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http://dx.doi.org/10.7837/kosomes.2022.28.s.011

Experimental Performance Validation of an Unmanned Surface Vessel System for Wide-Area Sensing and Monitoring of Hazardous and Noxious Substances  

Jinwook Park (Department of Mechanical Engineering, KAIST)
Jinsik Kim (Department of Mechanical Engineering, KAIST)
Jinwhan Kim (Department of Mechanical Engineering, KAIST)
Yongmyung Kim (Maritime Safety and Environmental Research Division, Korea Research Institute of Ships & Ocean Engineering)
Moonjin Lee (Maritime Safety and Environmental Research Division, Korea Research Institute of Ships & Ocean Engineering)
Publication Information
Journal of the Korean Society of Marine Environment & Safety / v.28, no.spc, 2022 , pp. 11-17 More about this Journal
Abstract
In this study, we address the development of a floating platform system based on a unmanned surface vessel for wide-area sensing and monitoring of hazardous and noxious substances (HNSs). For long endurance, a movable floating platform with no mooring lines was used and modified for HNS sensing and monitoring. The floating platform was equipped with various sensors such as optical and thermal imaging cameras, marine radar, and sensors for detecting HNSs in water and air. Additionally, for experiment validation in real outdoor environments, a portable gas-exposure system (PGS) was built and installed on the monitoring system. The software for carrying out the mission was integrated with the Robot Operating System (ROS) framework. The practical feasibility of the developed system was verified through experimental tests conducted in inland water and real-sea environments.
Keywords
Hazardous Noxious Substances; Unmanned Surface Vessels; Wide-Area Sensing and Monitoring; Robot Operating System; Field Experiment;
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