O Futuro da Observação dos Oceanos

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O Futuro da Observação dos Oceanos

João Tasso de Figueiredo Borges de Sousa

Laboratório de Sistemas e Tecnologias Subaquáticas Faculdade de Engenharia

Universidade do Porto Portugal

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Outline

 Laboratory overview

 Vehicle systems

 Software tool chain

 Operations

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PITVANT

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Extension of the continental shelf (Portugal)

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Workshop: Ocean's challenges and technological developments. July 06 - 07, 2009 - APDL, Leça da Palmeira, Courtesy of Manuel Pinto de Abreu

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Vision

Moored sensors

Autonomous surface vehicle Surface buoy Navigation beacon Oceanographic sensors Moored sensors Drifters AUV AUV

UAV UAV

AUV Localization links Coms. links Sensing links UAV Vehicles come and go

Control station

Operators come and go

Data provisioning intervention AUV Data mules DTN Mixed-initiative Concurrent operations Intermittent communications

Dynamic interactions and structure

System properties are a function of structure and interactions

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Strategy

 Strong experimental component (operations @ sea) • Conops / Operational know-how / Reliable vehicle systems

 Strategic partnerships

• Portuguese Navy / Air Force / Extension of the Continental Shelf

 Systems engineering

• Methodological framework to develop systems and their life cycles

• Design vehicles for interactions

 Networkings for S&T development

• Controls, communication, computation, autonomy, etc…

 Connecting the dots – user-inspired basic research • Pasteur’s quadrant

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Cooperation

 Portugal

• Marinha Portuguesa

• Força Aérea Portuguesa

• Instituto Hidrográfico

• Estrutura de Missão para a Extensão da Plataforma Continental

• Porto de Douro e Leixões

• Oceanscan MST (spin-off)

 USA

• MBARI

• UC Berkeley

• Naval Postgraduate School

• US Coast Guard

• Google

• University of Michigan

• Naval Undersea Warfare center

 Europe

• Naval Undersea Research Center (NATO)

• National Oceanography Center (UK)

• NTNU (Norway)

• Plocan (Spain)

• Universidade de Delft (NL)

• Swedish Defence Agency (SE)

• Royal Institute of Technology (SE)

• EU/NATO project partners

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On-going projects

 Noptilus (www.noptilus-fp7.eu) – FP7 project (2011-2015)

 Netmar (http://project-netmar.eu) – Interreg project

(2012-2014)

 SafePort – NATO funded project (2011-2014)

 Necsave – European Defense Agency project (2013-2015)

 Pitvant – unmanned air vehicles program (2008-2015)

 SeaconII – unmanned underwater vehicles program (2013-2015)

 SUNRISE– FP7 project (2013-2017)

 Persist – FCT project (2011 – 2014)

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Ocean vehicles

Low cost vehicles

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Light AUV (LAUV)

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5th generation

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Designed for interactions (networked behavior)

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CTD GPS/GSM/Wi-Fi Antennas

Trimming Power Connector

Side-scan sonar Micro-modem

Emmergency pinger

DVL

PC-104 Stack(s) IMU

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Manta gateway

 Battery powered portable communications hub • 802.11gn 2.4GHz and 5Ghz

• Freewave

• Acoustic Modem

• Delay Tolerant Networking (DTN)

• LBL Tracking

• GSM

• Iridium

• Deployed from ship, RHIBs and buoys

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Coms gateways,

data loggers, drifters, fish tags

Communications gateway High performance data logger Light data logger

Drifters

Drifter

Fish tags

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Aerial vehicles

–

cooperation with Air Force

 PITVANT project (MDN 2009-15)

• Unmanned vehicle systems

- 3 ANTEX01 (6.5 m wingspan) - 3 ANTEX02E (3.6m wingspan) - 8 ANTEX02 (2.4m wingspan) - 10 small wingspans

• Stats

- > 1000 autonomous flights - Day / night operations

• Priority: flights over the ocean

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Unmanned air vehicles

Picollo autopilot PC-104 stack

Gimbaled camera Electric or combustion

engines

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Software tool chain

Off-board command, control and communications

Communication protocols for command and control of heterogneous systems

Onboard software (vehicles, buoys, data loggers)

Field tested in thousands of operations with air and ocean vehicles

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• Interoperability for autonomous vehicles

• Ranges from the

component-to-component communication to system-to-system • Delay-Tolerant Networking • implementation of a convergence layer for Micromodems • Interoperability for UAVs • Partially compliant

• Participation in development list

Layered communications architecture

Neptus DUNE

Message Protocol

Transport

Low Level Transport STANAG 4586

DTN JAUS

Janus

• Unified layer for acoustic

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Neptus Console

IMC / DTN

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unified command and control

Supports all phases of the mission life cycle

Planning, Execution, Review and Analysis

Modular architecture through plug-ins

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IMC protocol

 API is described using XML file/generate code automatically

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Plan interface Vehicle command interface Maneuver interface Guidance interface Hardware interface Plan supervisor Vehicle supervisor Goto controller StationKeeping controller Teleoperation controller Formation controller

VehicleCommand VehicleState

ManeuverCommand ManeuverState

DesiredGuidance EstimatedState

Actuator commands Sensor readings

Navigation Guidance

Motor driver Servo driver CTD sensor

driver

Depth sensor driver

PlanCommand PlanState

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Plan interface Vehicle command interface Maneuver interface Guidance interface Hardware interface Plan supervisor Vehicle supervisor Goto controller StationKeeping controller Teleoperation controller Formation controller

VehicleCommand VehicleState

ManeuverCommand ManeuverState

DesiredGuidance EstimatedState

Actuator commands Sensor readings Navigation Guidance

Motor driver Servo driver CTD sensor driver

Depth sensor driver

PlanCommand PlanState

Intermittent IMC communications

Mission Planner Neptus Console IMC Comms Tree of variables STANAG Comms Logging

Tool chain interactions

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LSTS/TREX architecture

Neptus

TREX plugin

IMC

TrexGoal / TrexCommand

DUNE

TREX task

TREX

Platform Reactor UDP Transport Deliberative Reactor

Message bus TREX timelines Deliberative

Reactor IMC (localhost)

mbari

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Operations

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Autonomous underwater rendezvous

Oct 06

Monterey, California, 2006

Cooperation with Naval Postgraduate School

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Estuary surveys with UC-Berkeley

Oct 07

Drifters deployed to collect GPS data along the way Estimate of currents is generated

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HMS Roebuck

Iver 2v Seacon

Swordfish

Gavia

REP10 exercise

July 2010

Cooperation

• Portuguese Navy (PO)

• NUWC (USA)

• Porto University (PO)

• NURC (NATO)

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HMS Roebuck

Iver 2v Seacon

Swordfish

Gavia

REP12 exercise

July 2012

Bacamarte & Swordfish

Portuguese Navy (PO) Portuguese Air Force (PO) MBARI (USA)

Porto University (PO) NURC (NATO)

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Mini UAV

Extended Alfa X06

Land-based UAS operations

• Search for targets

• Surveillance of maritime traffic in shipping lanes • Hand-over of control from shore to Navy vessel • Video feed to shore and to Navy vessels

Ship-based UAS operations

• Short range surveillance

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CommsNet12 DTN

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CRME

2012

• LAUV Xtreme 2 (Sidescan, Camera, CTD, WHOI micromodem)

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Networked systems for situational awareness and intervention in

maritime incidents

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Mine warfare and Harbour Protection:

Bottom search and detect;

Interact with submarines and divers;

Command and control integrated in a Harbour Protection module.

Recognized Environmental Picture - REP 13

• Mine Warfare

• Harbour Protection

• Expeditionary Hidrography

• Search and Rescue

• Maritime Law Enforcement

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Mine warfare and Harbour Protection:

Bottom search and detect;

Interact with submarines and divers;

Command and control integrated in a Harbour Protection module.

Organized by

• U Porto

• PO Navy

Partners

• PO Air Force

• MBARI

• UC BERKELEY

• NTNU

• EVOLOGICS

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5 N M M_ar

in h a Alfa

Ext end ed P_et

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Search and Rescue and Maritime Law Enforcement:

• Search, detect, classify and ID of

contacts; where divers do not dare (or should not); SeaCon

• Patrol areas too big for diver teams;

SeaCon;

• Extend the patrol areas of a Patrol

Boat; Pitvant;

5 N M M_ari

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Mine warfare and Harbour Protection:

• Bottom search and detect; SeaCon;

• Interact with submarines and divers;

SeaCon;

• Detect threats in a harbour protected

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Hydrography:

Expedite bathymetry charting.

(Expeditionary)

LATERAL SONAR KLEIN 3900

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Towards system of systems

\ ASV (OBA)

UAV (OBA)

Comms gateway

NAUV (OBA)

UAV (OBA)

Comms gateway

Seacon (OBA)

Acoustic comms

Wireless comms

Ground Station

Mobile Station

Decision support system

[scirob]$ “buoy: trigger”

[scirob]$ find _front

[scirob]$ “vehicles: found _front”

[scirob]$ “vehicles: found _front” [scirob]$ “vehicles: lost front”

[scirob]$ run model_test_h1

[scirob]$ run model_test_h1 [scirob]$ track(location)

[scirob]$ run model_test_h1 [scirob]$ track(location) [scirob]$ sample_in_out

[scirob]$ sample_area

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Conclusions

Networked vehicle systems provide new capabilities

Developments at the intersection of computation and control Inter-operability is key to networked operations