Underwater Underwater robotics robotics Underwater Underwater robotics robotics

worrisomebelgianΤεχνίτη Νοημοσύνη και Ρομποτική

2 Νοε 2013 (πριν από 4 χρόνια και 7 μέρες)

108 εμφανίσεις

Overview
LUST
UNIVERSITY OF ZAGREB
Faculty of Electrical 
EngineeringandComputing
Department of Control & 
Computer Engineering
Laboratory for Underwater 
Engineering
?
and
?
Computing
Systems and Technologies
Underwater
UnderwaterroboticsroboticsUnderwater
Underwaterroboticsrobotics
Present
Present
state
state
and
and
the
the
future
future
Present
Present
state
state
and
and
the
the
future
future
Present
Present
state
 
state
?
and
and
the
the
future
future
Present
Present
state
?
state
?
and
and
the
the
future
future
DEMAT
2011, 
S
PLIT
26102011
Pro
f
. Zoran Vukić       
S
PLIT
,
 
26
.
10
.
2011
.
f
ContentContentofofthethepresentationpresentation
1.Underwaterrobotics
2.Why underwater systems and technologies is 
important?
important
?
?
3.Market drivers for underwater robotics
4.Offshore industry as a main market driver
5
Mkfdhl
5
.
M
ar
k
et prospects 
f
or un
d
ersea tec
h
no
l
ogy
6.
Laboratoryforunderwatersystemsand
6.
Laboratory
 
for
?
underwater
?
systems
?
and
?
technologies
7
Fttdibti
2
7
.
F
u
t
ure 
t
ren
d

i
n su
b
sea opera
ti
ons 
Measurin
g
instruments onboard
Underwater
Underwatersystems systems and
andtechnologiestechnologies
Base ship
Buoy
g
Divers
Towed instruments
Information and/or
Measuring instruments on cables
Information and/or
power cable
AUV
Autonomous underwater vehicle
micro-ROV
AUV
Remotely operated
underwater vehicle
Crawler/Underwaterobservatory
-ROV
Submarine cable
Examples of AUV Systems
Speed

Endurance
Speed4 knots3 knots1 knot
AutonomyHoursDaysWeeks -Months
Gliders
Hugin1000
Gavia
Sea Otter Mk 1
REMUS100
MUSCLE (Bluefin 21)
REMUS

100
ROV types (according to ROV types (according to size
size//weightweight):):

•Micro ROVsMicro ROVs

•Mini ROVsMini ROVs


GeneralclassROVsGeneralclassROVs


General
 
class
?
ROVsGeneral
?
class
?
ROVs

•Working class ROVsWorking class ROVs
5
5
Ranges of AUVs, ROVs Ranges of AUVs, ROVs and
andGlidersGliders
AUV Range
ROVRange
ROV

Range
Crawler Range
Glidersare alsoAUV vehicleswiththelongestrangesandmissionduration
ContentContentofofthethepresentationpresentation
1.Underwaterrobotics
2.Why underwater systems and technologies is 
important?
important
?
?
3.Market drivers for underwater robotics
4.Offshore industry as a main market driver
5
Mkfdhl
5
.
M
ar
k
et prospects 
f
or un
d
ersea tec
h
no
l
ogy
6.
Laboratoryforunderwatersystemsand
6.
Laboratory
 
for
?
underwater
?
systems
?
and
?
technologies
7
Fttdibti
7
7
.
F
u
t
ure 
t
ren
d

i
n su
b
sea opera
ti
ons 
WhyUSTisimportant?WhyUSTisimportant?
Why
  
UST
?
is
?
important?Why
??
UST
?
is
?
important?
Offshoreindustry
.Atpresent7platformsforthe
ex
p
loitationof
g
asareo
p
eratin
g
intheshallowwaters
p
g
pg
oftheAdriaticSea(northernpart).However,new
promisingreservesarediscoveredinthesouthern
(d
)
t
(d
eepersea
)
par
t
.
Wih
ddhli
Wi
t
h
outun
d
erwater systems an
d
 tec
h
no
l
og
i
eswe 
will not be able to monitor subseainfrastructure
(
manifolds
wells
pipes
andotherpartsoftheoil/gas
8
(
manifolds

wells

pipes
and
?
other
?
parts
?
of
?
the
?
oil/gas
?
underseafields).
9
Why  UST is important?Why  UST is important?
Maritimesecurity
.Atpresentweareawareofcca.140
tons
of
unexploded
explosives
UXO
(
mines
torpedos
tons
of
unexploded
explosives

UXO
(
mines
,
torpedos
,
airbombs,gunfusesetc.)inthesubmarineareasof
the
east
coast
of
the
Adriatic
Sea
This
represents
a
the
east
coast
of
the
Adriatic
Sea
.
This
represents
a
constantthreattotheseatraffic,fishermen,tourists
andlocal
p
o
p
ulation.
pp
We need sofisticated technology.WithoutUST it will 
notbepossible
toneutralizeallthisUXO
!
10
not
 
be
?
possible
to
?
neutralize
?
all
?
this
?
UXO
!
WhyUSTisimportant?WhyUSTisimportant?
Why
  
UST
?
is
?
important?Why
??
UST
?
is
?
important?
Underwater
archaeology
East
part
of
the
Adriatic
Sea
is
Underwater
archaeology
.
East
part
of
the
Adriatic
Sea
is
richinunderwaterarchaeologicalfindings(wrecks,
amphoras
etc
)
and
this
cultural
heritage
must
be
amphoras
,
etc
.
)
and
this
cultural
heritage
must
be
preserved,securedfromdevastationandopenedfor
tourism.
Again, we will need underwater systems and techno‐
logies
thatwillenablethistohappen
11
logies
that
 
will
?
enable
?
this
?
to
?
happen
.
WhyUSTisimportant?WhyUSTisimportant?
Why
 
UST
?
is
?
important?Why
?
UST
?
is
?
important?
Marinebiology/ecology
.IncreasedtrafficintheAdriatic,and
directandindirecthumaninfluence(pollution,
eutrofication,tourism,nauticaltourism,coastal
dlt
ilt
t
)
d
f
th
itifid
d
eve
l
opmen
t
,mar
i
cu
lt
ure,e
t
c.
)

nee
d
f
or
th
e
i
n
t
ens
ifi
e
d
monitoringofecologicalandbiologicalchangesthattake
place
in
the
sub
sea
and
coastal
zone
place
in
the
sub

sea
and
coastal
zone
.
Withoutunderwatersystemsandtechnologiesitwillnot
b
ibl!
12
b
eposs
ibl
e
!
Overview
LUST
Sites and challengesSites and challenges
Sites and challenges
Sites and challenges
14
The concept of “deep sea”The concept of “deep sea”
Industry community point of viewScientific community point of view
Definition“Deep sea” means 1000 to 2000 m
“Ultra-deep sea” means 2000 to 3000
m
“Deep sea”means up to 6000 m,in order
to cover the major area of interest(95% of
ocean
depths
)
m
ocean

depths
)
“Ultradeepsea” is below6000 m
Motivations
Deep sea activities are driven by
ilft(ililitil
Studyand comprehension of basic local
(ill)dlblh
econom
i
ca
l

f
ac
t
ors
(
o
il
pr
i
ce, po
liti
ca
l

and strategical factors)
(
reg
i
ona
l
sca
l
e
)
an
d
g
l
o
b
a
l
p
h
enomena
(large/earth scale, such as global climate
change, earthquakes, volcanoes,
tsunami
s
)
tsunami
s
)
Fields of
itt
Basically only oil industry and cable
itii
Many disciplines interested in deep sea
(hilhhil
i
n
t
eres
t
commun
i
ca
ti
on compan
i
es are
involved in deep sea activities.
Ocean mining and waste disposal
tiititlitd
b
(
p
h
ys
i
ca
l
oceanograp
h
y, c
h
em
i
ca
l

oceanography, biology, seismics,
geophysics, etc.) each with different
approachesandrequirementsrelevantto
ac
ti
v
iti
es presen
tl
y
i
n s
t
an
d
-
b
y
approaches

and

requirements

relevant

to

observation and acquisition methods.
ContentContentofofthethepresentationpresentation
1.Underwaterrobotics
2.Why underwater systems and technologies is 
important?
important
?
?
3.Market drivers for underwater robotics
4.Offshore industry as a main market driver
5
Mkfdhl
5
.
M
ar
k
et prospects 
f
or un
d
ersea tec
h
no
l
ogy
6.
Laboratoryforunderwatersystemsand
6.
Laboratory
 
for
?
underwater
?
systems
?
and
?
technologies
7
Fttdibti
15
7
.
F
u
t
ure 
t
ren
d

i
n su
b
sea opera
ti
ons 
MarketMarketdriversdrivers
•Offshore en
g
ineerin
g
gg
•Maritime Security
Clit
h

Cli
ma
t
e c
h
ange
•Marine biolo
gy
/ ecolo
gy
gygy
•Hydrographic and oceanographic
research
research
•Technological developments in other
fields
fields
•Robotics, communications, control, ...
•.....
ContentContentofofthethepresentationpresentation
1.Underwaterrobotics
2.Why underwater systems and technologies is 
important?
important
?
?
3.Market drivers for underwater robotics
4.Offshore industry as a main market driver
5
Mkfdhl
5
.
M
ar
k
et prospects 
f
or un
d
ersea tec
h
no
l
ogy
6.
Laboratoryforunderwatersystemsand
6.
Laboratory
 
for
?
underwater
?
systems
?
and
?
technologies
7
Fttdibti
17
7
.
F
u
t
ure 
t
ren
d

i
n su
b
sea opera
ti
ons 
TThe only humanhe only human--made infrastructures at deep seabed, designed made infrastructures at deep seabed, designed
and capable to operate for periods of 20 years, are production and capable to operate for periods of 20 years, are production
platforms and subsea production systems (wellheads, manifolds etcplatforms and subsea production systems (wellheads, manifolds etc..))
Floating Production Systems
Fixed Platforms
Offshore ComponentsOffshore Components
Pumps
MANIFOLD
Flli
Pumps
Fl
ow
li
nes
Valves
Cbl
/
bilil
C
a
bl
es
/
um
bili
ca
l
s
WELLHEADS
19
19
20
GirassolGirassolooffshoreffshoreoil oil field
field
Girassol
(West Africa, 1350 m),
World largestdeep
offshore oil field
Fielddimensions:
14 x 10 kilometers
Developmentplan:
39 subseawells, including
23
p
roducers,
p
45kilometerso
f
flowlines, 29kilometers
ofinjectionlinesand
70
kilometers
of
70
kilometers
of
umbilicals
Peakproduction:
200000
barrels
per
day
200
,
000
barrels
per

day
The IRM problemThe IRM problem
(InterventionRepairMonitoring)(InterventionRepairMonitoring)
(Intervention

Repair

Monitoring)(Intervention

Repair

Monitoring)
Maintenance of subsea infrastructures involves:

periodic inspections of the
hardware
periodic inspections of the
hardware
•occasional interventions (like valve actuation,
welding, ...)
•occasional repairs (that may include replacement of
components)
To accomplish thesetasks an operator must be able to
view the conditions of the hardware and physically
view the conditions of the hardware and physically
interact with it in non-predetermined way depending on
what is observed
Normal method of accomplishing these tasks is with:

Divers in shallow waters (<150 m depths)

Divers in shallow waters (<150 m depths)
•ROVs in the whole depth ranges
OffshoreOffshoreinfrastructureinfrastructure––
Worldwide,aWorldwide,a
massive
massive
aging
aging
offshore
offshore
infrastructure
infrastructure
Worldwide,
 
a
?
Worldwide,
?
a
?
massive
massive
aging
aging
offshore
offshore
infrastructure
infrastructure
•6,000 fixedplatforms

175
floating
platforms
175
 
floating
platforms
•175,000 km subseapipelines
•2,300 sub‐seawells

650
offshore
drilling
rigs
650
 
offshore
drilling
rigs

g
rowin
g
maintenance
p
roblem!!
gg
p
(10%
of
North
Sea
wells
shut
in
for
maintenance
on
grounds
of
23
(10%
 
of
North
?
Sea
wells
?
shut
?r
in
for
?
maintenance
on
?
grounds
of
structuralintegrityoverthepast 5 years)
ContentContentofofthethepresentationpresentation
1.Underwaterrobotics
2.Why underwater systems and technologies is 
important?
important
?
?
3.Market drivers for underwater robotics
4.Offshore industry as a main market driver
5
Mkfdhl
5
.
M
ar
k
et prospects 
f
or un
d
ersea tec
h
no
l
ogy
6.
Laboratoryforunderwatersystemsand
6.
Laboratory
 
for
?
underwater
?
systems
?
and
?
technologies
7
Fttdibti
24
7
.
F
u
t
ure 
t
ren
d

i
n su
b
sea opera
ti
ons 
The World Subsea Vessel Operations The World Subsea Vessel Operations 
Market2011Market2011
?r
?r
2015
2015
by
by
Douglas
Douglas
?r
?r
Westwood
Westwood
•Strongrecovery in vessel demand
is expected. 
Market
 
2011Market
?
2011
2015
2015
by
by
Douglas
Douglas
Westwood
?
Westwood
?
•Expenditureis set to grow 52%, totaling $72bn 
between 2011 and 2015.
•Projecttimetables are accelerating as confidence 
returns to the industr
y,
 with a shift to lar
g
er and more 
y,g
complex deep water projects
.

Projectsareincreasingly
capitalintensive
:benefitting
Projects
 
are
?
increasingly
?
capital
?
intensive
:
?
benefitting
?
offshore contractors with the capability and expertise 
to 
p
rovide dee
p
water services 
pp
•Global demand for subsea vessels is expected to climb 
beyond310,000daysfortheforecastperiod2011
?r
25
beyond
 
310,000
?
days
?
for
?
the
?
forecast
?
period
?
2011
2015 –a 28% increase 
on the previous five years 
TheTheWorld AUV World AUV Market
MarketProspectsProspectsfor 2010for 2010‐
‐2019
2019
(
(
includes
includesoil&
g
as
,
 oil&
g
as
,
 research
researchandandmilitar
y
militar
y
a
pp
licationsa
pp
lications
)
)
•A $2,3 billionmarket
(
(
g,
g,
y
y
pp
pp
)
)
•Inthemost likelyscenariotheforecastgivesthata 
1,144 AUVsare requiredoverthenextdecade–
comprisingof:
•394 large
•285 medium
•463 smallunits
Thiswouldresultina total marketvalueof
$
bll
f
hh
d
hlf
ll
$
2,3 
b
i
ll
iono
f
w
h
ic
h
aroun
d
h
a
lf
 wi
ll
come
fromthemilitarysectorexpenditure.
26
TheTheWorld ROV World ROV Market
MarketProspectsProspectsfor 2010for 2010‐
‐2014
2014
(
(
includes
includesoil&
g
as
,
 oil&
g
as
,
 research
researchandandmilitar
y
militar
y
a
pp
licationsa
pp
lications
)
)
(
(
g,
g,
y
y
pp
pp
)
)
•In2014 theROV marketis forecastedto $3,2 
billion
billion
•In2009 expenditureson ROV serviceson the
lbl
k
fk
l
dfd
g
l
o
b
a
l
 mar
k
et
f
or wor
k
‐c
l
assROVsis i
d
enti
f
ie
d
to $1,7 billion.
•Inthemost likelyscenariotheforecastgives
that
a550newwork

class
ROVs
will
be
that
a
?
550
?
new
?
work
class
ROVs
will
be
needed, 
27
ROVsROVsWorld TOTAL World TOTAL –

Global
Global
expenditure
expenditure
2010
2010


2014
2014
Global
?
Global
?
expenditure
expenditure
2010
2010
2014
2014
ContentContentofofthethepresentationpresentation
1.Underwaterrobotics
2.Why underwater systems and technologies is 
important?
important
?
?
3.Market drivers for underwater robotics
4.Offshore industry as a main market driver
5
Mkfdhl
5
.
M
ar
k
et prospects 
f
or un
d
ersea tec
h
no
l
ogy
6.
Laboratoryforunderwatersystemsand
6.
Laboratory
 
for
?
underwater
?
systems
?
and
?
technologies
7
Fttdibti
29
7
.
F
u
t
ure 
t
ren
d

i
n su
b
sea opera
ti
ons 
Laboratory for Underwater Systems and Technologies
FER‐ARI
LABUST
LABUST
Unska 3
ZbCti
30
Z
agre
b

C
roa
ti
a
LaboratoryLaboratorypersonnelpersonnel
Prof.ZoranVukićMatkoBarišić
Dr.sc
.
BrunoBorovićDoc.NikolaMišković
Prof.

Zoran

Vukić
††††
䵡瑫M

䉡物驩ć
††††
䑲⹳.
.

䉲畮B

䉯牯癩ć
††
䑯挮乩歯污

䵩驫潶Mć

http://labust.fer.hr/~zvukic
http //labust.fer.hr/~mbarisic
http //labust.fer.hr/~bborovic 
http://labust.fer.hr/~nmiskovic
ĐulaNađMrscAntonioVasilijevićTomislavLugarić
31
Đula

Nađ
††††††††††

.


䅮瑯湩A

Va獩汩橥癩ć
†††††
呯mislav

䱵条物ć
http ://labust.fer.hr/~dnad
http://labust.fer.hr/~zvasilijevic
http://labust.fer.hr/~tlugaric
Laboratory for Underwater Systems and TechnologiesLaboratory for Underwater Systems and Technologies
(
LABUST
)(
LABUST
)
LABUST –the only R&D laboratory of its kind in Croatia andWB!
LABUSTgoals
:
()
()
LABUST
 
goals
:
•R & D 
of underwater systems and  technologies 
Edi
ihdifiiiddlf

Ed
ucat
i
on
i
n t
h

d
oma
i
n o
f
 nav
i
gat
i
on, gu
id
ance an
d
 contro
l
 o
f
 
unmanned marine vessels (surface and underwater),

Cooperation
in
interdisciplinary
and
multidisciplinary
domains
for

Cooperation
in
interdisciplinary
and
 
multidisciplinary
domains
for
?
the purpose ofimprovingunderwatersystems and technologies,

Promotionofhightechnology
insustainabledevelopmentand

Promotion
 
of
?
high
?
technology
?
in
?
sustainable
?
development
?
and
?
exploitation of the sea, sub‐sea, rivers, lakes, technicalwaters, ….
•Protection
,
 
p
reservationandsecurit
y
o
f
environment
,
 cultural
,
p
y
,
heritage, fishand biological variety, portsand waterways using 
high technology

Development
ofUUVsforspecificapplications
32
Development
of
 
UUVs
?
for
?
specific
?
applications
Autopilots
(course&track
-
keeping)
Enhancedreality
Identification
Research topics
(course

&

track
-
keeping)
Enhanced

reality
Command
Underwater
technology
Command
,
Communication
Guidance & Control
Udt
U
n
d
erwa
t
er
navigation
Design
Cooperative
control
Applied mathematical &
physical modelling
Adaptive &
Robust control
Fault tolerant control
Sonars &hydroacoustics
Reconfigurable
control
MissionsMissions


inspectionofhydroinspectionofhydro


powerplantsdamsinCroatia,powerplantsdamsinCroatia,
inspection
?
of
?
hydroinspection
?
of
?
hydro
power
?
plants
?
dams
?
in
?
Croatia,
?
power
?
plants
?
dams
?
in
?
Croatia,
?
Slovenia and Bosnia and Herzegovina (jointly with Slovenia and Bosnia and Herzegovina (jointly with 
Brodarski institute); Brodarski institute); 

•inspection for unexploded ordnance (port of Gružinspection for unexploded ordnance (port of Gruž‐

Dubrovnik);
Dubrovnik);
Dubrovnik);
?
Dubrovnik);
?
••search and rescue missions; search and rescue missions; 

•missions for marine biology/ecology; missions for marine biology/ecology; 
••missions for missions for underwater
underwaterarchaeolo
gy
archaeolo
gy
gy
gy
h//fh
h//fh
34
more at more at 
h
ttp:
//
cure.
f
er.
h
r
h
ttp:
//
cure.
f
er.
h
r
Concept of Concept of LABUST activitiesLABUST activities
Underwater systems & technologies must adjust to the
presentandpossiblefutureapplications
present

and

possible

future

applications
35
LABUST LABUST membership
membershipin NoEin NoE

2007

2009

lightassociation

memberoftheEU
2007
2009
  
light
?
association
?
member
?
of
?
the
?
EU
?
Network of Excellence Hybrid Control : Taming 
Hetero
g
eneit
y
 and Com
p
lexit
y
 of Networked 
gypy
Embedded Systems 

HYCON (http://www.ist‐
hycon.org/
)
•From 2011 “level 2” member of the EU Network of 
Excellence Hybrid Control : Taming Heterogeneity 
and Complexity –Highly Complex and Networked 
Control Systems 

HYCON2 
(http://www.hycon2.eu/
)
36
LABUST equipmentLABUST equipment
ROVs
Pro3XEGTO
Seamor 300F
VideoRayProII
Pro

3

XE

GTO
VideoRay

Pro

II
37
AUV Iver2 (by OceanServer Technoogy)AUV Iver2 (by OceanServer Technoogy)
SensorsSensors
Minos CTD sonde
(Applied Microsystems)
Micro modem
(Tritech)
MicroNav
(Tritech)
LYYN T-38
(Tritech)
Chlorofil
C6 Optical sonde
(Turne r Design)
DVL
(LinkQuest)
Chlorofil
Turbidity,
Fluorescen
Rodamin, ...
39
BlueView DF900/2250
LABUST active research projectsLABUST active research projects
CURE –Developing Croatian Underwater Robotics Research Potential (FP7 REGPOT 
p
ro
j
ect for 2009‐2012
)
 

coordinator: Z. Vukić
,
?UNIZG‐FER
pj
)
,
Systems and technologies in sub‐sea, coastal zone protection and maritime security 
(ProgrambyCroatianMZOŠ2007
?r
2010)

coordinator:ZVukićUNIZG
?r
FER
(Program
?
by
?
Croatian
?
MZOŠ
?
2007
?r
2010)
?

coordinator:
?
Z

Vukić

UNIZG
?r
FER
•RoboMarSec‐Underwater Robotics in sub‐sea protection and maritime security 
(coordinator: Z. Vukić, UNIZG‐FER) –ended in 2011.
•Development and application of nuclear analytical methods (coordinator: J. 
Obhođaš, IRB, Zagreb) ‐active

Developmentofmethodsforthecontrolofthreatmaterialtrafficking
Development
 
of
?
methods
?
for
?
the
?
control
?
of
?
threat
?
material
?
trafficking
?
(coordinator: D. Matika, IRB‐IROS, Zagreb) ‐active
•Research of threatened marine habitats in the coastal submerged karst of Croatia 
(coordinator:TBakran
?r
PetricioliUNIZG)
?r
active
(coordinator:
?
T

Bakran
?r
Petricioli

UNIZG)
?
?r
active
•Monitoring and ecology of benthic communities of the Croatian Adriatic 
(coordinator: S. Schultz, UNIZAD) ‐active
40
Analysis of new potentialities in the synergic management of different underwater 
robotic devices (Italy –Croatia cooperative research project) –ended in 2011
FP7 EU project CUREFP7 EU project CURE
http://cure.fer.hr
http://cure.fer.hr
http://cure.fer.hr
http://cure.fer.hr
“Developing Croatian Underwater Robotics Research Potential”
Acronym:CURE
Acronym:
 
CURE
Project type: FP7 Support Action
dh(l
t
l
t
)
Project 
d
uration: 36 mont
h

(
Apri
l
 1s
t
2009 

Apri
l
 1s
t
2012
)
Project coordinator: Z. Vukić
No. of partners: 1 UNIZG‐FER
No. of foreign experts from abroad: 5 
No. of domestic experts: 5 
EUfinancialsupport
~
949000EUR

a
EU
?
financial
?
support
??
949
?
000
?
EUR
a
For new equipment: ~300 000 EUR‐a
Employment:5researchers(onefromabroad)
41
Employment:
 
5
?
researchers
?
(one
?
from
?
abroad)
Specializations: 4 by 3 months 
Cooperation with NATO Undersea Research Centre Cooperation with NATO Undersea Research Centre –

Autonomous Naval MCM Neutralization S
y
stemAutonomous Naval MCM Neutralization S
y
stem
y
y
Perform maritime mine neutralization more efficiently
andcost
-
effectivelyusingasystemofcooperative
and

cost
effectively

using

a

system

of

cooperative

autonomous vehicles
The master/slave type of collaboration between the highly
capable ASV or AUV and a low-cost
A
UV, hence less
capable, mine intervention vehicle
VehiclesVehicles
43
MCM mission scenarioMCM mission scenario
AUV
ASV
ASV
Multibeam
sonar
44
MCM mission scenarioMCM mission scenario
45
MCM mission scenarioMCM mission scenario
46
MCM mission scenarioMCM mission scenario
47
MCM mission scenarioMCM mission scenario
48
MCM mission scenarioMCM mission scenario
49
LABUST new research project LABUST new research project 
CART 

Cooperative Autonomous Robotic Towing system (FP7 Research for SMEs. 
Duration 21 months. Start: 01.11.2011) –Coordinator: Posidonia SRL, Genova, Italy 
RTD Partners:  CNR‐ISSIA
,
 Genova
;
 UNIZG‐FER‐LABUST
,
 Za
g
reb
;
 DetNorske VeritasAS
,
 Hovik
,
 Norwa
y
,;
,g;
,,y
SMEs: PKL AS, Tallin, Estonia; SRS Mecano Instalatie SRL, Bucarest, Romania
50
ContentContentofofthethepresentationpresentation
1.Underwaterrobotics
2.Why underwater systems and technologies is 
important?
important
?
?
3.Market drivers for underwater robotics
4.Offshore industry as a main market driver
5
Mkfdhl
5
.
M
ar
k
et prospects 
f
or un
d
ersea tec
h
no
l
ogy
6.
Laboratoryforunderwatersystemsand
6.
Laboratory
 
for
?
underwater
?
systems
?
and
?
technologies
7
Fttdibti
51
7
.
F
u
t
ure 
t
ren
d

i
n su
b
sea opera
ti
ons 
Change of the conceptChange of the concept
Miitd
Miitd
Miit
Miit
Mi
ss
i
ons
t
o
d
ay
Mi
ss
i
ons
t
o
d
ay
Mi
ss
i
ons
t
ommorow
Mi
ss
i
ons
t
ommorow
AUV AUV –
–futurefuture
•Typical endurance of commercially operated AUVs is up to 
50 hours; it will continue to increase as energy storage 
technology improves(US Navy goal: 70 days autonomy)
•This will allow also for higher speeds, additional sensors 
and better lighting for underwater video/photography
•AUV costs will trend downward

HoweverlowcostAUVs(likelowcostROVs)willhave

However
 
low
?
cost
?
AUVs
?
(like
?
low
?
cost
?
ROVs)
?
will
?
have
?
commensurate limitations in their capabilities
UfltilAUViltlillbtil

U
se o
f
 mu
lti
p
l

AUV
s s
i
mu
lt
aneous
l
y w
ill
 
b
ecome prac
ti
ca
l
 
where projects are significant enough in size to justify the 
increasedinvestment
53
53
increased
 
investment
AUV AUV 


key technological requirements for key technological requirements for 
subsea interventionsubsea intervention
•Real‐time data at the surface
. Present acoustic modems allow for 
subsampling
ofdatabatchesTheidealwouldbe
real
timeacoustic
subsampling
of
?
data
?
batches

The
?
ideal
?
would
?
be
?
real
?r
time
?
acoustic
?
command and control


Power
.Tooperatetools
!
Power
.
 
To
?
operate
?
tools
!
•Ability to hover
. This is especially important for riser and mooring 
inspection. 
•Physical interaction 
with the working environment
•Tool design (electrical tools, minimize power, size and complexity)
•Launch and recovery
. Most existing systems are satisfactory but 
there is still work to be done at the sea/air interface. 
•Size
of systems. If an AUV system is to be retrofitted on an offshore 
facility it would need to be no larger than the existing ROV package

Layoutanddesignofsubseafacilities
54

Layout
 
and
?
design
?
of
?
subsea
?
facilities
Towards an interventionTowards an intervention‐
‐class AUVclass AUV

PresentAUVconcept(survey
-
class)cannot

Present

AUV

concept

(survey
-
class)

cannot

have a role in IRM activities
•To make AUV suitable to carry out intervention
tasksonsubseafacilitiesitisnecessaryto
tasks

on

subsea

facilities

it

is

necessary

to
a)
CombineROVandAUVcapabilities(hybrid
a)
Combine

ROV

and

AUV

capabilities

(hybrid

AUV)
b)
Developacompletelynewconfigurationof
b)
Develop

a

completely

new

configuration

of

AUV, different from the survey-class AUV:
theintervention(orworkclass)AUV
the

intervention

(or

work

class)

AUV
Intervention AUVIntervention AUV(I(I‐
‐AUV)
AUV)
Amulti-purpose AUV

fitted with manipulators
fitted with manipulators
•operated in acustically-supervised mode
•able to dock to the infrastructure and interact
with it
ALIVE (Ifremer)
New trends New trends ‐‐Importance of NetImportance of Net‐
‐Centric SystemsCentric Systems
•We are increasingly a networked society:
Gt

G
overnmen
t
–Industry
–Individuals
–Education
–Medicine
–.....
•We are increasingly dependent on thesenetworks.

Networksareeverywhere(wireswireless)

Networks
 
are
?
everywhere
?
(wires

wireless)
•Networking changes the way how we operate
•Interdisciplinarity and multidisciplinarity becomes 
primary 
57
57
•Cooperation is a necessity 
Future Future underwater underwater systems/requirements
systems/requirements
Today:
point‐to‐point acoustic linkswithoutcooperativebehaviour
Future:
autonomous networks withcognition
Examples of future networks:
dhdlbltk

a
d

h
oc
d
ep
l
oya
bl
e sensor ne
t
wor
k
s
–autonomous fleets of cooperatingAUVs
•Types of nodes:
–fixed, slowly moving, mobile
sensorsrelasgateas

sensors
,
rela
y
s
,
gate
w
a
y
s
•Types of signals, system requirements:
–low/high rate (~100 bps-100kbps)
real
time/nonreal
time

real
-
time/non

real
-
time
–high/moderate reliability
•Configurations:

standalone
stand

alone
–Integrated
Research
l
D
t
vesse
l
Research
vessel
D
eepwa
t
er
drillingvessel
Longdistance
O
ffshoresurvey
Intelligentbuoy
Collaborating
AUVs
Maintenance
Seabedtopographic
surveywithsonar
Repair
Anchorfromthe16th centuryshipwreck