AUV : Autonomous Underwater Vehicle

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


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


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


6

Introduction

Sensing

Control

Sensing Technology


IFREMER

Experiments

7

Introduction

Sensing

Control

Localization

Experiments


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


   

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


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


10


Introduction

Sensing

Control

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

Experiments


11


Introduction

Sensing

Control

Long BaseLine (LBL):

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

Experiments


12

Localization : Inertial Systems, depth, velocity

Introduction

HG4930 MEMS IMU Sensing

Control

Experiments

1750 FOG IMU

Depth sensor Speed sensor


LinkQuest Inc.

 Position  Velocity  Orientation 13

Introduction

Sensing

Control

Perception

Experiments


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


15

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

Introduction

Sensing

Control

Dual frequency IDentification SONar (DIDSON)

Experiments


Seal waits for and catches a salmon

16

Introduction

Sensing

Control

Communication

Experiments


17

Communication

Introduction

Umbilical :

Optical Modem :

Sensing

Control

Optical Fiber : Acoustic Modem :

Experiments


Tritech

18

Introduction

Sensing

Control

Control


IFREMER

Experiments

19

Two illustrative examples

Introduction

Ship hull inspection with a ROV (SeaBOTIX)

Sensing

Control

Dam inspection with a ROV

Experiments


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


o Strong uncertainties o Non measurable variables

21

Control problem formulation : Challenges

Introduction

Sensing

Control

Experiments


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


Roll Yaw

Sensors depth IMU video 23

Introduction

Sensing

Experimental platforms Control

Experiments


AC-ROV

L2ROV

LIRMIA2

MEROS

U-CAT

24

AC-ROV : Our First Underwater Vehicle

Introduction

Sensing

Embedded system

Control

Technical features Experiments


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


Thruster

Stereovision

26

LIRMIA2 : An AUV at LAFMIA - Mexico

Introduction

Sensing

Control

Embedded system Technical features

Experiments


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


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


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

29

U-CAT : A Biomimetic AUV at TUT - Estonia

Introduction

Sensing

Control

Experiments


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


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


32

Introduction

Sensing

Control

Some Lab Experiments


LIRMM

Experiments

33

Experiments : L1 adaptive control (1 dof)

Introduction

Sensing

Control

Experiments


[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


[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


Based on stereovision camera and IMU 36

Experiments : Semi-autonomous inspection (Co-control)

Introduction

MEROS (TECNALIA)

Sensing

Control

Experiments


37

Introduction

Sensing

Control

Sea Experiments


Banyuls

Experiments

38

Other experiments of L2ROV in the sea

Introduction

Sensing

Control

Experiments


39

Other experiments of L2ROV in the sea

Introduction

Sensing

Control

Experiments


40

Real-time experiments of U-CAT

Introduction

Sensing

Control

Experiments


During WMSM 2015 at Canary islands – Feb 2015

41

Real-time experiments of U-CAT

Introduction

Sensing

Control

Experiments


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


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


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


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


46