applied sciences Article Development of an Unmanned Surface Vehicle for the Emergency Response Mission of the ‘Sanchi’ Oil Tanker Collision and Explosion Accident Huayan Pu, Yuan Liu , Jun Luo, Shaorong Xie, Yan Peng *, Yi Yang, Yang Yang, Xiaomao Li, Zhou Su, Shouwei Gao, Wenyun Shao, Chuang Zhu, Jun Ke, Jianxiang Cui and Dong Qu School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China; [email protected] (H.P.); [email protected] (Y.L.); [email protected] (J.L.); [email protected] (S.X.); [email protected] (Y.Y.); [email protected] (Y.Y.); [email protected] (X.L.); [email protected] (Z.S.); [email protected] (S.G.); [email protected] (W.S.); [email protected] (C.Z.); [email protected] (J.K.); [email protected] (J.C.); [email protected] (D.Q.) * Correspondence: [email protected] Received: 19 March 2020; Accepted: 10 April 2020; Published: 14 April 2020 Abstract: Unmanned surface vehicles (USVs) as unmanned intelligent devices can replace humans to perform missions more efficiently and safely in dangerous areas. However, due to the complex navigation environment and special mission requirements, USVs face many challenges in emergency response missions for marine oil spill accidents. To solve these challenges in the emergency response mission of the ‘Sanchi’ oil tanker collision and explosion accident, we designed and deployed an USV to perform the missions of real-time scanning and water sampling in the shipwreck waters. Compared with the previous USVs, our USV owned the following characteristics: Firstly, the improved navigation control algorithms (path following and collision avoidance) can provide high navigation accuracy while ensuring navigation safety; Secondly, an improved launch and recovery system (LARS) enabled the USV to be quickly deployed and recovered in the mission area; Thirdly, a new sampling system was specially designed for the USV. Our USV completed the missions successfully, not only providing a lot of information for rescuers but also offering a scientific basis for follow-up work. Keywords: unmanned surface vehicle; marine oil spill; emergency response 1. Introduction On 6 January 2018, the Iranian oil tanker ‘Sanchi’ carrying 111,300 tons of condensate collided with the Hong Kong cargo ship ‘Changfeng Crystal’ in the East China sea, at approximately 160 nautical miles east of Shanghai. After the collision, the ‘Sanchi’ burned violently and exploded on 14 January. The ‘Sanchi’ sank 4 h after the explosion. Three people died and 29 people were missing in the accident, and oil leaked from the ‘Sanchi’ polluted 10 km2 of sea area. After the accident, the State Oceanic Administration of China, the Maritime Search and Rescue Center of China, and the Maritime Search and Rescue Center of Shanghai launched the emergency response mission for the accident. Figure1 is the scene of the accident. In this accident, the ‘Sanchi’ oil tanker carried a total of 113,000 tons of condensate. Condensate is a highly toxic and volatile chemical substance, and there is a risk of deflagration at any time after it leaks. Therefore, it is too dangerous for humans to enter the core area of the accident to perform a mission. We urgently needed a mobile unmanned platform to replace humans in the core area of the accident to obtain the necessary information, such as the submarine topography, the state of the shipwreck, the location of oil spills, and the situation of water pollution. Appl. Sci. 2020, 10, 2704; doi:10.3390/app10082704 www.mdpi.com/journal/applsci Appl. Sci. 2020, 10, 2704 2 of 21 Appl. Sci. 2020, 10, x FOR PEER REVIEW 2 of 21 FigureFigure 1.1. Accident scene. UnmannedIn this accident, surface the vehicles ‘Sanchi’ (USVs) oil tanker are carried the suitable a total platform of 113,000 for antons emergency of condensate. response Condensate mission. 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TheIn this rest emergency of this paper response is organized mission, according we deployed to the structure a newlybelow. designed In Section USV. Compared2, we introduce with thethe systemprevious architecture USVs, (1) of the the improved USV. The approachnavigation is proposedcontrol algorithms in Section3 .(path In Section following4, we introduceand collision the missionavoidance) process can andprovide analyze high the navigation mission data. accuracy Finally, while the conclusion ensuring isthe given navigation in Section safety;5. (2) the improved LARS (Launch And Recovery System) enabled the USV to be quickly deployed and recovered in the mission area; and (3) a new pump sampling system, which is small in size and light in weight, can be installed or removed at any time. Appl.Appl. Sci. Sci. 2020 2020, ,10 10, ,x x FOR FOR PEER PEER REVIEW REVIEW 33 of of 21 21 TheThe rest rest of of this this paper paper is is organized organized according according to to the the structure structure below. below. In In Section Section 2, 2, we we introduce introduce theAppl.the system system Sci. 2020 architecture ,architecture10, 2704 of of the the USV. USV. The The approach approach is is proposed proposed in in Section Section 3. 3. In In Section Section 4, 4, we we introduce introduce3 of 21 thethe mission mission process process and and analyze analyze the the mission mission data. data. Finally, Finally, the the conclusion conclusion is is given given in in Section Section 5. 5. 2.2. USV USVUSV System SystemSystem Structure StructureStructure OurOur USVUSVUSV consisted consistedconsisted of theofof followingthethe followingfollowing parts: parts: Hull,parts: control Hull,Hull, module,controlcontrol locomotionmodule,module, locomotionlocomotion module, navigation module,module, navigationmodule,navigation and module, module, mission and and module. mission mission Each module. module. of the Each partsEach of willof the the be parts parts discussed will will be be in discussed discussed turn.