{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T14:19:21Z","timestamp":1777472361503,"version":"3.51.4"},"reference-count":36,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2021,1,15]],"date-time":"2021-01-15T00:00:00Z","timestamp":1610668800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Neoenergia","award":["PD 00453-0017\/2017"],"award-info":[{"award-number":["PD 00453-0017\/2017"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Acoustic Doppler Current Profiler (ADCP) sensors measure water inflows and are essential to evaluate the Flow Curve (FC) of rivers. The FC is used to calibrate hydrological models responsible for planning the electrical dispatch of all power plants in several countries. Therefore, errors in those measures propagate to the final energy cost evaluation. One problem regarding this sensor is its positioning on the vessel. If placed on the bow, it becomes exposed to flowing obstacles, and if it is installed on the stern, the redirected water from the boat and its propulsion system change the sensor readings. To improve the sensor readings, this paper proposes the design of a catamaran-like Autonomous Surface Vessel (ASV) with an optimized hull design, aerial propulsion, and optimal sensor placement to keep them protected and precise, allowing inspections in critical areas such as ultra-shallow waters and mangroves.<\/jats:p>","DOI":"10.3390\/s21020571","type":"journal-article","created":{"date-parts":[[2021,1,20]],"date-time":"2021-01-20T03:34:25Z","timestamp":1611113665000},"page":"571","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["Hull and Aerial Holonomic Propulsion System Design for Optimal Underwater Sensor Positioning in Autonomous Surface Vessels"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5036-5727","authenticated-orcid":false,"given":"Bruno A.","family":"Regina","sequence":"first","affiliation":[{"name":"Faculty of Engineering, Federal University of Juiz de Fora, Juiz de Fora 36036-110, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2735-4792","authenticated-orcid":false,"given":"Leonardo M.","family":"Hon\u00f3rio","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Federal University of Juiz de Fora, Juiz de Fora 36036-110, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ant\u00f4nio A. N.","family":"Pancoti","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Federal University of Juiz de Fora, Juiz de Fora 36036-110, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6457-1772","authenticated-orcid":false,"given":"Mathaus F.","family":"Silva","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Federal University of Juiz de Fora, Juiz de Fora 36036-110, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6568-1121","authenticated-orcid":false,"given":"Murillo F.","family":"Santos","sequence":"additional","affiliation":[{"name":"Department of Electroelectronics, CEFET-MG, Leopoldina 30.510-000, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vitor M. L.","family":"Lopes","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Federal University of Juiz de Fora, Juiz de Fora 36036-110, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Accacio F. Santos","family":"Neto","sequence":"additional","affiliation":[{"name":"Department of Electroelectronics, CEFET-MG, Leopoldina 30.510-000, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Luis G. F.","family":"Westin","sequence":"additional","affiliation":[{"name":"Itapebi Gera\u00e7\u00e3o de Energia S.A, Neoenergia, Rio de Janeiro 22210-030, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,1,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1058","DOI":"10.1002\/2017WR020990","article-title":"Prerequisites for accurate monitoring of river discharge based on fixed-location velocity measurements","volume":"54","author":"Hoitink","year":"2018","journal-title":"Water Resour. Res."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1016\/B978-0-12-416558-8.00003-2","article-title":"Discharge measurements and streamflow analysis","volume":"Volume 1","author":"Gore","year":"2017","journal-title":"Methods in Stream Ecology"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"345","DOI":"10.1016\/j.ijepes.2014.12.071","article-title":"Optimal transient droop compensator and PID tuning for load frequency control in hydro power systems","volume":"68","author":"Oliveira","year":"2015","journal-title":"Int. J. Electr. Power Energy Syst."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Lebeck, K., Ruth, K., Kohno, T., and Roesner, F. (2018, January 20\u201324). Towards security and privacy for multi-user augmented reality: Foundations with end users. Proceedings of the 2018 IEEE Symposium on Security and Privacy (SP), San Francisco, CA, USA.","DOI":"10.1109\/SP.2018.00051"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"186","DOI":"10.1016\/j.oceaneng.2016.09.001","article-title":"Development of the USV \u2018JingHai-I\u2019and sea trials in the Southern Yellow Sea","volume":"131","author":"Peng","year":"2017","journal-title":"Ocean Eng."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"363","DOI":"10.1016\/j.oceaneng.2017.07.021","article-title":"The fast marching method based intelligent navigation of an unmanned surface vehicle","volume":"142","author":"Liu","year":"2017","journal-title":"Ocean Eng."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"181","DOI":"10.1016\/j.ifacol.2019.12.304","article-title":"A new concept of highly modular ASV for extremely shallow water applications","volume":"52","author":"Odetti","year":"2019","journal-title":"IFAC-PapersOnLine"},{"key":"ref_8","unstructured":"Delory, E., and Pearlman, J. (2018). Challenges and Innovations in Ocean in Situ Sensors: Measuring Inner Ocean Processes and Health in the Digital Age, Elsevier."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Raimondi, F., Trapanese, M., Franzitta, V., Viola, A., and Colucci, A. (2015, January 18\u201321). A innovative semi-immergible USV (SI-USV) drone for marine and lakes operations with instrumental telemetry and acoustic data acquisition capability. Proceedings of the OCEANS-Genova, Genoa, Italy.","DOI":"10.1109\/OCEANS-Genova.2015.7271595"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"41","DOI":"10.3390\/s16010041","article-title":"Integrating sensors into a marine drone for bathymetric 3D surveys in shallow waters","volume":"16","author":"Giordano","year":"2016","journal-title":"Sensors"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Li, Y., Tian, L., Li, W., Li, J., Wei, A., Li, S., and Tong, R. (2020). Design and Experiments of a Water Color Remote Sensing-Oriented Unmanned Surface Vehicle. Sensors, 20.","DOI":"10.3390\/s20082183"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Vidal, V., Hon\u00f3rio, L., Santos, M., Silva, M., Cerqueira, A., and Oliveira, E. (2017, January 28\u201331). UAV vision aided positioning system for location and landing. Proceedings of the 2017 18th International Carpathian Control Conference (ICCC), Sinaia, Romania.","DOI":"10.1109\/CarpathianCC.2017.7970402"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Silva, M., Ribeiro, A., Santos, M., Carmo, M., Hon\u00f3rio, L., Oliveira, E., and Vidal, V. (2016, January 13\u201315). Design of angular PID controllers for quadcopters built with low cost equipment. Proceedings of the 2016 20th International Conference on System Theory, Control and Computing (ICSTCC), Sinaia, Romania.","DOI":"10.1109\/ICSTCC.2016.7790668"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"732","DOI":"10.1109\/TII.2020.3004343","article-title":"An overview of recent advances in coordinated control of multiple autonomous surface vehicles","volume":"17","author":"Peng","year":"2020","journal-title":"IEEE Trans. Ind. Inform."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Schiaretti, M., Chen, L., and Negenborn, R.R. (2017, January 18\u201320). Survey on autonomous surface vessels: Part I-A new detailed definition of autonomy levels. Proceedings of the International Conference on Computational Logistics, Southampton, UK.","DOI":"10.1007\/978-3-319-68496-3_15"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Schiaretti, M., Chen, L., and Negenborn, R.R. (2017, January 18\u201320). Survey on autonomous surface vessels: Part II-categorization of 60 prototypes and future applications. Proceedings of the International Conference on Computational Logistics, Southampton, UK.","DOI":"10.1007\/978-3-319-68496-3_16"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Iwen, D., and W\u0104\u017c, M. (2019, January 9\u201312). Benefits of using ASV MBES surveys in shallow waters and restriced areas. Proceedings of the 2019 European Navigation Conference (ENC), Warsaw, Poland.","DOI":"10.1109\/EURONAV.2019.8714128"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1515\/pomr-2017-0088","article-title":"Application of an autonomous\/unmanned survey vessel (ASV\/USV) in bathymetric measurements","volume":"24","author":"Specht","year":"2017","journal-title":"Pol. Marit. Res."},{"key":"ref_19","unstructured":"Manda, D., Thein, M.W., D\u2019Amore, A., and Armstrong, A. (2015, January 16\u201319). A low cost system for autonomous surface vehicle based hydrographic survey. Proceedings of the US Hydrographic Conference, National Harbor, MD, USA."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"30","DOI":"10.2478\/pomr-2019-0004","article-title":"Universal autonomous control and management system for multipurpose unmanned surface vessel","volume":"26","author":"Stateczny","year":"2019","journal-title":"Pol. Marit. Res."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Santos, M., Pereira, V., Ribeiro, A., Silva, M., do Carmo, M., Vidal, V., Hon\u00f3rio, L., Cerqueira, A., and Oliveira, E. (2017, January 28\u201331). Simulation and comparison between a linear and nonlinear technique applied to altitude control in quadcopters. Proceedings of the 2017 18th International Carpathian Control Conference (ICCC), Sinaia, Romania.","DOI":"10.1109\/CarpathianCC.2017.7970403"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Santos, M.F., Hon\u00f3rio, L.M., Costa, E.B., Oliveira, E.J., and Visconti, J.P.P.G. (2015, January 14\u201316). Active fault-tolerant control applied to a hexacopter under propulsion system failures. Proceedings of the 2015 19th International Conference on System Theory, Control and Computing (ICSTCC), Cheile Gradistei, Romania.","DOI":"10.1109\/ICSTCC.2015.7321334"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Fossen, T.I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley & Sons.","DOI":"10.1002\/9781119994138"},{"key":"ref_24","unstructured":"Fossen, T. (1994). Guidance and Control of Ocean Vehicles, John Willey & Sons Inc."},{"key":"ref_25","unstructured":"Versteeg, H.K., and Malalasekera, W. (2007). An introduction to Computational Fluid Dynamics: The Finite Volume Method, Pearson Education."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"975","DOI":"10.1007\/s13157-018-1050-5","article-title":"Effects of flood pulse dynamics on functional diversity of macrophyte communities in the Pantanal Wetland","volume":"38","author":"Catian","year":"2018","journal-title":"Wetlands"},{"key":"ref_27","first-page":"EP33D-2445","article-title":"Hydromorphodynamics of a Large River Confluent Meander Bend Through the Seasonal Flood Wave: Pantanal Wetlands, Brazil","volume":"2018","author":"Luz","year":"2018","journal-title":"AGUFM"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"1218","DOI":"10.1002\/rra.1147","article-title":"Influence of the flood regime on the reproduction of fish species with different reproductive strategies in the Cuiab\u00e1 River, Upper Pantanal, Brazil","volume":"24","author":"Bailly","year":"2008","journal-title":"River Res. Appl."},{"key":"ref_29","first-page":"29","article-title":"Numerical hull resistance calculation of a catamar\u00e1n using OpenFOAM","volume":"11","author":"Bustos","year":"2017","journal-title":"Ship Sci. Technol."},{"key":"ref_30","unstructured":"Shen, Z., and Korpus, R. (2015, January 2\u20134). Numerical simulations of ship self-propulsion and maneuvering using dynamic overset grids in OpenFOAM. Proceedings of the Tokyo 2015, Tokyo, Japan."},{"key":"ref_31","unstructured":"Jasak, H., Vuk\u010devi\u0107, V., and Christ, D. (2014, January 2\u20137). Rapid free surface simulation for steady-state hull resistance with FVM using OpenFOAM. Proceedings of the 30th Symposium on Naval Hydrodynamics, Hobart, Australia."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"641","DOI":"10.1016\/j.ijnaoe.2017.03.001","article-title":"Analysis of added resistance and seakeeping responses in head sea conditions for low-speed full ships using URANS approach","volume":"9","author":"Kim","year":"2017","journal-title":"Int. J. Nav. Archit. Ocean Eng."},{"key":"ref_33","unstructured":"(2014). ITTC\u2014Recommended Procedures and Guidelines: Practical Guidelines for Ship CFD Applications. ITTC Rep., 7, 2\u20133."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"5212","DOI":"10.1109\/ACCESS.2020.3048330","article-title":"Project and Control Allocation of a 3 DoF Autonomous Surface Vessel With Aerial Azimuth Propulsion System","volume":"9","author":"Honorio","year":"2021","journal-title":"IEEE Access"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"231","DOI":"10.1016\/j.isatra.2018.03.024","article-title":"Persistently-exciting signal generation for optimal parameter estimation of constrained nonlinear dynamical systems","volume":"77","author":"Costa","year":"2018","journal-title":"ISA Trans."},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Souza, M.B., de Mello Hon\u00f3rio, L., and de Oliveira, E.J. (2020). Innovative Analysis for Parameter Estimation Quality. Int. J. Control. Autom. Syst., 1\u20139.","DOI":"10.1007\/s12555-019-0909-4"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/2\/571\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T05:11:24Z","timestamp":1760159484000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/2\/571"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,1,15]]},"references-count":36,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2021,1]]}},"alternative-id":["s21020571"],"URL":"https:\/\/doi.org\/10.3390\/s21020571","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,1,15]]}}}