HullBug: Autonomous Hull Grooming · autonomy however, the hull cleaning robot has immense...

HullBug: Autonomous Hull Grooming

Student Name(s): Gregoire Caubel and Anthony DonatelliMentor Name(s): Prof. Brendan Englot

HOMELAND SECURITY CHALLENGE

APPROACH / METHODOLOGY

OUTCOMES / RESULTS

CONCLUSION

ACKNOWLEDGEMENTS

This material is based upon work supported by the U.S. Department of Homeland Security under Cooperative Agreement No. 2014-ST-061-ML0001. The viewsand conclusions contained in this document are those of the authors and should not be interpreted as necessarily representing the official policies, eitherexpressed or implied, of the U.S. Department of Homeland Security.

Theresearchperformedduringthe2018SummerResearchInstituteleveragesaStevensInstituteofTechnologyprojectbeingconductedincollaborationwithSeaRobotics.ThegoaloftheprojectwastodetermineasuiteofsensorswithwhichtheHullBug,anunmannedunderwatervehicle,canbeadaptedforenhancedautonomyandshiphullgroomingcapabilities.Currentlyavailableonthemarket,theHullBug isusedforremovingbiofoulingfromthehullsofships.Withenhancedautonomyhowever,thehullcleaningrobothasimmensepotentialtodrasticallyreducethefuelconsumptionandcarbonemissionsoftheU.S.military’sfleetofvessels(e.g.,Navy,CoastGuard),aswellasthosefortheprivatemaritimeindustry(e.g.,cargoships,cruiseships).

ThesensorsreviewedbythestudentteamwerechoseninconjunctionwithSeaRobotics foravarietyofreasons,includingsize,cost,andtheirgivenperformance.Decisionstoimplementthesensorsweremadeusingastate-spacerepresentationoftheHullBug todeterminetheoverallrandomwalkthattherobotwouldexperiencebasedonthedriftratesofitssensors,aswellasfromathoroughreviewofpeerreviewedresearchpapersonautonomousrobotics.

- Matlab simulationbasedoffstate-spacemodelofgenericdifferentialdriverobot,usingrandomizedinputvectortosimulationdriftfromdeadreckonsensors.- Matlab Simulationshowsthatover150m(10minofoperation)therobotdrifts

only2m(~1.3%offdesiredpath.Thisresultvalidatesthesensorsuitechoices,thenextstepistodorealworldtestingoftheHullBugwiththeaforementionedsensorsuite.

- ThelawnmowerpathsimulationonleftisthecharacteristicmotionfortheHullBug.Afternumeroussimulations,itwasshownthattheHullbug onlydeviatedfromitsfinaldestinationbylessthan2moneach200msimulation

Figures1,2,&3(DriftofHullBugunderstraightlinedmotion,autoscaleandforcedscaling)(DriftofHullBugalongLawnmowerbath)ALLFIGURESDEPICTMULTIPLESIMULATIONSONSAMEPLOT

TobestdeterminehowtoconverttheHullBugintoafullyautonomoustoolweusedthefollowingapproach- MarketResearchonCOTSsensors- Academicresearchtofindjustificationforourchoices- ComputerSimulations

SensorSuite:- Oculus750dMultibeamSonar(TopLeft)

- LowPriceforHighResolution- ExperienceusingitonBlueROV Project,Alreadyprovenitsability

- SmallSizeandLightweight- KVH1750FiberOpticGyro(BottomMiddle)

- SingleAxisforHeading- SmallSizeandLightweight- .05deg/hr drift

- NortekDVL1000(BottomLeft)- SmallSizeandLightweight- .2mStandoff,oneoftheonlyavailableonmarket

ThisPHASEIpaperstudycompletedduringthe2018MSCSRI,determinedthedeadreckoningsensorsnecessarytogivetheHullBugfullyautonomoushullgroomingcapabilities.Thesensorchoiceswerethenvalidatedusingastate-spaceMATLABmodeltodemonstratetheiraccuracyand projectreliability.Thenextstepsforthisresearchistopreformrealworldtesting,aswellasimplementingfeaturerecognitionsoftwareusingthe MultibeamsonartofullyequiptheHullbug withnavigationcapabilities.

Thisresearchwascompletedduringthe2018MaritimeSecurityCenter’sSRI,hostedbyStevensInstitue ofTechnology.SpecialthankstoProfessorEnglot,BethDeFares,ProfessorBunin,andtheTeamatSeaRobotics.