Merge pull request #13 from dasc-lab/kavin

Added all papers

Author: dev10110

content/papers/2022-coverage-maximizing.md

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+---
+layout: papers
+title:  "Coverage-Maximizing Solar-Powered Autonomous Surface Vehicle Control for Persistent Gulf Stream Observation"
+date: 2022-06-10
+image: /images/15astarPathOverCoverage.png
+venue: "IEEE ACC 2022"
+authors: 
+    - kavinmgovindarajan
+    - Ben Haydon
+    - Kirti Mishra
+    - Christopher Vermillion
+code: https://github.com/kmgovind/acc-2022 
+abstract: "The Gulf Stream, which comes within 100 km
+of the United States coastline in both the Florida Straits and
+the vicinity of Cape Hatteras, is estimated to possess over 160
+TWh/year of technical energy capacity. To better understand
+the behavior of the Gulf Stream, whose flow resource varies
+in both space and time, a relatively sparse network of fixed
+acoustic Doppler current profilers (ADCPs) and shore-mounted
+high-frequency radar units have been supplemented by more
+granular but infrequent boat transect runs and undersea glider
+deployments. Collectively, these measurements provide highly
+granular data with respect to either time or space, but not both.
+This work represents part of a comprehensive effort to evaluate
+use of a solar-powered autonomous surface vehicle (ASV) fleet
+to supplement existing observational capabilities. The proposed
+solar-powered ASV can provide data with high spatial and
+temporal granularity, but comes with the challenge of optimally
+planning its mission in an adaptive manner. To address this
+challenge in this work, we propose a multilevel controller that
+fuses the A* search algorithm with an upper level waypoint
+selector and lower level heading control. Focusing on a critically
+important mission domain adjacent to Cape Hatteras, and
+relying on a Mid-Atlantic Bight, South Atlantic Bight Regional
+Ocean Model (MAB-SAB-ROM), we compare the performance
+of our proposed algorithm against several competing strategies.
+We demonstrate a significant performance improvement in
+terms of a dynamic coverage metric, both in comparison to
+competing strategies and to the existing observational network."
+pdf: /pdfs/2022-coverage-maximizing.pdf
+---

content/papers/2023-predictive-velocity.md

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+---
+layout: papers
+title:  "Predictive Velocity Trajectory Control for a Persistently Operating Solar-Powered Autonomous Surface Vessel"
+date: 2023-07-03
+image: /images/soc_v_time.png
+venue: "IEEE ACC 2023"
+authors: 
+    - kavinmgovindarajan
+    - Ben Haydon
+    - Christopher Vermillion
+code: https://github.com/kmgovind/speed-controller
+abstract: "The Gulf Stream represents a major potential
+resource for renewable energy but is presently only sparsely
+characterized via radar, buoys, gliders, and intermittently op-
+erating human-operated research vessels. Dramatically greater
+resolution is possible through the use of persistently operating
+autonomous surface vessels (ASVs), which can be powered
+by wind, wave, or solar resources. Optimizing the control of
+these ASVs, taking into account the device and environmental
+properties, is crucial to obtaining good data. An ASV’s path and
+velocity profile along that path both significantly influence the
+amount of a mission domain that can be covered and, ultimately,
+the scientific quality of the mission. While our previous work
+focused on optimizing the path of a solar-powered ASV with
+fixed speed, the present work represents the complement:
+optimizing the speed for a given path, accounting for the ASV
+dynamics, flow resource, and solar resource. We perform this
+optimization through a model predictive controller that maxi-
+mizes the projected distance traversed, with a terminal incentive
+that captures the estimated additional long-duration range that
+is achievable from a given terminal battery state of charge.
+We present simulation results based on the SeaTrac SP-48
+ASV, Mid-Atlantic Bight/South-Atlantic Bight Regional Ocean
+Model, and European Centre for Medium-Range Weather
+Forecasts solar model. Our results show improved performance
+relative to simpler heuristic controllers that aim to maintain
+constant speed or constant state of charge. However, we also
+show that the design of the MPC terminal incentive and design
+of the heuristic comparison controller can significantly impact
+the achieved performance; by examining underlying simulation
+results for different designs, we are able to identify likely causes
+of performance discrepancies."
+pdf: /pdfs/2023-persistent-velocity.pdf
+---

content/people/kavinmgovindarajan.md

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+---
+title: ' Kavin M. Govindarajan '
+# choose a category from [Faculty, PostDoc, PhD, Masters, Visiting, Alumni]. Be careful about the capitalization.
+category: PhD
+# give the path relative to static/
+image: "/images/kavinmgovindarajan.jpg"
+# start year, used for sorting
+year: 2024 
+# link to personal website (optional)
+link: "https://kmgovind.github.io/DigitalPortfolio/"
+# email id (optional)
+mail: mailto:[email protected]
+---