marine robotics: from research to innovation marine robotics: from research to innovation consiglio...

Marine Robotics:from Research to Innovation

Consiglio Nazionale delle RicercheIstituto di Studi sui Sistemi Intelligenti per l’Automazione

Via De Marini 6, 16149 Genova, [email protected]

Marco Bibuli

UNIGE-DIMA, 2013 November 25, Genova (Italy)

Marine Robotics at CNR - ISSIA

MarineRobotics


Why am I here?

Bridging the gap between

Mathematics & Robotics

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline

ROV | AUV | Glider | USV

ROV | AUV | USVMaritime Robotics

Equipment & PayloadModelingNGC


Why am I here?

• Modeling• Analysis• Theoretical validation• Performance measurement

• Design & development• Navigation, Guidance and Control• Mission handling• Exploitation

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Why am I here?

• Modeling• Analysis• Theoretical validation• Performance measurement

• Design & development• Navigation, Guidance and Control• Mission handling• Exploitation

Outcome:

• knowledge transfer

• brainstorming

• collaboration proposals (thesis)

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Marine Robots

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




The bad news…

…nothing about this… …yet!


Marine Robots

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Marine Robots - ROV

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Remotely Operated Vehicle


Marine Robots - AUV

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Autonomous Underwater Vehicle


Marine Robots - Glider

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Marine Robots - USV

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Unmanned Surface Vehicle


Marine Robots

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Applications

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Applications - ROV

Underwater• Exploration• Sampling• Intervention

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Applications - ROV


ARGO ROV

Used to discover the Titanic (1985)

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Depth: 3810 m


Applications - ROV


• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Applications - ROV


ROMEO ROV

Length: 1.30 mWidth: 0.90 mHeight: 0.96 mWeight in air: 500 kgMax. depth: 500 mSpeed: 0.6 m/s forwardElectric propulsion: 4 horizontal and 4 vertical thrusters

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Applications - AUV

Underwater• Mapping• Sampling• Patrolling

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Applications - AUV


EU Project MORPH

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Applications - AUV


• Extreme!

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Challenger Deep descentDepth: 10900 m

Bathyscaphe“Trieste”

1960

“Kaiko” AUV1995

“Nereus” HROV2009 Deepsea Challenger 2012


Applications - USV

Surface• Sampling• Bathymetry• Protection• Comms. relay

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Applications - USV

Surface• Sampling• Bathymetry• Protection• Comms. Relay

• Multi-vehicle

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Applications - USV


• Multi-vehicle

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Vehicle loss acceptable?

Yes, if casualties = 0


Applications - USV


• Multi-vehicle

Charlie USVDimension 2.40 (length) x 1.70 (width) m

Weight 300 Kg (in air)

Max speed 2.0 m/s

Propulsion 2 DC motors with propellers

Steering 2 coupled rudders behind propellers

Navigation GPS, Gyro-Compass, Inclinometers

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Applications - USV

• Sampling• Bathymetry• Protection• Comms. Relay

• Multi-vehicle

Side-scan sonarfan-shaped acoustic

pulse


• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Applications - USV


• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Applications


Seabottom classification – Murter (Croatia), 2013

Port area bathymetry – Loano (Italy), 2013

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Applications


Vehicle-Following – a Leader vehicle defines, with its motion, a reference path; such path has to be followed by a Follower vehicle, maintaining a certain distance from the Leader.

desired distance error

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Applications


Vehicle-Following – a Leader vehicle defines, with its motion, a reference path; such path has to be followed by a Follower vehicle, maintaining a certain distance from the Leader.

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Applications


• Vehicle aggregation• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Applications


• Vehicle aggregation

• Safety distance• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Applications



• Safety distance

• Communication constraints

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Applications



• Safety distance

• Communication constraints

• Formation path-following

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Applications - Maritime Robotics


• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




EU Project MINOAS

Applications - Maritime Robotics


EU Project CART• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Development


• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Development


Equipment & Payload

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Development


Equipment & Payload Modeling

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Development


22

222

nnkrrkrkrI

nnkuukukum

nrrrr

nuuuu

Equipment & Payload Modeling

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Development


NavigationGuidanceControl

Equipment & Payload Modeling Navigation, Guidance & Control

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Development


Autonomy

Manual control

Semi-automatic

Advanced guidance

Direct drive of rudder and thrusters

Auto-pilotAutomatic control of surge speed and heading

Geo-referenced motionLine-of-Sight, Line-Following,Genaral Path-Following• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Development


scr

Usscy

Uycss

c

c

c

sin

cos)1(

11

11

fe with

Defining the Lyapunov function: 22

1 V

)tanh()( 11 yky a where is an approach angle defined as:

sckr c 1*

the yaw-rate control law is obtained:

0

0

1

y

Defining the Lyapunov function: 21212

1ysVE

12* cos skUs the virtual target speed control law is obtained:

01 s

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Development


• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Development


• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Global stability Robustness to disturbances

Absence of singularities

Performances


Equipment & Payload Modeling Navigation, Guidance & Control

NavigationGuidanceControl

Performance measurement

qualitative quantitative

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Performances


• Definition of performance indices

• Design of “good” experimental methodologies

- How to execute the experiments?- How to guarantee the same initial conditions?- Which parameters come into play?

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Performances


Example: comparison between two path-following algorithms

Jacobian-based technique Lyapunov-based virtual target technique• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Performances


Moving towards multi-vehicle frameworks…

Which indices?!?...

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Conclusions


Cool, useful,case-dependant reliableResearch

Development

Innovation Cool, useful, reliable, legal,business-worthy

Cool, useful, reliable,illegal

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline




Conclusions


What are the next steps towards the improvement of the Robotics’ research?

• New performance indices

• Protocols for environmental condition measurement

• Procedures for experiments’ repetition

• Methodologies for statistical characterization

• Ideas from a different point of view…

• Why am I here?

• Marine Robots

• Applications

• Development

• Performances

• Conclusions

Outline





Thank you!

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