Transcript TAIPAN Autonomous Underwater Vehicle

TAIPAN
Autonomous Underwater Vehicle
Bruno Jouvencel
Professor University of Montpellier
Underwater robotics
May 7 2004
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OUTLINE
• First part : our experience in AUV
• Second part : new prototype of AUV for
MEDITATE project
• Third part: WP3
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LIRMM - CNRS
• Laboratory
– Computing science
– Robotics
– Micro-electronics systems
Staff 260 persons
– Researchers 110
– Technical staff about 30
– About 120 invited researchers, postdoc, PhD students
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Underwater Robotics TEAM
for MEDITATE
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Bruno Jouvencel Professor
Olivier Strauss : Assistant Professor
Michel Benoit : Research Engineer
Jean Mathias Spiewak : PhD Student
Lionel Lapierre postdoc from september
2004
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TAIPAN One
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Video of TAIPAN
QuickTime™ et un décompresseur codec YUV420 sont requis pour visionner cette image.
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FIRST Scientific Mission
• GOATS : Generic Oceanographic Array
Technology System: (scientific program of
NATO)
• For TAIPAN:
– First field deployment with a real scientific goal
– Role : to provide the modelers with CTD data
along trajectories in Biodola bay (Elba)
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Scientific Sensors
CTD sensor
Positioning
Transponder for Trackpoint 2
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Mission Interface
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Vehicle Control
heading control
depth control
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meters
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CTD Mapping with Taipan
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3D Trajectory
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Thau Lagoon : Spring LA-VISE
Bathymetric measurements
Real trajectories
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Thau Lagoon LA-VISE
Bathymetric measurements
Real trajectories
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Presentation of a new
Autonomous Underwater Vehicle
TAIPAN 2
Jean Mathias Spiewak
PhD Student
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Overview of AUV Taipan 2
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Topsolid view of Taipan 2
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• Two onboard computers : navigation -- perception
• Additional card dedicated to :
A/D conversions, RS232 serial communications,
logical I/Os and PWM signal generation
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To compute displacement
three-axis inclinometer,
three-axis magnetometer,
yaw rate and pitch rate gyrometers and
accelerometers
 two pressure sensors,
 loch doppler
 For dead reckoning
 Acoustical range meter
 GPS receiver
 For communication
 UHF radio link
 Wifi link
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Scientific sensor payload
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CTD sensor
Acoustical Doppler Current Profiler
Side Scan Sonar
CCD Camera
Acoustical sensors (obstacle avoidance)
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CTD Sensor
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Side Scan Sonar picture
• La Vise fresh
underwater spring :
30 meter depth
• starboard and port
side pictures
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Work Package 3
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WP3
• Task A.1. Define the pay-load of
vehicle.
– Selection of sensors (Conductivity
Temperature Depth, loch, sonar, doppler,
GPS…)
– the determination of the best positioning of
sensors according the desired precision on
measurements.
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WP3
– Task A.2. Performances of the AUV.
– Error on the trajectory of the vehicle,
– The energy autonomy,
– And so on.
– Task A.3. Protocol to define for scientist
missions:
• The interface man machine has to be
developed as well as the facility of using the
files in a compatible format with the GIS that
will be used in the WP1 and WP4.
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WP3
– Task A. 4. Development of vehicle and
sensors integration
– Task A. 5. Study of fusion data method
to build a 3D representation of spring
based on the lateral sonar data.
– Task A. 6. Test of vehicle
– Task A. 7. Submarine springs survey
– Task A.8. Feasibility study concerning
the use of the AUV in the Syrian test site,
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Deliverables
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Vehicle’s specifications
Interface man machine
Data fusion méthod
Vehicle test
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Milestones expected results
• Month 0 +7 : interface man machine
• Month 0 +11 : demonstrator of data fusion
• Month 0 + 10 start of submarine springs
survey
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