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
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

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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
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
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
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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