Towards use of Dijkstra Algorithm for Optimal Navigation of an Unmanned Surface Vehicle in a Real-Time Marine Environment with Results from Artificial Potential Field

The growing need of ocean surveying and exploration for scientific and industrial application has led to the requirement of routing strategies for ocean vehicles which are optimal in nature. Most of the optimal path planning for marine vehicles had been conducted offline in a self‐made environment. This paper takes into account a practical marine environment, i.e. Portsmouth Harbour, for finding an optimal path in terms of computational time between source and end points on a real time map for an USV. The current study makes use of a grid map generated from original and uses a Dijkstra algorithm to find the shortest path for a single USV. In order to benchmark the study, a path planning study using a well‐known local path planning method artificial path planning (APF) has been conducted in a real time marine environment and effectiveness is measured in terms of path length and computational time

Developing widening engagement activities and events

This booklet is Developing Widening Engagement Activities and Events and provides further information and details about the process and a practical guide to delivering events to connect to and communicate your research. Aims of this eBook: • Specifically focuses on designing, developing and delivering public engagement (PE) in person events and activities, with useful links and tools • Used alongside PDR and Development Plans to identify development opportunities • Supports decision making and work in areas of research impact, finding funding for research and in preparation for the REF and KEF processes as well as supporting individual and organisational objectives • Sets out expectations and limitations of the possibilities to help focus time and resource appropriately • Facilitates preparation in advance of key milestones and PE events in the annual calendar • Encourages reflection and self-evaluation throughout the development process • Sign-posts to useful resources, tools, tips and techniques • Promotes goal setting and development of confidence and capabilit

Quick start guide to public & community engagement

This booklet is Getting Started with Public & Community Engagement and provides further information and details about the process of public engagement with research. Aims of this eBook: • Specifically focuses on widening engagement (this is largely focussed on the public engagement of research but also touches upon elements of widening participation and enterprise), with useful links and tools • Provides detailed information about the training and development available • Designed to help plan your attendance and participation in appropriate training • Used alongside PDR and Development Plans to identify development opportunities • Support decision making and work in areas of research impact, finding funding for research and in preparation for the REF and KEF processes as well as supporting individual and organisational objectives • Sets out expectations and limitations of the training to help focus time and resource appropriately • Facilitates preparation in advance of attendance and participation • Encourages reflection and self-evaluation throughout the development process • Sign-posts to useful resources, tools, tips and techniques • Promotes goal setting and development of confidence and capabilit

Coordinating UoS engagement events

This booklet is Coordinating UoS Engagement Events and provides further information and details on ways in which diverse teams across the University can help you to maximise the impact of your public & community engagement activities. Aims of this eBook: • Specifically focuses on how to get started with planning and running an engagement event, with links • Provides guidance and advice on evaluating and documenting your engagement event • Provides information about the training & development and internal funding available • Encourages reflection and self-evaluation throughout the development process • Sign-posts to useful internal and external resources, tools, tips and techniques • Promotes goal setting and development of confidence and capabilit

Getting started with impact

This booklet is Getting Started with Impact and provides further information and details on ways in which to embed real-world impact from the outset of your research projects to ensure maximum benefit to your publics and stakeholders. Aims of this eBook: • Specifically focuses on how to get started with impact, with links to templates • Provides information about the training & development and internal funding available • Encourages reflection and self-evaluation throughout the development process • Sign-posts to useful internal and external resources, tools, tips and techniques • Promotes goal setting and development of confidence and capabilit

Working with Government and influencing policy

This booklet is Working with Government and Influencing Policy and provides further information and details on ways in which to engage with and influence policy makers and other key stakeholders to maximise the reach and significance of your research impact. Aims of this eBook: • Specifically focuses on how to get started with policy engagement, with links • Provides information about the training & development and internal funding available • Encourages reflection and self-evaluation throughout the development process • Sign-posts to useful internal and external resources, tools, tips and techniques • Promotes goal setting and development of confidence and capabilit

USV Navigation in a Real-Time Map using Intelligent Path Planner

Oral presentation and print abstract only; no proceedings. Abstract appeared in Journal of Applied Mechanical EngineeringUnmanned surface vehicles (USV) are the recent trend in marine robotics due to their diverse application and easy deployment. Navigation of such USV in a real time marine environment is a major challenge and creates a need towards development of intelligent path planners which can increase the system autonomy. Many such intelligent path planning studies have been conducted in the area of mobile robotics but needs a lot more research to be conducted in area of marine robotics. In this study, a well know intelligent path planner A* has been implemented in a real time map using safety distance from obstacle as the criteria towards generating optimal trajectory for a single USV navigation. Different safety distances from obstacles ranging from 10 pixels to 40 pixels have been used to generate optimal trajectory and comparative performance has been analyzed in terms of computational time and path length. In this study, Portsmouth Harbour has been considered as area of study to determine the effectiveness of A* algorithm with different safety distance from obstacle as constraint. Algorithm has been validated on computer-based simulations using C++ and OpenCV libraries

A revised edition of the readiness to change questionnaire (treatment version)

The UK Alcohol Treatment Trial provided an opportunity to examine the factor structure of the Readiness to Change Questionnaire-Treatment Version (RCQ[TV]) in a large sample (N = 742) of individuals in treatment for alcohol problems who were given the RCQ[TV] at baseline, 3-months and 12-months follow-up. Confirmatory factor analysis of the previously reported factor structure (5 items for each of Precontemplation, Contemplation and Action scales) resulted in a relatively poor fit to the data. Removal of one item from each of the scales resulted in a 12-item instrument for which goodness-of-fit indices were improved, without loss of internal consistency of the three scales, on all three measurement occasions. Inspection of relationships between stage allocation by the new instrument and negative alcohol outcome expectancies provided evidence of improved construct validity for the revised edition of the RCQ[TV]. There was also a strong relationship between stage allocation at 3-months follow-up and outcome of treatment at 12 months. The revised edition of the RCQ[TV] offers researchers and clinicians a shorter and improved measurement of stage of change in the alcohol treatment population

Optimal path planning of unmanned surface vehicles

The publisher has released this paper this under the Creative Commons CC BY-NC-ND licence. This release is used to provide the authority for open access deposit in Pearl, but please note that the licence forbids commercial use and the distribution of derivative works.Present study reviews the current methodologies adopted for optimal path planning of single unmanned surface vehicles and studies associated with swarm of unmanned surface vehicles. This also discusses the challenges and scopes, which can act as objectives, for future research towards path planning of such marine craft