111引智基地讲坛第19讲
网络化控制中心讲座系列第71讲
报告题目：Future of Maritime Systems
主讲人：Dr Wasif Naeem, Queen’s University Belfast
时间：2019年3月11日（周一）下午13:30
地点：公司宝山东校区9号楼702B会议室
个人简介：
DrWasifNaeem is currently a Senior Lecturer (Associate Professor) in the Energy, Power and Intelligent Control (EPIC) within the School of Electronics, Electrical Engineering and Computer Science at Queen’s University Belfast (QUB). He is also one of the core members of the Centre for Intelligent Autonomous Manufacturing Systems at QUB. His doctoral research involved developing an autonomous underwater vehicle in collaboration with Cranfield University, QinetiQ, Subsea7 and South West Water plc. His postdoctoral research was also part of an EPSRC project on developing guidance and control strategies for unmanned surface vehicles. He has specific interest in improving the autonomy of uninhabited vehicles and has been a Principle Investigator on EPSRC and InnovateUK grants on developing collision avoidance strategies for marine craft. His research interests span optimal and robust control, system identification, multi-vehicle formation control and systems engineering. He is the author of approximately 80 peer-reviewed journal and conference papers and three IET book chapters. Two journal papers in the area of marine navigation and control were awarded the Michael Richey medal and the Denny Medal in 2008 and 2010, by the Royal Institute of Navigation (RIN) and Institution of Marine Engineering, Science and Technology (IMarEST) respectively. Another paper in the area of formation control algorithms for unmanned vehicles was shortlisted for best paper prize at the UKACC control conference in 2012.
报告摘要：
In the last decade or so, the demand to deploy unmanned surface vehicles (USVs) has steadily been increasing for maritime applications such as remote sensing, surveillance, coast patrolling and providing navigation and communication support to unmanned underwater vehicles (UUVs). For successful deployment of such systems, the provisioning of a reliable obstacle detection and avoidance system (ODA) is necessarily needed to improve USVs’ autonomy, efficiency and safety. We therefore present a practical ODA solution mainly for USVs. More importantly, an integrated decision support framework is proposed which provides risk assessment as an integrated feature to the path planner. The proposed path planning method is an online algorithm which generates and repairs new sub-paths quickly and efficiently. The unique rule-based feature permits the implementation of collision regulations (COLREGs) or marine ‘rules of the road’ for every encounter. The applicable COLREGs rule such as head-on, overtaking etc. is determined by the decision-maker which is based on the Closest Point of Approach or CPA method.
Although the primary focus of the talk will be on USVs, navigation, guidance and control (NGC) system design of autonomous underwater vehicles (AUVs) will also be presented. Three marine-related projects will be presented including the EPSRC funded Hammerhead AUV and Springer USV projects and the Rolls-Royce led MAXCMAS (Robust MAchineeXecutableColregs for Marine Autonomous Systems) project.
