Veículos Autónomos não Tripulados para Inspeção e
Transcrição
Veículos Autónomos não Tripulados para Inspeção e
Veículos Autónomos não Tripulados para Inspeção e Vigilância Pedro Calado João Tasso de Figueiredo Borges de Sousa Porto University Portugal Outline Laboratório de Sistemas e Tecnologias Subaquáticas Uporto Vision Vehicle systems Software tool chain Operations Projects Conclusions PITVANT PITVANT PITVANT PITVANT Cooperation • US Coast Guard Portugal • Google • Portuguese Navy • University of Michigan • Portuguese Air Force • Portuguese Task Group for the Extension of the Continental Shelf • Porto Harbor • Companies • Oceanographic institutes United States • Naval Undersea warfare center Europe • Naval undersea research center (NATO) • ETH (SWI) • University of Delft (NL) • Swedish Defence Agency (SE) • MBARI • Royal Institute of Technology (SE) • UC Berkeley • National Oceanography Center (UK) • Naval Postgraduate School • Plocan (Spain) • ... Previous work Autonomous submarines (Portugal) Industrial tranportation (Portugal) Automotive collision avoidance system (US) Mixed initiative control of automata teams (US) Automated highway systems (US) Mobile Offshore Base (US) Vision Vehicle, Vehicles Vehicles Vehicles Sensor functioning Sensor Mixed-Initiative Sensors come Operators and serving and and Communications data as workload as go come dissemination communications data (dynamic Interaction and mules sharing gotopology) (DTN) Heterogeneity routers UAV operator ASV Drifting sensor Surface buoy ! Moored sensor operator AUV Ocean vehicles Low cost vehicles Common software/hardware platforms Inter-operability frameworks Pivatant FAP SEACON AUV Charging/Power Connector GPS/GSM/Wi-Fi Antennas External trimming PC-104 Stack(s) Side-scan sonar DVL IMU Emmergency pinger Micro-modem CTD Air vehicles (cooperation with PO Air Force) ANTEX-X02 (AFA) ANTEX-X03 (AFA) Silver Fox ANTEX 02 Extended Low cost vehicles Same software/hardware platforms Inter-operability frameworks Flying Wing (AFA) Mini UAV (AFA) Antex-02 PC-104 stack Electric or combustion engines Gimbaled camera Wingspan: 2.4m Picollo autopilot Communications and data logging NIOT Communications gateway Electronics for drifters High performance data logger Light data logger Software tool chain Neptus IMC DUNE Connecting heterogeneous vehicles and operators NIOT, NIO Layered communications architecture Neptus DUNE IMC STANAG 4586 • Interoperability for UAVs • Partially compliant • Participation in development list Message Protocol Transport Low Level Transport JAUS • Interoperability for autonomous vehicles • Ranges DTNfrom the component-tocomponent • Delay-Tolerant communication Networking to system-to• implementation system of aJanus convergence • Unified layer for layer for acoustic Micromodems modems • Participation on NURC’s discussion meetings Operations under intermitent connectivity IMC / DTN Neptus Console Seamlessly integrated with existing TCP/UDP communications as an additional transport layer Routing/bridging between networks is an ongoing research subject Ongoing implementation of DTN over underwater acoustic links in partnership with NURC Neptus command and control framework Supports all phases of the mission life cycle Planning, Simulation, Execution, Review and Analysis, Dissemination Modular architecture through plug-ins • Console Displays, Communication Protocols, Data visualizations, Maneuvers, ... Supports all phases of the mission life cycle Planning, Simulation, Execution, Review and Analysis, Dissemination Supports all phases of the mission life cycle Planning, Simulation, Execution, Review and Analysis, Dissemination Supports all phases of the mission life cycle Planning, Simulation, Execution, Review and Analysis, Dissemination Supports all phases of the mission life cycle Planning, Simulation, Execution, Review and Analysis, Dissemination Supports all phases of the mission life cycle Planning, Simulation, Execution, Review and Analysis, Dissemination SC Operations CA USA Harbor operations Air operations ROV operations NO UK AUV Estuarine operations Coastal buoys AUV Rendezvous Underwater operations Coastal operations Towards a sustained presence in the ocean Deep sea ROV operations IT Air operations REP-10 Selvagens expedition SP SP PO Navy exercise Robotics experiment Autonomous AUV rendezvous Oct 06 Monterey, California, 2006 Cooperation with Naval Postgraduate School Based on acoustic coms Ops with the deep sea ROV Luso 2009-2012 Cooperation with Portuguese Task Force for the extension of the continental shelf Workshop: Ocean's challenges and technological developments. July 06 - 07, 2009 - APDL, Leça da Palmeira; Courtesy of Manuel Pinto de Abreu REP10 exercise July 2010 Bacamarte HMS Roebuck Swordfish & Swordfish Seacon Iver 2v Cooperation • Portuguese Navy (PO) • NUWC (USA) • Porto University (PO) • NURC (NATO) Gavia REP11: AUVs + DTN + UAV + manned submarines REP12: air/land REP11 July 2011 AUV –UAV DTN enabled communications DTN work during Acommsnet10 Common networking protocols need an end-toend network path from source to destination DTN breaks the end-to-end “connection-oriented” model into a series of discrete “hops” DTN can operate in an intermittent fashion, supporting sleep-wake cycles of fixed nodes used to deliver an underwater application. DTN can be used to extend the size of the underwater cluster beyond the limited communications range 26 ACOUSTIC RF-WILAN NATO UNCLASSIFIED Mar Menor AUV experiment 2011 Mapping salinity plumes with a fleet of AUVs • Girona, Vilanova, Cartagena-UPCT and Porto Universities Vizualization & data processing MBARI’s ODSS Round trip to Berlengas: 80 Km SEACON AUV System: technology evaluation, training and development of concepts of operation for the Portuguese Navy Portuguese Navy Porto University 29 PITVANT UAS program ANTEX-X03 UAV Execution Data ANTEX-X02 UAV Sense & avoid Planning Inter-operability ANTEX X01 UAV Tracking systems Training Multiple vehicles, multiple applications, multiple configurations Noptilus (FP7) 2011-2015 autoNomous, self-learning, OPTImal and compLete Underwater Systems • CERTH, Imperial college, TU Delft, ETHZ,APDL, TSI • FEUP, APDL, OMST High-level objectives • Situation awareness • Automated AUV assignment and trajectory generation for concurrently optimizing situation awareness and localization/communication/sensing capabilities Demonstrations: increasing complexity Containers dropped from a ship: • Real shipwreck (to simulate one) • Max depth: 60 m • Simulated spill (HAZMAT) • Support vessls: tug boats and pilot’s boat • Find and characterize • Cooperation with Portuguese Navy Harbour scenario: • Sunken drums (deployed from tug boat) max weight .5T • Max depth: 20 m • Simulated spill (HAZMAT) • 24/7 operations Coastal shipwreck: • Real documented shipwreck • Max depth: 60 m • Simulated spill (HAZMAT) • Support vessls: tug boats and pilot’s boat • Cooperation with Portuguese Navy NECSAVE (EDA) 2012-2015 AUVs, ASVs, ROVs, UAVs Coms equipment Protocols Planning System Simulation System Command and control Maneuvers Networked vehicles for Mine Warfare Capability-related issues: • Mine Counter-Measures in littoral sea areas • CDP Urgent action -10 Maritime Mine Counter Measures PO Navy, PO Air Force and Uporto Partners: Italy, Spain, Belgium, Holand SAFE-PORT: HARBOUR PROTECTION DECISION SUPPORT SYSTEM - PROTECTION OF HARBOURS AND PORTS - Date: 16-07-2010 Marinha Portuguesa Energy harvesting nos oceanos: contribuições Recolha de dados e intervenções com veículos e sensores coordenados através de redes água-ar interoperadas. Monitorização 24/7 através destas redes • Submarinas • De superfície • Aéreas Monitorização ambiental a larga escala Inspeção de estruturas submersas Mapeamento do fundo mar com alta-resolução Conclusions There is so much to do... Putting everything together We have a long term vision Pragmatic plan International and national cooperation
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