A new tow maneuver of a damaged boat through a swarm of autonomous sea drones

Given the huge rising interest in autonomous drone swarms to be employed in actual marine applications, the present paper explores the possibility to recover a distressed vessel by means of the other agents belonging to the swarm itself. Suitable approaches and control strategies are developed and tested to find the highest performance algorithms. Different rules are exploited to obtain a correct behaviour in terms of swarm interaction, namely collective and coordinated, and individual. An innovative feedback control strategy is adopted and demonstrated its effectiveness. Extensive simulation runs have been conducted, whose results validate the approach

Underwater Drone Architecture for Marine Digital Twin: Lessons Learned from SUSHI DROP Project

The ability to observe the world has seen significant developments in the last few decades, alongside the techniques and methodologies to derive accurate digital replicas of observed environments. Underwater ecosystems present greater challenges and remain largely unexplored, but the need for reliable and up-to-date information motivated the birth of the Interreg Italy–Croatia SUSHI DROP Project (SUstainable fiSHeries wIth DROnes data Processing). The aim of the project is to map ecosystems for sustainable fishing and to achieve this goal a prototype of an Unmanned Underwater Vehicle (UUV), named Blucy, has been designed and developed. Blucy was deployed during project missions for surveying the benthic zone in deep waters of the Adriatic Sea with noninvasive techniques compared to the use of trawl nets. This article describes the strategies followed, the instruments applied and the challenges to be overcome to obtain an accurately georeferenced underwater survey with the goal of creating a marine digital twin

The support model for people with legally modified abilities according to United Nations

Este artículo se basa en una investigación social sobre el sistema de protección jurídica de las personas con algún tipo de discapacidad o en situación de dependencia que se encuentran sometidas a las figuras de tutela o curatela, en aplicación de lo previsto y establecido en el Código Civil Español, en sus artículos 199 y 200, así como en la Ley de Enjuiciamiento Civil. La investigación se plantea como un estudio comparado entre diferentes países de la Unión Europea para ver su adecuación a lo establecido en el artículo 12 de la Convención de Naciones Unidas sobre derechos de las Personas con Discapacidad (en adelante, CDPD) en los procedimientos de incapacitación. Los resultados se analizan sobre la base de modelos técnico-sociales de intervención, los análisis jurídicos y la experiencia adquirida por las Fundación Tutelares de Castilla y León. Se proponen y diseñan algunas alternativas y servicios que pueden mejorar la calidad de vida de las personas adultas incapacitadas judicialmente y el tipo de apoyos que se les puede prestar, de acuerdo a lo establecido en la Convención de Naciones Unidas.This article is based on social research into the system of legal protection for persons with disabilities or in a situation of dependence who are subject to the figures of guardianship or conservatorship pursuant to the provisions in the Spanish Civil Code, sections 199 and 200, as well as the Code of Civil Procedure. The research is presented as a comparative study between different countries of the European Union regarding the adaptation to the provisions of Article 12 of the UN Convention on Rights of Persons with Disabilities (hereinafter CRPD) Incapacitation procedures. The results are analyzed on the basis of technical-social intervention models, legal analysis and the experience of Guardianship Foundations of Castilla y León. Some alternatives and services are proposed and designed that can improve the quality of life of legally incapacitated persons and the type of support that can be provided to them in accordance with the provisions of the United Nations Convention

A Novel Double Layered Hybrid Multi-Robot Framework for Guidance and Navigation of Unmanned Surface Vehicles in a Practical Maritime Environment

Formation control and cooperative motion planning are two major research areas currently being used in multi robot motion planning and coordination. The current study proposes a hybrid framework for guidance and navigation of swarm of unmanned surface vehicles (USVs) by combining the key characteristics of formation control and cooperative motion planning. In this framework, two layers of offline planning and online planning are integrated and applied on a practical marine environment. In offline planning, an optimal path is generated from a constrained A* path planning approach, which is later smoothed using a spline. This optimal trajectory is fed as an input for the online planning where virtual target (VT) based multi-agent guidance framework is used to navigate the swarm of USVs. This VT approach combined with a potential theory based swarm aggregation technique provides a robust methodology of global and local collision avoidance based on known positions of the USVs. The combined approach is evaluated with the different number of USVs to understand the effectiveness of the approach from the perspective of practicality, safety and robustness.</jats:p

Adaptive steering control for an azimuth thrusters-based autonomous vessel

The proposed paper presents the design and development of the combined guidance and control strategies for the autonomous navigation of unmanned vessels characterised by azimuth-based thrust architecture. Autonomous marine vehicles (AMVs) are consolidated technological tools commonly employed for different tasks such as exploration, sampling and intervention. With the final aim of autonomous shipping, the AMVs capabilities have to be migrated and adapted towards the reliable and safe control of commercial-like unmanned vessels. These last are spreading thanks to a number of technological research projects. The employment of unconventional hull shapes combined with propulsive layout based on azimuth thrusters requires robust guidance techniques to provide precise and reliable motion control during navigation. The paper introduces a dual-loop guidance and control scheme able to provide advanced navigation capabilities. An inner control loop, devoted to the actuation of the azimuth thrusters, allows the tracking of reference course angle (namely the autopilot). Such a control loop is characterised by a modified PD regulation scheme, where a novel adaptive derivative component is inserted in order to improve the convergence curve towards the required course reference. The outer guidance loop, based on Lyapunov and virtual-target approach, allows the vessel to track generic desired paths, thus enhancing the autonomous navigation capabilities. The paper will provide a deep design and analysis approach for the developed techniques, as well as simulation results of the combined guidance and control scheme, proving the reliability of the proposed approach in different operative conditions

Advance speed-hull-Pump-Jet interactionsin small ASV

This paper is related to the technological development of an innovative small-size Autonomous Surface Vehicle designed to meet the requirement of accessing, monitoring and protecting the shallow waters peculiar of the Wetlands. The first prototype of a fully electric, modular, portable, lightweight, and highly-controllable Autonomous Surface Vehicle (ASV) for extremely shallow water and remote areas, namely SWAMP, was developed by CNR-INM and DITENUnige. This catamaran is equipped with four azimuth Pump-Jet Modular (PJM) actuators designed for small-size (1 to 1.5 m long) ASV. The main advantage of Pump-Jet thrusters is that they are flush with the hull, thus minimizing the risks of damages due to possible grounding. This system is used to increase the manoeuvrability in narrow spaces and to increase the spacial resolution by allowing the access also in extremely shallow waters with smaller risk of loosing manoeuvrability. The knowledge of the hydrodynamic characteristics of the thruster and of the vessel allows to partly or fully identifying the vessel for a better controllability. With this aim a series of tests have been conducted in the DITEN towing tank. In particular advance resistance on the SWAMP hull in deep and shallow water, bollard pull and self-propelling tests with the Pump-Jet Module working have been carried out. The results of the tests with the effects of advance speed on the PJM performance is reported in this paper together with the description of the modelling of the thruster itself

Practical Experience towards Robust Underwater Navigation

Autonomous underwater operations require robust and accurate navigation capabilities, a basic requirement for both precise position and velocity estimation, as well as motion compensation and geo-referencing of exteroceptive sensor data. A great number of theoretical approaches to sensor fusion and filtering can be found in literature, but they have to be matched with practical issues such as multi-rate sampling, measurement glitching, environmental conditions. For these reasons, the preparation, tuning and exploitation of navigation systems require different development steps to achieve reliability and robustness. This paper reports the practical experience of the exploitation of a multi-module extended Kalman filter based navigation system employed on the e-URoPe AUV/ROV. The paper shows the results of motion estimation including linear velocity and position (both horizontal and vertical), as well as angular position and rate. The proposed navigation system relies on the measurement fusion gathered by a variety of sensors: USBL, DVL, FOG, AHRS, depth-meter, GPS (when surfaced). The paper provides experimental proof and ground-truth of the proposed framework