1

lfrem

erVR to DL for UUST

2

lfrem

er

EPAULARD

SWIMMER - AUV« autonomous

docking »ALIVE-AUV

«autonomousintervention »

198020082003200119981985

2004

GREX CoordinatedAUV/USV-fleet

SIRENE - AUV« autonomous

landing »

NAUTILEVICTOR 6000

AUVs asterX & idefX

oper

ati o

nal

tec h

tes t

bed

3

lfrem

erRand D versus operationnal systems

After Epaulard, developed for polymetalic nodules survey program, Ifremer has frosen AUV Development and has focused on Deep Sea ROV and Manned Sub Nautile mainly for deep sea research observation and intervention.

Contributive R and D mainly active in collaboration in the offshore domain since 1993 with numerous world first in intervention and inspection AUV (SIRENE,ALIVE,WIMMER): Technological and economical push

Evolution of programs from « observation » to « survey » of the environment : new tools are needed to optimized data collection and interpretation Scientifical and operational programs pull

4

lfrem

er

Operationnal systemsSurvey AUVs for Sciences:

Cost Optimization of environmental surveillanceMultiPayloads to increase rate of usageASTERx,IDEFx 2500h, 4500km

in 40 months

AsterX IdefX

5

lfrem

erGeophysics payloadmultibeam – subbottom profiler – gas detection - magnetometer

iXSEA echoes 10000

Kongsberg EM2000

EM2000 (imagery)

Kongsberg EK60 (gas plume)

6

lfrem

erEnvironment and fisheries payloadmultibeam – subbottom profiler – gas detection - magnetometer

iXSEA EK60 70 KHzdownwards orientation

iXSEA EK60 200 KHzupwards orientation

RDI ADCP 1200 KHzupwards orientation(monitoring of fine layers)

RDI ADCP 300 KHz(current modelling)

Satlantic ISUSnitrate sensor(Septembre ’08)

7

lfrem

er

!AUV1 asterX 10 8 14 12 10 10 21 6 14 6 0 9 120AUV2 idefX 10 10 6 10 14 6 5 10 71

0multibeam echo-sounder 17 5 9 6 0 6 6 9 58fich sounder EK60 8 12 1 10 31subbottom profiler 8 6 14ADCP & physical parameters 10 10 4 5 10 39

20082004 2005 2006 2007

Operational results28 cruises – incl. 12 technical – on 7 different vessels4500km of survey (In Day Dive)

8

lfrem

erRecent Ifremer developments

! new generation LI – batteries (14kWh @ 100kg) and new 36kWh FC

! assisted (safe!) mission programming and management- Mimosa® + Nemo®

! new SBP in cooperation with Ixsea- Echoes 10000-AUV®

! launch and recovery system- Caliste® and Ariane®

9

lfrem

erlaunch and recovery cage

CALYSTE ®

10

lfrem

erFuel Cell: H2/02 experiment

Objective 300kms without payload36kWh, Vehicle Weight +800kgs Lenght + 1m

11

lfrem

erSeaExplorer® : A new « wingless »

Coastal Glider(under development with ACSA, ACRI and CNRS)

Shape optimisationNew large volume low consumption optimised Ballast system (Oil and air)Possible hybrid mode with a propelled versionGlider men intelligent mission programming andsupervision

12

lfrem

erTypical scenario for hybrid AUV operation

Fixed platform or FPSO

13

lfrem

erExamples of hybrid AUVs

Swimmer(Cybernetix/ifremer ) SAILARS (Mentor Subsea

Technologies)

14

lfrem

erHow a hybrid AUV operates

1 Launch2 Transit3 Approach4 Docking5 ROV operations

(Cybernetrix-Ifremer Swimmer)

15

lfrem

erIntervention AUV

a multi-purpose AUV

• fitted with manipulators• operated in acustically-supervised mode• able to dock to the infrastructure and interact

with it

ALIVE (Ifremer/Cybernetix)

16

lfrem

er

17

lfrem

erRandD ALIVE :

Sea trials campaign October 2003

" docking structure installed at 70 m depth

" docking and telemanipulation tasks achieved succesfully

1Docking panel before intervention:valve in horizontal position

2Docking panel after intervention:valve in vertical position

18

lfrem

erBASIL-NAV3000 / Coordinated Fleet

19

lfrem

erSubstech: eneric Docking process with sonar and video

3

5

6

2

74 5

2

1

6

3

8

9

1. Seabed structure

2. Docking ring

3. Optic markers

4. OBS and receptacle

5. Vehicle camera

6. Scanning sonar

7. AUV

8. Sonar reflector

9. Grabbers

20

lfrem

erHeterogeneus autonomous marine vehicles

…what are they?

AUV AutonomousUnderwaterVehicles

ASV AutonomousSurface Vehicles

… and:

Autonomousaerial drones,

ROVs,….

UnderwaterGliders

21

lfrem

erExample of networked multi vehicle marine fleet

Example of communication network

Copyright: Bluefin Robotics

C/NA Communication navigation aid

SCM Search and classification

RI Reacquisition and identification

Example of practicalimplementation: multi AUV minehunting task

Cooperative navigationCoordinated vehicle controlSevere communication constraints

22

lfrem

erGREX project

Scientific scenario example: fish tag tracking

Control and coordination under communication constraints

Cooperative navigation

Mission profile replanning

Development partners:IFREMER(F), Atlas Elektronik (D), IST (P), SeeByte (GB), SCIANT (BG), TUI (D), MC(D), INNOVA (I)

Control and coordination of multiple cooperative marine vehiclesDevelopment at all levels: mission planning, coordinated control, underwater communication network, cooperative navigation, multi vehiclemission control and replanningReal time application using existing vehicles (from Ifremer, Atlas and IST)

23

lfrem

erConNeCT project : Control of Networked

Cooperative sysTems

Gradient search for source detection:

Distributed sensing and coordinatedcontrol

Development partners:IFREMER, CNRS-INRIA NECS, Prolexia, PGES

Development of control architectures to support the operation of networked systems performing a task.Case study: application to marine vehiclesDevelopment of a multi vehicle simulator to enable validation of results

24

lfrem

erToward coordination of heterogeneous fleets

1 24

120120120

120120120

v1

v2

3 120120120

v2

1. Vortex (subsurface) and Asterx (deepwater) navigate at different velocities2. Rendezvous point for acoustic communication – vertical channel3. Radio relay4. Next rendezvous point

25

lfrem

erNext RandD

- Integrated systems made of NetworkedHeterogeneous Autonomous systems

- Hybrid ROV-AUV system with Hovering capacitiesfor Habitat mapping, quick inspection and intervention on future observatories