Post on 18-Dec-2015
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Marine Robotics:from Research to Innovation
Consiglio Nazionale delle RicercheIstituto di Studi sui Sistemi Intelligenti per l’Automazione
Via De Marini 6, 16149 Genova, Italymarco.bibuli@ge.issia.cnr.it
Marco Bibuli
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Marine Robotics at CNR - ISSIA
MarineRobotics
UNIGE-DIMA, 2013 November 25, Genova (Italy)
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
UNIGE-DIMA, 2013 November 25, Genova (Italy)
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
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
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
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Marine Robots
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
The bad news…
…nothing about this… …yet!
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Marine Robots
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Marine Robots - ROV
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Remotely Operated Vehicle
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Marine Robots - AUV
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Autonomous Underwater Vehicle
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Marine Robots - Glider
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Marine Robots - USV
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Unmanned Surface Vehicle
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Marine Robots
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Applications
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Applications - ROV
Underwater• Exploration• Sampling• Intervention
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Applications - ROV
Underwater• Exploration• Sampling• Intervention
ARGO ROV
Used to discover the Titanic (1985)
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Depth: 3810 m
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Applications - ROV
Underwater• Exploration• Sampling• Intervention
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Applications - ROV
Underwater• Exploration• Sampling• Intervention
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
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Applications - AUV
Underwater• Mapping• Sampling• Patrolling
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Applications - AUV
Underwater• Mapping• Sampling• Patrolling
EU Project MORPH
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Applications - AUV
Underwater• Mapping• Sampling• Patrolling
• Extreme!
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Challenger Deep descentDepth: 10900 m
Bathyscaphe“Trieste”
1960
“Kaiko” AUV1995
“Nereus” HROV2009 Deepsea Challenger 2012
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Applications - USV
Surface• Sampling• Bathymetry• Protection• Comms. relay
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Applications - USV
Surface• Sampling• Bathymetry• Protection• Comms. Relay
• Multi-vehicle
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Applications - USV
Surface• Sampling• Bathymetry• Protection• Comms. Relay
• Multi-vehicle
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Vehicle loss acceptable?
Yes, if casualties = 0
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Applications - USV
Surface• Sampling• Bathymetry• Protection• Comms. Relay
• 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
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Applications - USV
• Sampling• Bathymetry• Protection• Comms. Relay
• Multi-vehicle
Side-scan sonarfan-shaped acoustic
pulse
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Applications - USV
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Applications
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Seabottom classification – Murter (Croatia), 2013
Port area bathymetry – Loano (Italy), 2013
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Applications
UNIGE-DIMA, 2013 November 25, Genova (Italy)
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
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Applications
UNIGE-DIMA, 2013 November 25, Genova (Italy)
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
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Applications
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• Vehicle aggregation• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Applications
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• Vehicle aggregation
• Safety distance• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Applications
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• Vehicle aggregation
• Safety distance
• Communication constraints
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Applications
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• Vehicle aggregation
• Safety distance
• Communication constraints
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Applications
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• Vehicle aggregation
• Safety distance
• Communication constraints
• Formation path-following
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Applications - Maritime Robotics
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
EU Project MINOAS
Applications - Maritime Robotics
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
EU Project MINOAS
Applications - Maritime Robotics
UNIGE-DIMA, 2013 November 25, Genova (Italy)
EU Project CART• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Applications - Maritime Robotics
UNIGE-DIMA, 2013 November 25, Genova (Italy)
EU Project CART• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Development
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Development
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Equipment & Payload
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Development
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Equipment & Payload
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Development
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Equipment & Payload Modeling
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Development
UNIGE-DIMA, 2013 November 25, Genova (Italy)
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nuuuu
Equipment & Payload Modeling
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Development
UNIGE-DIMA, 2013 November 25, Genova (Italy)
NavigationGuidanceControl
Equipment & Payload Modeling Navigation, Guidance & Control
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Development
UNIGE-DIMA, 2013 November 25, Genova (Italy)
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
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Development
UNIGE-DIMA, 2013 November 25, Genova (Italy)
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
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Development
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Development
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Global stability Robustness to disturbances
Absence of singularities
Performances
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Equipment & Payload Modeling Navigation, Guidance & Control
NavigationGuidanceControl
Performance measurement
qualitative quantitative
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Performances
UNIGE-DIMA, 2013 November 25, Genova (Italy)
• 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
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Performances
UNIGE-DIMA, 2013 November 25, Genova (Italy)
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
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Performances
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Moving towards multi-vehicle frameworks…
Which indices?!?...
• Why am I here?
• Marine Robots
• Applications
• Development
• Performances
• Conclusions
Outline
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Conclusions
UNIGE-DIMA, 2013 November 25, Genova (Italy)
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
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
Conclusions
UNIGE-DIMA, 2013 November 25, Genova (Italy)
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
ROV | AUV | Glider | USV
ROV | AUV | USVMaritime Robotics
Equipment & PayloadModelingNGC
UNIGE-DIMA, 2013 November 25, Genova (Italy)
Thank you!