Renewable Energy and Drones in Search and Rescue: Automated Network for Air‐Sea Actions (ANASA)

Abstract

Human migration has become a major concern for the experts in search and rescue. In 2018 alone, almost 80,000 migrants entered Europe by sea (Mediterranean Sea), while more than 2100 others died trying. These numbers highlight that the early detection of the migrant boats and sea survivors is essential in order to minimize casualties, especially during extreme weather events. For that reason, unmanned aerial vehicles (UAVs) are widely used in air-sea rescue (ASR) missions. The UAVs surveil large areas in short periods of time; however, their power dependency limits their potential. The in situ recharge of the UAVs that surveil remote sea areas could be a possible solution to this problem. Tidal energy generators and wave energy converters (TWCs) combined with solar collectors could recharge them. Moreover, pre-installed navigation systems could reduce the needs in recourses and overall costs. This research investigates these scenarios by introducing an automated network of multifunctional buoys and UAVs. Specifically, it presents the concept of TWC buoys capable of recharging one or more UAVs depending on the available energy generation. They are also equipped with mini solar collectors, meteorological sensors, warning systems and survival kits. The UAVs are equipped with thermal and color sensors in order to detect disturbances on the sea surface. By establishing this network in remote sea areas that include migrant sea routes, this study aims to provide the coast guard with a reliable, automated and self-powered tool that could detect sea survivors or threats within sufficient given time.

Full text

SafeKozani2018‐5thInternationalConferenceonCivilProtection&NewTechnology‐Proceedings
358
‐PosterPresentations‐
RENEWABLEENERGYANDDRONESINSEARCHANDRESCUE:
AUTOMATEDNETWORKFORAIR‐SEAACTIONS
SpyrosSchismenos1,MichailChalaris2,DimitriosEmmanouloudis3,and
NikolaosKatopodes4
1MSc,AnalysisandManagementofManmadeandNaturalDisasters,EasternMacedoniaandThraceInstitute
ofTechnology&HellenicFireAcademy/SchoolofFireOfficers,Kavala,Greece;FocalPointfortheWider
RegionofAsiaandthePacific,UNESCOChaironConservationandEcotourismofRiparianandDeltaic
Ecosystems,Worldwide,spyros.yuntech@gmail.com
2Professor,HellenicFireAcademy/SchoolofFireOfficers,MScinAnalysisandManagementofManmadeand
NaturalDisastersandMscinOilandGasTechnology,Coordination&OperationCenter‐JointCoordination
OperationalCenterAthens,HellenicFireCorps,Greece,chalarismichail@gmail.com
3Professor,DepartmentofForestryandNaturalEnvironmentManagement,EasternMacedoniaandThrace
InstituteofTechnology,Kavala,Greece;Chairholder,UNESCOChaironConservationandEcotourismof
RiparianandDeltaicEcosystems,Worldwide,demmano@teiemt.gr
4Professor,DepartmentofCivilandEnvironmentalEngineering,UniversityofMichigan,USA,ndk@umich.edu


Abstract
Humanmigrationhasbecomeamajorconcernfortheexpertsinsearch and rescue. In 2018 alone, almost
80,000migrantsenteredEuropebysea(MediterraneanSea),whilemorethan2100othersdiedtrying.These
numbers highlight that the early detection of the migrant boatsandseasurvivorsisessentialinorderto
minimize casualties, especially during extreme weather events. For that reason, unmanned aerial vehicles
(UAVs)arewidelyusedinair‐searescue(ASR)missions.TheUAVssurveillargeareasinshortperiodsoftime;
however,theirpowerdependencylimitstheirpotential.TheinsiturechargeoftheUAVsthatsurveilremote
seaareascouldbe a possible solutiontothisproblem. Tidal energygenerators and wave energyconverters
(TWCs)combinedwithsolarcollectorscouldrechargethem.Moreover,pre‐installednavigationsystemscould
reducethe needsinrecoursesand overall costs.Thisresearchinvestigatesthesescenariosby introducing an
automated network o f multifunctional buoys and U AVs. Specifically, it presents the concept of TWC buoys
capableofrechargingoneormoreUAVsdependingontheavailableenergygeneration.Theyarealsoequipped
withmini solarcollectors,meteorologicalsensors,warning systems andsurvivalkits.TheUAVsare equipped
withthermalandcolorsensorsinordertodetectdisturbancesontheseasurface.Byestablishingthisnetwork
inremoteseaareasthatincludemigrantsearoutes,thisstudyaimstoprovidethecoastguardwithareliable,
automatedandself‐poweredtoolthatcoulddetectseasurvivorsorthreatswithinsufficientgiventime.

Keywords:tidalenergy,waveenergy,air‐searescue,automatedsurveillance,first‐aidbuoy


1.Introduction
Scienceandtechnologyhaveundoubtedlyimprovedthecrucialmechanismsfortheprotectionofhumanlifein
every phase of disaster management. Specifically, in disaster response,theroboticsystems,suchasthe
unmannedaerialvehicles(UAVs),alsoknownasdronesareoftenenhancedwithartificialintelligence (AI),as
wellasscientificandothertypesofinstruments,allowingthemtoinformtheiroperatorsinsufficientlead‐time
orevenself‐actdirectly.Inadditiontothat,therecentinnovationsinrenewableenergygenerationandtheir
applicationinrobotics,opennewhorizons tosuchanextentthat they furtherupgradeAI‐baseddevicesand
provide reliablepower efficiency. Tidalpower thatisaform ofhydropower,as well as wave power are two

SafeKozani2018‐5thInternationalConferenceonCivilProtection&NewTechnology‐Proceedings
359
‐PosterPresentations‐
noteworthyexamples,astheyhaveturnedouttobeverypromising energy sources due to their emerging
technologyandincreasingdemand.Itisestimatedthattheannualtidalenergygenerationcanreachupto800
TWh (terawatt‐h ours); whereas, the annual wa ve energy generation from 8,000 TWh to 80,000TWh (Tidal
Energy,2015).Aportionofthisenergycouldbesufficientforpoweringmarineandcoastalinfrastructuresorto
beusedincoastguardoperations.
The “self‐response” and power autonomy of automated mechanical tools are critical factors, as they may
determine the success of an action, especially in the search and rescue missions that occur under extreme
conditions.Specifically,inair‐searescue(ASR),theuseofUAVsoftenresultsinthe“early‐detection”ofmarine
accidentsandthreats.MountedsensorsontheUAVscollectvaluabledatathataresenttotheiroperatorsin
time.Inordertominimizeorevenpreventcompletelyunpleasant outcomes, efforts are made so the
emergencyrescueUAVstobehavemoreindependentlyandrespondimmediatelyonceananomalyisobserved,
atleastuntilthefirstrespondersreachthedisasterarea(Marquesetal.,2016).However,despitethepotential
ofthepresentachievements,deficienciesinbothtechnicalaspectsandoperationtechniquesremainamajor
unsolvedissuefortheauthorizedpersonnel.
Inseveralmarinecountriesaroundtheworld,thecoastguardusestheUAVsforthedetectionofmigrantboats,
seasurvivorsandsharksduringorafterextremeweatherevents.Thesemissionsareoperatedfromeitherthe
shoreorrescuevehicles.Nevertheless,thesescenariosrequireasatisfyingnumbermanpowerandresources,
including the continuous power charging for all the available UAVsinorderforthemtobeeffective.This
increasesthecost,aswellasthetimeofsuchoperations,especiallyiftheyoccuroftenandfarfromthecoast
(e.g.the 24/7 surveillanceofMediterraneanSeaformigrantpresence). Inordertominimizesuchproblems,
thisstudyintroducestheAutomatedNetworkforAir‐SeaActions(ANASA)thatemphasizesthecombineduse
of“smart”buoysandUAVsestablishedperimetricallyofaselecteddistantseaarea.Thisinnovativeconceptis
basedon technologies andproductsthatarecurrentlyavailablebutnotlinkedwitheachother,especiallyin
disasterresponsemechanisms.Thecontinuationofthisstudycanhelpimprovingtheaerialsurveillanceinsea
withaminimumnumberofmanpower and resources. Furthermore, it can increase the surv ival rate of sea
survivors,especiallythosemigratingthroughtheMediterraneanroutestoEurope.

2.GeneralUnderstandingofTidalandWaveEnergy
The tidal power is a unique method that derives directly from the tides that are generated by the relative
motionsofEarthandMoon.TidescanalsobegeneratedbytheinfluenceoftheEarthandSunoracombination
ofallthesesystems;however,thisisnotafrequentphenomenon.Thetidalpowerisusuallyclassifiedintothe
followinggeneratingmethods:
 TidalStreamGenerators:Similarlogictowindturbines(exceptthattheyusewater).Theimpellerof
theturbineispushedbythetideflows.
 TidalBarrage:Thisisadam‐likestructurethat“traps”waterfromhightidesandreleasesitthrough
channels.Thechannelswillcarryitthroughtheturbine.
 DynamicTidalPower:This scheme uses protruded wallsthat will “trap” atidein suchawaysoto
createahead.Thetidewillbedirectedthoughchannelstotheturbine.
 TidalLagoon:SimilarlogictotheTidalBarrage.Insteadofadam‐likestructure,itusesanenclosurein
ordertocreateapool.
Despiteitshighcostandneedsinresources,tidalenergyisaveryreliablerenewableenergysource.Firstofall,
it can be predictable; it is not influenced by the weather conditions unlike otherre newableenergy types.
Secondly,the energy densityofthetidescanbe extremely high, compared tosolarandwindenergy. Lastly,
mostofitsschemescanassistinfloodcontrolscenariosandprotectcoastalpopulationsandinfrastructures.
Table1showstheadvantagesanddisadvantagesofeachtidalpowertype.Itshouldbenotedthattheamount
ofgeneratedenergydependsonseveralfactors,suchasthesizeand the tidalconditions (Kanemoto et al.,
2001;TidalPower,2015).


SafeKozani2018‐5thInternationalConferenceonCivilProtection&NewTechnology‐Proceedings
360
‐PosterPresentations‐
Table1.AdvantagesandDisadvantagesofTidalPowerTypes
Classification Advantages Disadvantages
TidalStream
Generator

‐Moderatepowergenerationcapability
‐Modularscheme
‐Low‐costscheme
‐Environmental‐friendlyscheme(leastimpacts
inmarineecosystems)
‐ Highmaintenance
‐Corrosion
‐Thespinningbladesmayharmmarine
wildlife
TidalBarrage

‐Highpowergenerationcapability
‐Provendesign
‐Longlifespan
‐Lowmaintenance
‐Suitableforfloodcontrol
‐ Limitedsitesforinstallation
‐Hightidalflowsarerequired
‐Highenvironmentalimpacts
‐High‐costscheme

DynamicTidal
Power
‐Veryhighpowergenerationcapability
‐Singleinstallation
‐ Unprovendesign
‐Veryhigh‐costscheme
‐Alternationsincoastalenvironments
‐Limitedsitesforinstallation
TidalLagoon

‐ High power generation capacity (less
comparedtothetidalbarrage)
‐Provendesign
‐ Environmental‐friendly scheme (less
comparedtothetidalbarrage)
‐Lowmaintenance
‐ Hightidalflowsarerequired
‐High‐costscheme
‐Generateslesspowerthanbarrage


Thewavepoweristheresultofthewavesthataregeneratedbythewind(dependedonweatherconditions).
Wavepowercanbegeneratedwhenthereisamotionofobjectsthatfloatintheocean.Thewavecrestcanlift
anobjectagainstgravityendowingitwithenergy. Whenitpasses,theobject falls intothewavetrough;this
kineticpowercanbeusedtogenerateelectricity.Image1showstheconceptofwavepowergeneration.This
renewable energy type is relatively old, as it first started in 1799 but it quickly lost popularity due to the
difficultiesinproducinglargequantitiesofenergyatalow‐costprice.Nowadayswavepowerisgettingpopular
againandwavefarmsinUSA,Australiaandothercountries,aretestingitscapabilities.Itshouldbenotedthat
relatedstudiesfocusonwavepowerapplicationsinbuoysbutmainlyforlightorGPStrackingpurposes(Tidal
Power,2015;MarineEnergy,2018).

SafeKozani2018‐5thInternationalConferenceonCivilProtection&NewTechnology‐Proceedings
361
‐PosterPresentations‐

Figure1.ConceptofWavePowerGeneration
Air‐SeaRescueandMigrationRoutes:ThecaseofMediterraneanSea
From2014todate,mostEuropeancitizensandgovernmentshavebeeninengagedinan ongoingdiscussion
about migration and the pr otection and surveillance of the Mediterranean borders. This matter increased
significantlywhenrefugeesandother migrantsfromAfricaandMiddleEast(especially Syria),fledfromtheir
countriesduetocivilconflicts,terrorism(Islamic State), poverty and corruption to Europe inordertofinda
betterlivingconditions for them andtheir families. The migrationproblemreacheditszenith in 2015 when
morethanonemillionpeoplearrivedinEuropethroughTurkey,GreeceandtheBalkans.Thiseventresultedin
agreat influence inlocaleconomiesandsocietiesthatin turn lead to changes intheEuropeanpoliticalfield
(Euroscepticpartiesgainedmorepowerandsupporters).AccordingtoUnitedNationsHighCommissionerfor
Refugees,theroutesmigrantsusetocometoEuropearenotstandard;however,theMediterraneanroutesare
the most frequent. Table 2 shows the number of refugees and migrantsthatusedordiedwhileusingthe
Mediterraneanroutesfrom2014to2018.
Table2.MediterraneanRoutesandNumberofRefugeesandMigrants*
Year Western Route(Spain) SouthernRoute(Italy) EasternRoute(Greece) Deaths
2014 4,632 170,100 41,038 3,184
2015 5,238 153,842 856,723 3,558
2016 8,162 181,436 173,450 4,757
2017 22,103 119,369 29,710 3,079
2018** 35,653 21,024 22,821 2,119
*sourcesandmoreinformationat:https://missingmigrants.iom.int/,https://openmigration.org/,
https://www.ecfr.eu/
**January1st–November28th

In 2013, European Union (EU) established the European Border Surveillance System (Eurosur). The main
purposesoftheEurosuraretheinformationexchangeandtheoperationalcooperationbetweentheMember
States and Frontex Border Agency (Seiffarth, 2011). When the migration issue arose, EU focused on their
interestsinmorerestrictedsafetymeasures,includingseabordercontrolandsecuritysurveillanceinorderto
limitthe migratory flows.Specifically,theplanincludedthe establishmentofhotspotsinthirdcountriesthat
areneighbored to Europe (e.g. Turkey, Libya) and the increased surveillance in both the Mediterranean and
externalizedbordersinAfricaandMiddleEast.However,dueto the current policies and conditions, this

SafeKozani2018‐5thInternationalConferenceonCivilProtection&NewTechnology‐Proceedings
362
‐PosterPresentations‐
strategyhighlightedmanylegalandethicaldilemmas.Severaldecisionscouldnotbefullyimplementedmainly
duetothelackofpersonnelandresources,civilrightsandcross‐countrypoliticaldisputes(Gabrielsen,2013).
Figure 3 shows the concept of southern border surveillance for restricting the migration flows (Torelli,and
Ugolini,2018).


Figure2.SecurityplaninMediterraneanandexternalizedboardsformigrationflowreduction
DespitetheeffortsofEUtoalleviatethisproblem,theflowsexist(Table2)andtheyareestimatedtocontinue
oreventoincrease,dependingonthegeopoliticalstabilityinAfricaandMiddleEast.Eventhoughin2018,the
migrantsarrivingtoEuropethroughthe Mediterranean Sea havebeenreducesinnumbers,thefatalitiesare
stillataconcerningrate.Morethan15,000confirmeddeathshavebeenrecorded since 2014; among those
severalinfants and children. Theefficientand integrated model forsurveilling sea zonescan be the key for
minimizingthefatalities.
3.ConceptofAutomatedNetworkforAir‐SeaActions
Sincetidalenergygeneratorsandwaveenergyconverters(TWCs)mainlyapplyinthesea,theirapplicationsin
ASRmissionsandseasurveillanceshouldbefurtherinvestigated,especiallyiftheuseofUAVsisrequired.The
ARSthatisthecoordinate dsearchandrescueofemergencywaterlandingsurvivorsorthosewhohavesurvived
the loss of their seagoing vessel, usually involves a variety ofresourcesincluding rescue boats, helicopters,
seaplanesandofcourseUAVs.TheUAVisatypeofaircraftthatoperateswithoutahumanpilotonboardand
itfliesautonomouslyusingpre‐programmedflightpathdataorremotely,ifitiscontrolledbyanoperatorfrom
agroundstation(Yeong,King,andDol,2015).Duetotheiradvantagesinagility,portability,cost‐effectiveness
(comparedtoconventionalmannedaircrafts),andaerialaccess,theUAVsareoftenusedinsearchandrescue

SafeKozani2018‐5thInternationalConferenceonCivilProtection&NewTechnology‐Proceedings
363
‐PosterPresentations‐
missionsorintheaftermathofanaturaldisaster.Theirmainpurposeistodetectandidentifypossiblerescue
targets(Matosetal.,2013).
Furthermore,inARSmissions,varioussensorsanddevicesareaddedonthemwhiletheyflyoverlargeareasin
shortperiodsof time.Iftheydetectadisturbance,theysendthecollectedinformationtotheiroperatorsfor
furtheraction(Lin,Roscheck,Goodrich,andMorse,2010;Waharte,andTrigoni,2010).However,basedonthe
currenttechnologydevelopment,theUAVs arenothighlyeffectiveunderextremeweatherconditions.Their
resistance level to disasters is corresponded to their design andcost.Whatismore,duetotheirpower
limitations,theyarenotfullyefficientwhentheymustoperatefarawayfromtheshore.Anaverageflighttime
ofacommonbattery‐poweredUAVisusually10to30minutes(similartoitsrechargetime);therefore,itisstill
difficulttodeployUAVsfarfromtheirbase,especiallyinemergencyincidents,suchasthesuddenoccurrence
ofheavyrainstormsormigrants’shipfailures(Yeongetal.,2015).
Whenextremeeventsoccuratsea,accidentsarealmostinevitableifthefloatingvesselsarenotdesignedfor
suchconditions(Wagenaar&Groeneweg,1987).Inthesecases,thecorrespondingASRpersonnelisnotalways
capableofdetectingsurvivorsintimeandasaresult,fatalities are inevitable (Fargues & Bonfanti, 2014).
AnotherproblemwiththecurrentUAVusageinmanyARSmissionsisthateachdroneinspectsselectedareas
inaspecificdurationoftime.Therefore,itispossibleforanincidenttooccurinanareathattheUAVhasalready
inspected.ThechancesofsuchscenariosincreasewhenalownumberofUAVsoperatesinlargeseaareas(e.g.
MediterraneanSea). This, in combination with the power limitationsperplex theprocedures and reducethe
efficiency of the ASR missions. To alleviate theseissues, the ANASA concept suggest the development of a
networkofautomatedUAVsthatoperateinlargeseazonesandrechargeinsitu.TheTWCbuoyswillcharge
theUAVsthatoperateinfrequenttimeperiods.Additionally,thebuoyswillprovideemergencyassistanceto
survivors,aswellasweatherinformationtotheiroperators.Figure2showshowthisnetworkoperates.

Figure3.VisualdescriptionoftheAutomatedNetworkforAir‐SeaActions:EachbuoychargesoneUAVper
time.Theaerialsurveillanceisdividedinto2sets.TheUAVsofeachsetareactivatedsimultaneouslyand
movetotheirfollowingbuoy(clockwiseorder).Whenasetisoperating,theUAVSoftheothersetare
recharging.Thisloopcontinuesthroughoutthedayandprovidesa24/7surveillance.
Tofurtherincreasetheefficiencyofthenetwork,thebuoysmustbeplacedinappropriatedistances,sotobe
abletorechargetheUAVsbeforetheyrunoutofpower.Asthebuoyscoverlargeareas,theirmeteorological
systemscandetectweatherchangesatthelocallevelandwhennecessary,warnthecoastguardaccordingly.
Thealarmsystemscanactivatelightsandotherwarningalertsduringthenight‐timeorextremeweatherevents
inordertoguidesurvivorsandotherboatstowardsthemincaseofemergency.AsitcanbeobservedinFigure
3,theANASAUnitisacombinationof:

SafeKozani2018‐5thInternationalConferenceonCivilProtection&NewTechnology‐Proceedings
364
‐PosterPresentations‐
1. aTWCthatprovidesenergy,atleastfortheinstalledinstruments.For that reason, the systemsfor
emergencysignalsandfirstaidareprioritized
2. aminilighthouse(lightsignal)thatisactivatedduringthenight‐timeandextremeweatherevents
3. anemergencysignaltransmissionconnectedtoanSOSbutton(italsoincludesanemergencykit)
4. ameteorologicalsystemforweatherchangesatthelocallevel
5. batterychargingspace(s)forUAVs(wirelesscharging).OncetheUAVisattached,itautomaticallylocks
intoitsposition.IftheUAVisviolentlydislocatedfromits positionwhilecharging,arelevantsignalis
senttotheoperator.

Figure3.PartdescriptionoftheANASAUnit(designisstillunderdevelopment)
3.Conclusions
Theinvestigationoftidalandwaveenergycanbeverypromisingastheypresentmanyadvantagesoverother
renewable. Following this approach, the ANASA focuses in marine disaster response mechanisms and more 
specifically,theautomatedASRmissions.ThebuoysthatareTWCs,arecapableofrechargingoneofmoreUAVs
depending on theavailable amount of generated energy.Moreover, theyare equipped withmeteorological
sensors,warningsystemsand emergencytransmitters.SetsofUAVsoperatesubsequentlysotoinspectlarge
sea areas non‐stop. To further maximize the energy generation of the buoys, the study suggests the
investigationofsmallsolarthermalcollectorsmountonthebuoysasanadditionalrenewableenergyresource.
It should be noted that the conceptual idea of the ANASA is based on technological features and AI‐based
applicationsthatcurrentlyexist but not used combined. Future studies could evaluate thesuggested system
under realistic cond itions and verify its feasibil ity, cost to benefit analysis, and its impact, contribution and
alternativeuseinmarineecosystems.ByestablishingtheANASAinseaareaswithhighdisasterriskprobability,
thisresearchaimstoprovidethecoastguardareliable,automatedandself‐poweredtoolthatcandetectsea
survivorsorthreats under a sufficient given time.Furthermore,itaimsto providean alternativesolutionfor
surveillingseamigrationroutesthatcanpotentiallydetectshipwrecksontimeandincreasethesurvivalrate.


SafeKozani2018‐5thInternationalConferenceonCivilProtection&NewTechnology‐Proceedings
365
‐PosterPresentations‐
4.Acknowledgement
Theauthors would like to thank My Safety Approved LLC, the Association of Officers and Sub‐Officers with
UniversityDegreesofHellenicFireCorps,andUNESCOChaironConservationandEcotourismofRiparianand
DeltaicEcosystemsforthesupportinthisresearch.

References
Fargues,P.,andBonfanti,S.(2014)Whenthebestoptionisaleakyboat:whymigrantsrisktheirlivescrossing
the Mediterranean and what Europe is doing about it. Available at:
http://cadmus.eui.eu/bitstream/handle/1814/33271/MPC_PB_2014‐05.pdf?sequence=1&isAllowed=y
(Downloaded01September2018).
Gabrielsen Jumbert, M. (2013) ‘Controlling the Mediterranean space through surveillance. The politics and
discourseofsurveillanceasanall‐encompassingsolutionto EU maritime border management issues’, Space
PopulationsSocieties,pp.35‐48.
Kanemoto,T., Tanaka,D.,Kashiwabara,T.,Uno,M.,and Nemoto, M.(2001)‘Tidalcurrent powergeneration
system suitable for boarding on a floating buoy’,International Journal of Offshore and Polar
Engineering,11(01).
Lin,L.,Roscheck,M.,Goodrich,M.A., and Morse, B.S. (2010)Supporting Wilderness Searchand Rescue with
Integrated Intelligence: Autonomy and Information at the Right TimeandtheRightPlace. A tlanta: Twenty‐
FourthAAAIConferenceonArtificialIntelligence.
MarineEnergy(2018)TheEuropeanMarineEnergyCentreLTD.Availableat:http://www.emec.org.uk/marine‐
energy/wave‐devices/(Accessed:29November2018).
Marques, M.M., Parreira, R., Lobo, V., Martins, A., Matos, A., Cruz, N., Almeida, J.M., Alves, J.C., Silva, E.,
Będkowski,J.,andMajek,K.(2016)‘Useofmulti‐domainrobotsinsearchandrescueoperations—contributions
oftheICARUSteamtotheeuRathlon2015challenge’,IEEE,pp.1‐7.
Matos,A.,Silva,E.,Cruz,N.,Alves,J.C.,Almeida,D.,Pinto,M.,Martins,A.,Almeida,J.,andMachado,D.(2013)
‘Developmentofanunmannedcapsuleforlarge‐scalemaritimesearchandrescue’,IEEE,pp.1‐8.
Seiffarth,O.(2011)‘ThedevelopmentoftheEuropeanbordersurveillancesystem(EUROSUR)’,Athreatagainst
Europe?Security,migrationandintegration,pp.133‐152.
TidalPower(2015)TidalPower.co.uk.Availableat:http://tidalpower.co.uk/(Accessed:29November2018).
Torelli, S.M., and Ugolini, M. (2018) ‘Migration through the Mediterranean:MappingtheEUResponse’,
European Council on Foreign Relations. Available at: https://www.ecfr.eu/specials/mapping_migration
(Accessed01November2018).
Waharte,S.,and Trigoni, N.(2010), ‘Supporting search andrescue operations with UAVs’Emerging Security
Technologies(EST),2010InternationalConferencepp.142‐147.
Wagenaar, W.A., and Groeneweg, J. (1987) ‘Accidents at sea: Multiple causes and impossible
consequences’,InternationalJournalofman‐machinestudies,27(5‐6),pp.587‐598.
Yeong,S.P.,King,L.M.andDol,S.S.(2015)‘Areviewonmarinesearchandrescueoperationsusingunmanned
aerial vehicles’.International Journal of Mechanical, Aerospace, Industrial, Mechatr onic and Manufacturing
Engineering,9(2),pp.396‐399.
