An Underwater Robotic Network for Monitoring Nuclear Waste Storage Pools

@inproceedings{Nawaz2009AnUR,
  title={An Underwater Robotic Network for Monitoring Nuclear Waste Storage Pools},
  author={Sarfraz Nawaz and Muzammil Hussain and S. Watson and Agathoniki Trigoni and Peter N. Green},
  booktitle={S-CUBE},
  year={2009}
}
Nuclear power provides a significant portion of our current energy demand and is likely to become more wide spread with growing world population. However, the radioactive waste generated in these power plants must be stored for around 60 years in underwater storage pools before permanent disposal. These underwater storage environments must be carefully monitored and controlled to avoid an environmental catastrophe. In this paper, we present an underwater mobile sensor network that is being… 
View via Publisher
cs.ox.ac.uk
46 Citations
Highly Influential Citations
1
Background Citations
27
Methods Citations
3

46 Citations

Citation Type

Citation Type

Probabilistic Framework Allocation on Underwater Vehicular Systems Using Hydrophone Sensor Networks
TLDR
A new underwater vehicle is introduced which acts as a sensing device and monitors the ambient noise in the system which results in achieving high reliability using a probabilistic path finding algorithm.
Wireless Sensor Networks for Underwater Localization: A Survey
TLDR
Several classic architectures designed for Underwater Acoustic Sensor Network (UASN) are introduced and several ranging techniques are explained, followed by the outline of some existing underwater localization systems.
Localization and Active Exploration in Indoor Underwater Environments
TLDR
A novel through-water method for visual localization using landmarks above the water surface using multimedia photogrammetry in a localization framework and an exploration policy that bounds pose uncertainty through revisit actions is devised.
Environment mapping, map constructing, and path planning for underwater navigation of a low-cost µAUV in a cluttered nuclear storage pond
TLDR
This paper presents a novel approach that enables a low-cost µAUV (micro autonomous underwater vehicle) navigate and work safely in an enclosed cluttered underwater environment and will integrate environment survey, environment reconstruction, and path planning as a completed task, which involves map acquisition and route planning.
Expanding the Knowledge Horizon in Underwater Robot Swarms
TLDR
Results show that significant time savings under a gossip-like protocol are possible properly allocating the resources in order to expand the horizon, and methods to determine the fastest swarm topologies and the most important nodes are suggested.
Expanding the Time Horizon in Underwater Robot Swarms
TLDR
Results show that significant time savings under a gossip-like protocol are possible properly allocating the resources and methods to determine the fastest swarm topologies and the most important nodes are suggested.
Design considerations for Micro-Autonomous Underwater Vehicles (μAUVs)
  • S. Watson, P. N. Green
  • Computer Science
    2010 IEEE Conference on Robotics, Automation and Mechatronics
  • 2010
TLDR
The design considerations for the development of a Micro-Autonomous Underwater Vehicle (??AUV) for use in a process environment are set out.
Combined multiuser acoustic communication and localisation system for µAUVs operating in confined underwater environments
Stochastic Scheduling for Underwater Sensor Networks
TLDR
A closedform solution to an objective function that guides the assignment of the broadcast probabilities with respect to overall network reliability is presented and an easily distributed heuristic based on local network density is proposed.
LOCALISATION OF UNDERWATER SENSOR NODES IN CONFINED SPACES
The aim of the project is to explore 3D localisation of a sensor ?pill?, contained in an enclosed vessel, using multiple acoustic transducers mounted on the pill?s surface. The thesis suggests…
...
...

References

SHOWING 1-10 OF 46 REFERENCES
Localization in underwater sensor networks: survey and challenges
TLDR
The different localization algorithms that are relevant to underwater sensor networks are explored, and the challenges in meeting the requirements posed by emerging applications for such networks, e.g. offshore engineering are explored.
Multi Stage Underwater Sensor Localization Using Mobile Beacons
TLDR
Performance (i.e., the percentage of localized nodes during a cycle, accuracy, delay and communication cost) is tested in a simulation scenario based on a realistic mobility model - a composite model combining surface and subsurface currents.
Three-dimensional and two-dimensional deployment analysis for underwater acoustic sensor networks
Distributed Communication in Swarms of Autonomous Underwater Vehicles
TLDR
It is shown theoretically and in simulation that short range links in a robotic swarm are actually an advantage, compared to links that cover large parts of the network.
AUV-Aided Localization for Underwater Sensor Networks
  • M. Erol, L. Vieira, M. Gerla
  • Computer Science
    International Conference on Wireless Algorithms, Systems and Applications (WASA 2007)
  • 2007
TLDR
It is shown that localization success improves as the duration of the AUV localization process increases and the tradeoffs involved, i.e. ratio of localized nodes and localization accuracy, are described.
Acoustical methods for azimuth, range and heading estimation in underwater swarms
TLDR
The short‐range acoustical relative localisation system proposed here, uses hyperbolic and spherical localization concepts and provides each vehicles with the azimuth, range and heading of its near neighbours.
Sensor Fusion in Certainty Grids for Mobile Robots
TLDR
MRL proposes to build a software framework running on processors onboard the new Uranus mobile robot that will maintain a probabilistic, geometric map of the robot's surroundings as it moves, and can correctly model the fuzziness of each reading and, at the same time, combine multiple measurements to produce sharper map features.
Dynamic fine-grained localization in Ad-Hoc networks of sensors
TLDR
A novel approach to the localization of sensors in an ad-hoc network that enables sensor nodes to discover their locations using a set distributed iterative algorithms is described.
Sonar-Based Real-World Mapping and Navigation
A sonar-based mapping and navigation system developed for an autonomous mobile robot operating in unknown and unstructured environments is described. The system uses sonar range data to build a…
Robust distributed node localization with error management
TLDR
A novel iterative method ILS for node localization starting with a relatively small number of anchor nodes in a large network that achieves comparable location accuracy in both cases, compared to the more global methods, and has the advantage of being fully decentralized.
...
...