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
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Some applications of underwater vehicles
Many applications (within the offshore, onshore, and inshore environments) : Introduction
Sensing
Control
Experiments
Conclusion Speaker : Ahmed CHEMORI
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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
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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
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Introduction
Sensing
Control
Sensing Technology
Conclusion Speaker : Ahmed CHEMORI
IFREMER
Experiments
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Introduction
Sensing
Control
Localization
Experiments
Conclusion Speaker : Ahmed CHEMORI
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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
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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
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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
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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
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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
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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
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Introduction
Sensing
Control
Communication
Experiments
Conclusion Speaker : Ahmed CHEMORI
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Communication
Introduction
Umbilical :
Optical Modem :
Sensing
Control
Optical Fiber : Acoustic Modem :
Experiments
Conclusion Speaker : Ahmed CHEMORI
Tritech
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Introduction
Sensing
Control
Control
Conclusion Speaker : Ahmed CHEMORI
IFREMER
Experiments
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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)
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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
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Control problem formulation : Challenges
Introduction
Sensing
Control
Experiments
Conclusion Speaker : Ahmed CHEMORI
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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
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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
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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
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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
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Introduction
Sensing
Control
Some Control Solutions
Conclusion Speaker : Ahmed CHEMORI
F5 Robotics
Experiments
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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
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Introduction
Sensing
Control
Some Lab Experiments
Conclusion Speaker : Ahmed CHEMORI
LIRMM
Experiments
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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
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Introduction
Sensing
Control
Sea Experiments
Conclusion Speaker : Ahmed CHEMORI
Banyuls
Experiments
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Other experiments of L2ROV in the sea
Introduction
Sensing
Control
Experiments
Conclusion Speaker : Ahmed CHEMORI
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Other experiments of L2ROV in the sea
Introduction
Sensing
Control
Experiments
Conclusion Speaker : Ahmed CHEMORI
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Real-time experiments of U-CAT
Introduction
Sensing
Control
Experiments
Conclusion Speaker : Ahmed CHEMORI
During WMSM 2015 at Canary islands – Feb 2015
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Real-time experiments of U-CAT
Introduction
Sensing
Control
Experiments
Conclusion Speaker : Ahmed CHEMORI
In open water ‘RUMMU lake’, Tallinn, Estonia – June 2015
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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
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Real-time experiments of Jellyfishbot (IADYS Startup)
Introduction
Coasts Cleanup (Collection of waste)
Sensing
Control
Experiments
Conclusion Speaker : Ahmed CHEMORI
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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
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