículos Autónomos Marinos

Design, Implementation and Modeling of Flooding Disaster-Oriented USV

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