Upload
doque
View
223
Download
4
Embed Size (px)
Citation preview
1Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Autonomous marine operations and systems
in the ArcticProfessor Asgeir J. Sørensen,
Department of Marine Technology, Norwegian University of Science and Technology,
Otto Nielsens Vei 10, NO-7491 Trondheim, NorwayE-mail: [email protected]
2Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
• Technology platforms for integrated environmental mapping and monitoring
• Laboratories for unmanned systems• AMOS research areas on unmanned systems
Content
3Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Integrated Environmental Mapping and Monitoring
Ingunn Nilssen et al.
4Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Stationary platforms
AUVs
Satellites
Ships
Spatial and temporal resolution and coverage of different platforms
Gliders
ROVs
5Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Lander Characteristics
http://www.metas.no/
Instrument platform either standing on the seafloor (lander), or suspended in the water column moored to the seafloor or tethered to floating device at the surface
Offline or accessible via cable or satellite/radio communication
Unlimited depth range
6Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
ROV Characteristics Main components: vehicle, umbilical
and control stations Delivered in different sizes, depth and
thrust ratings, functionality, manipulator and sensors
Power supply and communication by umbilical
Navigation by means of acoustics, INS, DVL
ROV is normally launched from crane on ship with station keeping capability by anchors or dynamic positioning (DP) system
7Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
AUV Characteristics Main components: vehicle,
control station, acoustic navigation and for bigger AUVs launch and recovery system
Delivered in different sizes, depth and thrust ratings, functionality, and sensors
Carries its own power supply Operates supervised or
autonomously with limited communication ability
Limited access to AUVs with manipulator capabilities doing light intervention and sampling
8Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Glider Characteristics• Long operational range• Slow speed operation – 0.4
m/s average.• Operation typical 15-30 days
covering 600-1500 km range• Less navigation and control
capabilities of the vehicle• May divide into small gliders
(0-100 m depth) and large gliders (0-1000m).
• Deployed from boats and quayside
• Used for oceanographic surveys
• Buoyancy driven propulsion by variable ballasting of water
9Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
• Technology platforms for integrated environmental mapping and monitoring
• Laboratories for unmanned systems• AMOS research areas on unmanned systems
Content
10Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
NTNU AUR-Lab and UAV-Lab: Integrated technology platform for ocean space research
Air:Penguin B fixed-wing UAVX8 fixed-wing UAVHexa-copters
Water column and sea floor:ROV MinervaROV 30kROV SEABOTIXAUV Remus 100HUGIN HUS
Sea surface:Ships - Gunnerus
ROV Minerva
AUV REMUS 100 at Svalbard
Photo: NTNU AUR-Lab
Photo: NTNU AUR-Lab
Photo: NTNU AUR-Lab
Photo: NTNU UAV Lab
11Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amosPhoto: NTNU AUR-Lab
NTNUApplied Underwater Robotics Laboratory
AUR-Lab
12Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
NTNU Research Vessel Gunnerus
NTNU's research vessel, R/V Gunnerus, was put into operation in spring 2006. The ship is fitted with a dynamic positioning system and a HiPAP 500 unit, optimal for ROV operations and the positioning of any deployed equipment.
The vessel is arranged with wet lab, dry lab and a computer lab in addition to a large aft deck.
Accommodation comprise three double berth scientific personnel cabins and three single berth crew cabins. The large mess hall functions as a lecture room for 25 people.
13Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
ROV Minerva
• Observation class– ~400 kg– 3CCD camera– 3 ”regular” ROV-camera– 5-function manipulator– 1-functions manipulator– Scanning sonar– Altimeter– ~600 meter cabel on
winch (fiber)– HiPAP and DVL for
positioning– Control container
14Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
- HD 1080i camera (HD SDI or HDMI)- External LED lights- SD Camera (520 line Wide Dynamic Range color - 0.1 Lux)- Tritech Micron Scanning Sonar (75 meters range)- 150 m umbilical
Depth Rating 200 Meters (Seawater) Length 530 mm Width 245 mm Height 254 mm Diagonal 353 mm Weight in Air 11 kg
SEABOTIX LBV – 200-4
15Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos 15
AUV REMUS 100
• Marine Sonics 900 kHz Side Scan sonar
• Teledyne RDI 1.2 MHz up/down DVL/ADCP
• Wet Labs ECO Triplet puck
• Aanderra Dissolved Oxygen Optode
• Neil Brown CT sensor
• LBL navigation system
• Imagenex Delta T multibeamechosounder
Navigation:Inertial NavigationGPS/HiPAP (tracking, aiding)
Communications:Acoustic modem, Wi-Fi, Iridium
REMUS support from Horten
REMUS training in Horten
16Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Hugin HUS collaboration
• National collaboration lead by FFI– FFI– UiB/HI– NTNU– Kongsberg Maritime
17Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
« Wet Dream »NTNU Subsea Centre
for Education, Research, and Innovation
Photo: NTNU AUR-Lab
18Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Harbour
Located at TBS• Truck• Crane• LBL network• Containers
19Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Proposal: NTNU Subsea Center at Trondhjem Biological Station
• Workshop• Quay• Water depth
120m
20Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
NTNU Subsea Centre
21www.ntnu.edu/amos Centre for Autonomous Marine Operations and Systems
Unmanned Aerial Vehicle (UAV)Laboratory and Research
Professors Tor A. Johansen and Thor I. FossenDepartment of Engineering Cybernetics
22www.ntnu.edu/amos Centre for Autonomous Marine Operations and Systems
Main Goals
We intend to enable autonomous marine operations with Unmanned Aerial Systems (UAS)
• Fault‐tolerant control, navigation and communication for BLOS operations• Harsh environment; anti‐icing systems• Autonomous ship‐based launch and recovery• Onboard intelligence – cannot assume high‐quality communication:
Real‐time image and sensor data analysis, remote sensing, search and tracking• Delay‐tolerant communication relaying and networking;
Heterogeneous multi‐vehicle BLOS operations• UAS‐assisted deployment and recovery of sensor nodes and other assets
Maritime and Coastal UAS Scenarios• Large distances (100’s km) and long endurance (>8 hours) BLOS operations• Very limited communication infrastructure in many areas (including arctic regions); satellite
systems with small footprint are generally sparse, unreliable, expensive, and low capacity.• Low risk for incidens involving third parties; little air/surface traffic, sparsely or not populated
IEEE 802.11b/g (WiFi) node; 2.4 GHz
UbiquityUniFi AP‐OUTDOOR+Access Point(2.4 GHz)
UbiquityAirMax Rocket M5 Station/Bridge(5.8 GHz)
UbiquityAirMax Rocket M5 Access Point / Bridge (5.8 GHz)
Router with DHCP server
PC with AUV command and control software
Networked operation with aerial, surface and underwater vehicles
Example: UAV for communication relaying
Remus 100 AUV (Autonomous Underwater Vehicle)
X8 UAVOnshore command and control center
25Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
• Technology platforms for integrated environmental mapping and monitoring
• Laboratories for unmanned systems• AMOS research areas on unmanned systems
Content
26Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
2013-2022
Centre for Autonomous Marine
Operations and Systems
2014-11-21
27Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Shipping
Offshore renewable energy
Ocean Science
Oil & gas in deeper water…
…. and in Arctic areas
SUPER CLUSTER
Ocean Industry
Aquaculture and biological production
Marine mining
Fisheries
28Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Vision• To establish a world-leading research centre on autonomous marine
operations and systems• Fundamental knowledge is created through multidisciplinary
theoretical, numerical and experimental research within the knowledge fields of hydrodynamics, structural mechanics, guidance, navigation and control.
• Cutting-edge interdisciplinary research will provide the needed bridge to make autonomy a reality for ships and ocean structures, unmanned vehicles and marine operations, to meet the challenges related to greener and safer maritime transport, monitoring and surveillance of the seas and oceans, offshore renewable energy, and oil and gas exploration and production in deeper and Arctic waters.
The Centre of Excellence (CoE) will contribute to improved international competitiveness of Norwegian industries as well as to safety and protection of the marine environment.
29Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Greener operations
Offshore renewable
energy
Autonomous surveillance
Oil & gas in deeper water…
…. and in Arctic areas
Centre for Autonomous Marine
Operations and Systems
Hydrodynamics andStructural Mechanics
Guidance, Navigation and Control
Experiments
Knowledge fields &research methods
Interdisciplinary researchareas &
challenges
AMOS
Next step in research, education and innovation
Open water biological
production
30Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
AMOS Facts and Figures 2014Personnel in 2014:6 Key scientists/professors6 Adjunct professor9 Affiliated scientists2 Scientific advisors/professors4 Post Docs/researchers53 PhD candidates (target: 100)2 administrative staff
Graduated PhDs:5 PhDs graduated from associated AMOS projects (3 IMT and 2 ITK)
Partners:NTNU, Research Council of Norway, Statoil, DNV GL, MARINTEK, SINTEF Fisheries and Aquaculture, SINTEF ICT
Budget (10 years):700+ MNOK
31Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Department of Marine Technology
NTNU
Engineering Scienceand Technology
Centre for Autonomous Marine Operations and Systems (AMOS)
Information Technology, Mathematics and Electrical Engineering
Department of Engineering Cybernetics
SINTEF Fisheries and Aquaculture
SINTEF ICT
Statoil DNV GL
AMOS
MARINTEK
SINTEF
RCN
32Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
1. Autonomous offshore renewable energy2. Offshore aquaculture 3. Autonomous unmanned vehicles and
operations4. Smarter, safer and greener marine vessels
and operations
Research Areas
33Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Why autonomy?
Enables operations in complex, harsh and remoteenvironment (Dull/Dirty/Dangerous Operations)
Enables complex functionality; provides fault tolerance and robustness
Qualified operators may be a shortage
Unmanned systems may be smaller, lighter, cheaper and safer to deploy and operate
Unique (or cheaper) solution when no (or limited) communication is available (bandwidth, remoteness)
Mandatory for new functions
Smarter systems that depend less on human operators
34Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Autonomy: definition(s)
To avoid a prolonged debate over how much “intelligence” isrequired for a vehicle to be considered “autonomous,” the committeeelected to include within the scope of this report all relevant vehiclesthat do not have a human onboard.(Autonomous Vehicles in Support of Naval Operations Committee onAutonomous Vehicles in Support of Naval Operations, National ResearchCouncil, 2005)
Intelligent systems due to their ability to manage unexpected eventsand unstructured and uncertain environments. […] this meansintegrating mathematical models with real-time data from sensorsand instruments and allowing algorithms with optimized response tobe designed and embedded in computer systems(AMOS Centre of Excellence research Proposal, 2012).
35Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
AUTONOMOUS ROVER Curiosity• Highly unknown environment (Mars);
• Has to be highly reliable;
• Has to learn and adapt from the environment to perform its tasks
• The planning cannot be done beforehand due to the unknown.
Automatic VS Autonomous
AUTOMATIC systems• Can perform well-defined tasks without
human / operator intervention
Sense Plan Act
36Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Networking & Collaboration
Monitoring &
Diagnosis
Sensing & Perception
Learning & Adaptation
Planning & Decision
Monitoring & Diagnosis of the internal state, reconfiguration if necessary. Ability of working with degraded performance.
Sensing & Perceptionability of interpreting sensor data to plan/replan and interpret the environment.
Networking & Collaborationability of finding its own role in a group mission
Architecture Planning & Decisionability to define an high level plan and make deliberate choices.
Learning & Interpretationability of learning from the past events, interpreting cause-effect relationships
37Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Levels of autonomy as defined by the UninhabitedCombat Air Vehicle Program
Autonomous Vehicles in Support of Naval Operations, http://www.nap.edu/catalog/11379.html
Level 1 (Manual Operation)• The human operator directs and controls all mission functions.• The vehicle still flies autonomously.
Level 2 (Management by Consent)• The system automatically recommends actions for selected functions.• The system prompts the operator at key points for information or decisions.• Many of today’s autonomous vehicles operate at this level.
Level 3 (Management by Exception)• The system automatically executes mission-related functions when response
times are too short for operator intervention.• The operator is alerted to function progress.• The operator may override or alter parameters and cancel or redirect actions
within defined time lines.• Exceptions are brought to the operator’s attention for decisions.
Level 4 (Fully Autonomous)• The system automatically executes mission-related functions when response
times are too short for operator intervention.• The operator is alerted to function progress.
38Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Will the operator be excluded by the control loop?
39Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Enabling Technologies• Information and communication
technology• Nano technology• Bio technology• Material technology• Integration of disciplines
and technologies• Multi-scale and distributed
systems for sensing and actuation: Micro to macro (M2M)
• …..
Research for disruptive game changing technology beyond imagination…..
40Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Project 3: Autonomous Unmanned Vehicle Systems
Project manager
Prof. Tor Arne JohansenDepartment of Eng. CyberneticsAMOS
How to develop and use collective intelligence among robots in air, sea surface and underwater for ocean mapping and monitoring?
41Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Project 4: Autonomous Underwater Robotics for Mapping, Monitoring and Intervention
Project manager
Prof. Kristin Y. PettersenDepartment of Eng. CyberneticsAMOS
How to make underwater robots with endurance and propulsion capabilities as marine species?
42Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Project 5: Autonomous Aerial Systems for Marine Monitoring and Data Collection
Project manager
Prof. Thor I. FossenDepartment of Eng. CyberneticsAMOS
How to ramp up monitoring coverage 10 times with a cost of 1/10?
43Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Project 7: Autonomous Marine Operations in Extreme Seas, Violent Water-Structure Interactions, Deep Waters and Arctic
Project manager
Prof. Asgeir J. SørensenDepartment of Marine TechnologyAMOS
How to reduce use of surface vessels with 80% in offshore oil and gas operations?
How to operate at any weather condition and offshore site without increasing cost?
44Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Values created by AMOS• Setting agenda for research, education and
innovations on important national areas• Enabling research cooperation between
NTNU, SINTEF Group, Statoil, DNV GL, national and international partners
• Provide top qualified MSc and PhD candidates for industry and academia
• Publications in internationally leading journals and conferences
• Dissemination and knowledge transfer to industry through candidates, research institutes, and direct collaboration
• Accelerate innovations and spin-offs from NTNU and partners
The Norwegian “Silicon Valley” is the blue economy…
45Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
AMOS School of Innovation …
• Introduction, culture building, speed dating,..
• Seminars• Pitching• Business
recognition • Clustering• Company
presentations• Tailored made
courses• Screening of spin-
off candidates
Step 1
• Involve TTO• Business
development• Meet investors, IN,
NRC,..• International
cooperation• Establish AMOS
Fund?• Company spin-offs• Innovation Centre
Gløshaugen
Step 2
Step 3
Step 4
NB: This is not a linear process!
46Centre for Autonomous Marine Operations and Systems - AMOSwww.ntnu.edu/amos
Thanks for the attention