VR to DL for UUST 1
operational tech testbed 1980 EPAULARD 1985 NAUTILE SIRENE - AUV «autonomous landing» 1998 VICTOR 6000 SWIMMER - AUV «autonomous docking» 2001 ALIVE-AUV «autonomous intervention» 2003 GREX Coordinated AUV/USV-fleet 2004 2008 AUVs aster X & idef X 2
Rand D versus operationnal systems After Epaulard, developed for polymetalic nodules survey program, Ifremer has frosen AUV Development and has focused on Deep Sea ROV and Manned Sub Nautile mainly for deep sea research observation and intervention. Contributive R and D mainly active in collaboration in the offshore domain since 1993 with numerous world first in intervention and inspection AUV (SIRENE,ALIVE,WIMMER): Technological and economical push Evolution of programs from «observation» to «survey» of the environment : new tools are needed to optimized data collection and interpretation Scientifical and operational programs pull 3
Operationnal systems Survey AUVs for Sciences: Cost Optimization of environmental surveillance MultiPayloads to increase rate of usage ASTERx,IDEFx 2500h, 4500km in 40 months AsterX IdefX 4
Geophysics payload multibeam subbottom profiler gas detection - magnetometer ixsea echoes 10000 Kongsberg EM2000 EM2000 (imagery) Kongsberg EK60 (gas plume) 5
Environment and fisheries payload multibeam subbottom profiler gas detection - magnetometer Satlantic ISUS nitrate sensor (Septembre 08) ixsea EK60 70 KHz downwards orientation RDI ADCP 1200 KHz upwards orientation (monitoring of fine layers) ixsea EK60 200 KHz upwards orientation RDI ADCP 300 KHz (current modelling) 6
Operational results 28 cruises incl. 12 technical on 7 different vessels 4500km of survey (In Day Dive) 2004 2005 2006 2007 2008! AUV1 asterx 10 8 14 12 10 10 21 6 14 6 0 9 120 AUV2 idefx 10 10 6 10 14 6 5 10 71 0 multibeam echo-sounder 17 5 9 6 0 6 6 9 58 fich sounder EK60 8 12 1 10 31 subbottom profiler 8 6 14 ADCP & physical parameters 10 10 4 5 10 39 7
Recent Ifremer developments! new generation LI batteries (14kWh @ 100kg) and new 36kWh FC! assisted (safe!) mission programming and management- Mimosa + Nemo! new SBP in cooperation with Ixsea- Echoes 10000-AUV! launch and recovery system- Caliste and Ariane 8
launch and recovery cage CALYSTE 9
Fuel Cell: H2/02 experiment Objective 300kms without payload 36kWh, Vehicle Weight +800kgs Lenght + 1m 10
SeaExplorer : A new «wingless» Coastal Glider (under development with ACSA, ACRI and CNRS) Shape optimisation New large volume low consumption optimised Ballast system (Oil and air) Possible hybrid mode with a propelled version Glider men intelligent mission programming and supervision 11
Typical scenario for hybrid AUV operation Fixed platform or FPSO 12
Examples of hybrid AUVs Swimmer (Cybernetix/ifremer ) SAILARS (Mentor Subsea Technologies) 13
How a hybrid AUV operates 1 Launch 2 Transit 3 Approach 4 Docking 5 ROV operations (Cybernetrix-Ifremer Swimmer) 14
Intervention AUV a multi-purpose AUV fitted with manipulators operated in acustically-supervised mode able to dock to the infrastructure and interact with it ALIVE (Ifremer/Cybernetix) 15
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RandD ALIVE : Sea trials campaign October 2003 1 Docking panel before intervention: valve in horizontal position 2 Docking panel after intervention: valve in vertical position " docking structure installed at 70 m depth " docking and telemanipulation tasks achieved succesfully 17
BASIL-NAV3000 / Coordinated Fleet 18
Substech: eneric Docking process with sonar and video 4 5 6 7 1. Seabed structure 2. Docking ring 3 3. Optic markers 2 4. OBS and receptacle 9 1 8 5. Vehicle camera 3 5 6 6. Scanning sonar 7. AUV 8. Sonar reflector 9. Grabbers 2 19
Heterogeneus autonomous marine vehicles what are they? ASV Autonomous Surface Vehicles AUV Autonomous Underwater Vehicles Underwater Gliders and: Autonomous aerial drones, ROVs,. 20
Example of networked multi vehicle marine fleet Example of communication network Cooperative navigation Coordinated vehicle control Severe communication constraints Example of practical implementation: multi AUV minehunting task C/NA Communication navigation aid SCM Search and classification Copyright: Bluefin Robotics RI Reacquisition and identification 21
GREX project Control and coordination of multiple cooperative marine vehicles Development at all levels: mission planning, coordinated control, underwater communication network, cooperative navigation, multi vehicle mission control and replanning Real time application using existing vehicles (from Ifremer, Atlas and IST) Scientific scenario example: fish tag tracking Control and coordination under communication constraints Cooperative navigation Mission profile replanning Development partners: IFREMER(F), Atlas Elektronik (D), IST (P), SeeByte (GB), SCIANT (BG), TUI (D), MC(D), INNOVA (I) 22
ConNeCT project : Control of Networked Cooperative systems Development of control architectures to support the operation of networked systems performing a task. Case study: application to marine vehicles Development of a multi vehicle simulator to enable validation of results Gradient search for source detection: Distributed sensing and coordinated control Development partners: IFREMER, CNRS-INRIA NECS, Prolexia, PGES 23
Toward coordination of heterogeneous fleets v 1 120 120 1 2 3 120 120 4 v 2 120 120 v 2 1. Vortex (subsurface) and Asterx (deepwater) navigate at different velocities 2. Rendezvous point for acoustic communication vertical channel 3. Radio relay 4. Next rendezvous point 24
Next RandD - Integrated systems made of Networked Heterogeneous Autonomous systems - Hybrid ROV-AUV system with Hovering capacities for Habitat mapping, quick inspection and intervention on future observatories 25