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Mark Read's Case Study from AWASS 2013
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Underwater search and rescue in swarm robo2cs
Dr. Mark Read Department of Electronics, The University of York, UK
hBp://markread.info [email protected]
Underwater explora2on
• Oceanic explora2on – Undiscovered resources, minerals, etc.
• BP Deepwater Horizon oil spill (2010) – Pipeline maintenance in general – Toxic chemical leaks, plume tracking
• Air France Flight 447 (2009) • Water challenging environment – 3D coordina2on, curents – Communica2on, localiza2on
CoCoRo • Collec2ve Cogni2ve Robots (CoCoRo) – Graz, UY, StuBgart, SSSA, ULB
• Swarm Intelligence/robo2cs – Collec2ve of “rela2vely” simple individuals – performing rela2vely simple func2ons – To provide complex group behaviour
• 2 robo2c hardware pla`orms under development
• Simula2on-‐based design whilst hardware constructed/developed
CoCoRo
• Swarm intelligence + collec2ve cogni2ve decision making = improved underwater capabili2es
• Collec2ve cogni2on – Decisions made across the group – Dynamic reconfigura2on and realloca2on of swarm – Anomaly/fault tolerance
• Mirror Experiment
Vision
• Video removed to reduce file size
Hardware
Video removed to reduce file size
Hardware • ‘Jeff’ & ‘Lily’ (10x13cm) • Communica2on: – Bluelight; ~ 50cm – Radiofrequency; ~50cm – Acous2c; longrange
• Localiza2on – Bluelight; ~50cm – Electrosense; 30cm?
• Mo2on – Thrusters – Buoyancy pump – Stay horizontal
Shoaling • Reynold’s boids algorithm
• Distance sensing through BL • Communica2on of veloci2es through RF • Can use “GPS” for this problem
Separa2on Cohesion Alignment
Simula2on
• Demo?
Relay chain • Connects two points in space – … points that can move (1 of them at least) – Connects exploratory shoal to base sta2on
Relay chain • Should grow and shrink as required – AUVs join and leave the chain – Move between chain and shoal
Relay chain • Should be anchored – When there are too few AUVs in the shoal, the chain should anchor the shoal
‘One I made earlier’
Original video can be found at : hBp://markread.info/2013/02/chain-‐shoal/
Things to get you started
• Simula2on + GUI • Calibrated AUVs – rigid body physics engine – Lily
• AUVs have an OS – Greatly aids controller design, and coordina2on
• Working shoaling algorithm
All you have to do is:
• Design relay chain forma2on algorithm – Probably best to start simple – Pen and paper to begin with
• Integrate it with shoaling – Will likely need to modify the shoaling alg
• (this is probably harder than it sounds)
Learning outcomes?
• Get a feel for swarm robo2c problems – Principles of swarm intelligence – Engineering collec2ve behaviour at the individual level
• Coordina2on and localiza2on in 3D space • Understand the benefit of simula2on in SR – This is a hard problem, imagine trying to design this algorithm in real robots only
• This is a real problem
Any Ques2ons?
Resources
NetLogo
• Needs to be downloaded: – hBp://ccl.northwestern.edu/netlogo/
• The problem source code can be downloaded from (once I have put it up, I also have it on USB s2ck): – hBp://markread.info/resources
NetLogo Documenta2on
• Is quite good. • hBp://ccl.northwestern.edu/netlogo/docs/dic2onary.html
• Or google “Netlogo (3D) dic2onary” • There are 3D analogues for most 2D procedures