AUV : Autonomous Underwater Vehicle

0 downloads 0 Views 6MB Size Report
Nov 6, 2017 - [Maalouf et al. 2015] D. Maalouf, A.Chemori and V. Creuze, "L1 Adaptive Depth and Pitch Control of an Underwater Vehicle with Real-Time.
November, 6th 2017

Ahmed CHEMORI Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier LIRMM, CNRS/Université de Montpellier 161, rue Ada 34095 www.lirmm.fr/~chemori Email : [email protected] 1

OUTLINE

Outline of the presentation

Speaker : Ahmed CHEMORI

o Introduction  Applications of marine robotics  Marine vehicles & research related topics

o Sensing Technology (brief overview)  Localization (acoustic, inertial, pressure, …etc)  Perception  Communication

o Control  Control problem formulation  Experimental platforms  Some proposed control solutions

o Real-time experiments  Lab experiments  Open water experiments

o Conclusion 2

Introduction

Sensing

Control

Introduction

Experiments

Conclusion Speaker : Ahmed CHEMORI

3

Some applications of underwater vehicles

 Many applications (within the offshore, onshore, and inshore environments) : Introduction

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

4

Classification of Marine Vehicles SeaLion 2, JW Fishers

ROV : Remotely Operated Vehicle

Introduction

ROVs Sensing

ASV : Autonomous Surface Vehicle

ASVs

Crawlers LBC, Seabotix

Marine Vehicles

Control ROAZ II, INESCTEC

Bioinspired

Experiments

Observer, Subsea Tech

AUV : Autonomous Underwater Vehicle

AUVs Taipan 300, LIRMM

Gliders

Conclusion Speaker : Ahmed CHEMORI

Bioswimmer, Boston Engineering

Slocum Glider, Teledyne

5

Main related research topics

Introduction

Sensing Sensing

Control

SLAM

Research Topics

Control

Swarm/ Experiments

SLAM (Simultaneous Localization And Mapping)

Software

Flotilla

DSA for cooperation

Communication

Conclusion Speaker : Ahmed CHEMORI

6

Introduction

Sensing

Control

Sensing Technology

Conclusion Speaker : Ahmed CHEMORI

IFREMER

Experiments

7

Introduction

Sensing

Control

Localization

Experiments

Conclusion Speaker : Ahmed CHEMORI

8

Localization : Underwater Acoustic Systems

Introduction

Sensing

Control

Underwater Acoustic Systems are commonly used in various underwater tasks: oil and gas exploration, ocean sciences, salvage operations, marine archaeology and law enforcement Why Acoustics? Radio signals used by surface positioning systems are absorbed by water, as a result acoustic signals are the preferred technology What is acoustics used for ?

Experiments

Conclusion Speaker : Ahmed CHEMORI

   

Transfer of position from surface to seabed Positioning within the water column Relative positioning between locations Transmission of data 9

Localization : Underwater Acoustic Systems

Introduction

There are 3 main methods of calculating a position using acoustics : USBL, SBL and LBL Ultra Short BaseLine (USBL):

Sensing

Control

Experiments

Determines beacon position by measuring the relative phases of the acoustic signal received by closely spaced elements in a single hydrophone. Easytrak Nexus

Conclusion Speaker : Ahmed CHEMORI

10

Localization : Underwater Acoustic Systems

Introduction

Sensing

Control

Short BaseLine (SBL): Determines beacon position by measuring the relative arrival times at three or more vessel mounted hydrophones.

Experiments

Conclusion Speaker : Ahmed CHEMORI

11

Localization : Underwater Acoustic Systems

Introduction

Sensing

Control

Long BaseLine (LBL):

Determines beacon position by measuring the slant ranges from three or more widely spaced transponders

Experiments

Conclusion Speaker : Ahmed CHEMORI

12

Localization : Inertial Systems, depth, velocity

Introduction

HG4930 MEMS IMU Sensing

Control

Experiments

1750 FOG IMU

Depth sensor Speed sensor

Conclusion Speaker : Ahmed CHEMORI

LinkQuest Inc.

 Position  Velocity  Orientation 13

Introduction

Sensing

Control

Perception

Experiments

Conclusion Speaker : Ahmed CHEMORI

14

Perception : Visual and acoustic

Introduction

Cameras

Single-beam Echo Sounders

Multi-beam Echo Sounders

Sensing

Control

Single-beam Profiling/imaging Sonars

Multi-beam Profiling/imaging Sonars

Experiments

Conclusion Speaker : Ahmed CHEMORI

15

Perception : Acoustic (Multi-beam profiling/imaging Sonar)

Introduction

Sensing

Control

Dual frequency IDentification SONar (DIDSON)

Experiments

Conclusion Speaker : Ahmed CHEMORI

Seal waits for and catches a salmon

16

Introduction

Sensing

Control

Communication

Experiments

Conclusion Speaker : Ahmed CHEMORI

17

Communication

Introduction

Umbilical :

Optical Modem :

Sensing

Control

Optical Fiber : Acoustic Modem :

Experiments

Conclusion Speaker : Ahmed CHEMORI

Tritech

18

Introduction

Sensing

Control

Control

Conclusion Speaker : Ahmed CHEMORI

IFREMER

Experiments

19

Two illustrative examples

Introduction

Ship hull inspection with a ROV (SeaBOTIX)

Sensing

Control

Dam inspection with a ROV

Experiments

Conclusion Speaker : Ahmed CHEMORI

The EDF group, a leading energy player (France)

20

Control problem formulation

Introduction

 The previous examples show clearly some limitations of a such solution: o Abrupt movements and oscillations o Lack of precision (can be needed for some applications)

Sensing

o Operated in open-loop o A difficult manipulation o Needs a very experimented operator (expensive)

Control

 Automation of such operations is necessary  Replace the joystick and the operator by a control system (computer)  Needs the development of sophisticated control approaches

Experiments

 Involves challenging control problems, due to: o High nonlinear and coupled dynamics o Time-varying parameters

Conclusion Speaker : Ahmed CHEMORI

o Strong uncertainties o Non measurable variables

21

Control problem formulation : Challenges

Introduction

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

22

Control problem formulation

Introduction

Concept of co-control: Assisting the pilot Horizontal

Sensing

Joystick

motions

ROV Control

depth

x

y

Control PC Thrusters

Predefined trajectories

Pitch Experiments

Conclusion Speaker : Ahmed CHEMORI

Roll Yaw

Sensors depth IMU video 23

Introduction

Sensing

Experimental platforms Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

AC-ROV

L2ROV

LIRMIA2

MEROS

U-CAT

24

AC-ROV : Our First Underwater Vehicle

Introduction

Sensing

Embedded system

Control

Technical features Experiments

Conclusion Speaker : Ahmed CHEMORI

Dimensions: 15 X 15 x 20 cm Weight: 3 kg Max. depth: 40 m Autonomy: Unlimited Actuators: 6 thrusters Actuated dof: 5 25

L2ROV : A New Underwater Inspection Vehicle Thrusters

Introduction

Sensing

Thrusters Control

Embedded system

Technical features Dimensions: 60 X 50 x 45 cm Weight: 28 kg Max. depth: 100 m Autonomy: Unlimited Actuators: 6 thrusters Actuated dof: Fully

Experiments

Conclusion Speaker : Ahmed CHEMORI

Thruster

Stereovision

26

LIRMIA2 : An AUV at LAFMIA - Mexico

Introduction

Sensing

Control

Embedded system Technical features

Experiments

Conclusion Speaker : Ahmed CHEMORI

Dimensions: 53 X 53 x 24 cm Weight: 18.2 kg Max. depth: 20 m Autonomy: 2 hours Actuators: 8 thrusters Actuated dof: 5 27

MEROS : An omnidirectional inspection ROV by TECNALIA  Patented : WO2016102686 A1 Introduction

 Compact and lightweight omnidirectional ROV. Sensing

 Semi-automatic inspection until 100m depths:

 Automatic control of 4 DoF (depth, angles).  Co-control with a joystick of 2 DOFs (X and Y). Control

Actuation Some technical features

Experiments

Conclusion Speaker : Ahmed CHEMORI

Dimensions: 40 X 40 x 40 cm Weight: 13 kg Max. depth: 100 m Autonomy: Unlimited Actuators: 6 thrusters Actuated dof: Fully 28

U-CAT : A Biomimetic AUV at TUT - Estonia

Introduction

ARROWS Project

Sensing

Control

For archeological applications (shipwreck inspection)

Experiments

Conclusion Speaker : Ahmed CHEMORI

2015 - 2016 LIRMM, France / Centre for Bio-robotics, Estonia

29

U-CAT : A Biomimetic AUV at TUT - Estonia

Introduction

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

Some technical features Designed for : Archeology inspection Video : identify objects of interest Small and highly maneuverable No propellers : Restrict visibility near bottom Silent motion : Not disturb bottom sediments Untethered : Cable constrains vehicle motions Actuators: 4 fins Actuated dof: Fully

30

Introduction

Sensing

Control

Some Control Solutions

Conclusion Speaker : Ahmed CHEMORI

F5 Robotics

Experiments

31

Overview of the proposed control solutions

Introduction

 PID control Sensing

 Nonlinear state feedback control  Nonlinear Adaptive state feedback  Nonlinear L1 adaptive control

Control

 Nonlinear RISE control  Sliding mode control

Experiments

 Nonlinear PD+ control  DOF Prioritization approach  … etc

Conclusion Speaker : Ahmed CHEMORI

32

Introduction

Sensing

Control

Some Lab Experiments

Conclusion Speaker : Ahmed CHEMORI

LIRMM

Experiments

33

Experiments : L1 adaptive control (1 dof)

Introduction

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

[Maalouf et al. 2015] D. Maalouf, A.Chemori and V. Creuze, "L1 Adaptive Depth and Pitch Control of an Underwater Vehicle with Real-Time Experiments", Ocean Engineering (Elsevier), DOI: 10.1016/j.oceaneng.2015.02.002, pp. 66--77, 2015. 34

Experiments : Nonlinear PD+ control (2dof)

Introduction

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

[Campos et al. 2017] E. Campos, A. Chemori, V. Creuze, J. Torres, R. Lozano, "Saturation Based Nonlinear Depth and Yaw Control of Underwater Vehicles with Stability Analysis and Real-time Experiments", Submitted to Mechatronics (Elsevier), 2017. 35

Experiments : Vision-based wall following (2dof)

Introduction

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

Based on stereovision camera and IMU 36

Experiments : Semi-autonomous inspection (Co-control)

Introduction

MEROS (TECNALIA)

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

37

Introduction

Sensing

Control

Sea Experiments

Conclusion Speaker : Ahmed CHEMORI

Banyuls

Experiments

38

Other experiments of L2ROV in the sea

Introduction

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

39

Other experiments of L2ROV in the sea

Introduction

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

40

Real-time experiments of U-CAT

Introduction

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

During WMSM 2015 at Canary islands – Feb 2015

41

Real-time experiments of U-CAT

Introduction

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

In open water ‘RUMMU lake’, Tallinn, Estonia – June 2015

42

Real-time experiments of U-CAT Vision-based tracking control : ROV following Introduction

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

At IFREMER, La Seyne-sur-Mer, France – December 2016 43

Real-time experiments of U-CAT Pinger-based tracking control : Diver following Introduction

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

In Rummu lake near Tallinn, Estonia – August 2016

44

Real-time experiments of Jellyfishbot (IADYS Startup)

Introduction

Coasts Cleanup (Collection of waste)

Sensing

Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

45

www.lirmm.fr/~chemori/ Introduction

Email : [email protected] Sensing

See experiments videos on: Control Find more videos on Ahmed CHEMORI’s YouTube channel: Robot Control

Experiments

Conclusion Speaker : Ahmed CHEMORI

46