an introduction to applied underwater · pdf filean introduction to applied underwater...

Universitat de GironaComputer Vision and Robotics Group
Presented by: Dr. Pere Ridao
An Introduction to Applied Underwater Robotics
Robtica submarina
Anlisi dimatge
Percepci 3D
Visi submarina
Hardware en temps real
VICOROB Research Team

CIRS: Research Center in Underwater Robotics
Conclusion
Introduction
Applications
ICTINEUAUV, a research testbed
Navigation & Mapping
Future Work
3

Introduction
4
OCEANS Exploration 71 % earth surface is covered by water
37 % of the populations lives at less than 100 km form the coast
Oceans are a source of food and resources
Oceans play an important role in the clima
Manned Submersibles
ROVs AUVs
Technology
5
155 m
308 m
600 m
6000 m
10,911 m
Detph vs Technology
Introduction

Introduction: Marine Robots
ASC
IAUV
Survey AUV
Hovering AUV
ROV
Glider Hybrid ROV/AUV
ASCASCASC
IAUVIAUV
Survey AUV
Hovering AUV
ROROV V Survey
GlGlididererd Hybriiybb
ROV//AUVOV//A
CIRS-UdG Robots
1995 2001 2005 2006 2010
Applications
Industrial Scientific
Introduction: UdG Robot Prototypes

Conclusion
Introduction
Applications
Future Work
8
Pasteral dam
Objective: Execute an inspection of a dam wall to search for cracks or other damages on the concrete.
[P. Ridao et al., JFR10]
9
Applications: Dam Inspection

Pasteral dam Pasteral dam
[P. Ridao et al., JFR10]
10
Applications: Dam Inspection
Mequinenza dam
Objective: Providing visual validation for a sonar-based system developed to detect zebra mussel colonies.
[P. Ridao et al., WPDC10]
11
Applications: Habitat Mapping

Mequinenza dam
[P. Ridao et al., WPDC10]
12
Applications: Habitat Mapping
Dive 1 Dive 2
Dive 4
Dive 3
AZORES Workshop
FREESUBNET IN COOPERATION WITH FREESUBNET RTN NETWORK
Applications: Seafloor Mapping

Dive 4
Dive 3
DiDiDiDiDiDDiDiDiDiDiDiDiDiDiDiDDiDiDDiDiDiDiDDiDiDiiDiiDiiDiDDiDDDDDDDDiDDiDiDDDDDDDDDDDDDDDDDDDDDDDDDDD veveveveveveveveveveveveveveveveveveveveeevvevveeevevevveveveeveveveeeveveeveeeeveeevveeeveeeeveeveeeveeevev 4444444444 4444444444444444 44 4 44444444444444444444444 4444444444444444444444
DiDiDiDiDiDiDiDDDiDiDiDiDiDiDiDiDiDiDiDiDiDDiiDiDiDiDiDDDiDiDiDiDiDiDiDDiDiDDDiDDiDiDDiDDiDDDDiDiDiDiDDDDDiDDDDiDDDDiDiDDiDiiDDDiiiDDDDDDDDDiiiiiiDiiDDD vevevevevveveveveveveveveveveveeeeeeveeeveveveveveveevevveveeeevvvevevevveveeeveevevevvvvevevevevevevvevvevevveveeeeveveveevvevveeevevevveevvvevvvevevvevevevevvvvvvevv 33333333333 33333 333333 3333 33333 33 3 333333333333333333 333333333333333333333333333333333
AZORES Workshop
FREESUBNET IN COOPERATION WITH FREESUBNET RTN NETWORK
20 m
20 m
5 m 5 m
Dive 4
Applications: Seafloor Mapping
[Escartin et al., GGG08]
Applications: Multimodal Mapping
Multimodal Maps
Image Mosaic & Bathymetry registration
Eiffel Tower hydrothermal vent. Data from IFREMER
Very Large Maps
20.000 images mosaic (6 days of ROV survey)
Lucky Strike Hydrothermal Vent site Data from WHOI 15

[Nicosivici et al. OCEANS08]
Applications: Micro-Bathymetry & 3D Mosaicing
3D Mosaics
16
Conclusion
Introduction
Applications
Future Work
17

How did it start ... (2006)
ICTINEUAUV: A bit of history
18
[D. Ribas et al., ICRA07]
How did it continue... (2006)
Pass the Gate Score the Cross
Hit the target Recover
4 Phases
19

There are other ICTINEUS ...
Breaking the Surface 2009
Narcs Monturiol 1819-1885
ICTINEU II, Model Barcelona harbour
ICTINEU3, Manned Submersible under
development
ICTINEUAUV, to pay homage to Narcs
Monturiol
20
The Ictineu AUV
Characteristics
Open frame design
Small form factor (74 x 46.5 x 52.4 cm)
Lightweight (52 Kg)
Complete sensor suite
ROV/AUV
ICTINEUAUV: The Robot
21

The Ictineu AUV
Teth
ered
B
uoy
Unt
hete
red
22
The Ictineu AUV
Pressure vessels
Power module (2 sealed 12V 12Ah lead acid batteries)
Computer module (PC104 and Mini-ITX computers)
23

The Ictineu AUV
Thrusters
2 vertical thrusters
4 horizontal thrusters
Motion controlled in 4 DoF (surge, sway, heave and yaw)
24
The Ictineu AUV
Forward-looking color camera
Downward-looking b&w camera
Cameras
DVL (Doppler Velocity Log)
3D velocities (bottom/water)
Pressure
Range

The Ictineu AUV
AHRS
Heading, pitch, roll and heave acceleration.
Fibre optic gyro
Heading with low drift rate
Generation of acoustic images of the surroundings
360 scans around the vehicle
Maximum range of 100 m
The Ictineu AUV
MSIS (Mechanically Scanned Imaging Sonar)
27

Vehicle positioning
Acoustic modem
The Ictineu AUV
USBL transponder
28
[Palomeras et al. MCMC09]
ICTINEUAUV: The Software Architecture
Software objects that dialog with the hardware
Two types:
Sensor objects
Actuator objects
Robot interface
29

Navigator object: Estimate the position and velocity of the robot (EKF) Obstacle Detector: Determine the position of obstacles (wall, bottom, )
Perception module
30
Receives sensor inputs and sends command outputs to the actuators. Behaviours:
GoTo WallInspection Distance Heading Start/Stop Camera Check Water Check Temperature and Pressure
Control module
31

Defining the task execution flow to fulfill a mission
Mission control
32
Conclusion
Introduction
Applications
Future Work
33

Fundamental Problems in Underwater Robotics...
What path should I follow?
Where am I? Where am I?Where am I?Navigation
I f ll ?I follow?Path Planning
Where are the amphoras? amphoras?amphoras? Mapping
How should I steer To follow the desired
path
Control
What force should I Apply to achieve the
desired speed?
Guidance
Breaking the Surface 2009
Map Robot Pose Environment
Localization Algorithms
Mapping Algorithms
SLAM: Simultaneous Localization And Mapping

Navigation & Mapping:
The Navigation Problem
NNavigation: Estimate the position, orientation and velocity of a vehicle
From Gade 2008
North Pole {E} {N} {L} {B}
Origin at the centre of the earth. Earth fixed. Origin at P=[l, ] on the earth surface. Plane XY tg to earth surface. Axis pointing North-East-Down Same origine than N. Rotated wrt to zN a certain angle to avoid the singularity in the pole. Vehicle attached frame
xb
yb zb
B
Inertial Navigation Systems
Navigation: Estimate the position, orientation and velocity of a vehicle
Inertial sensors are used for the navigation.
3 Accelerometers are used for the linear motion estimation.
3 Gyroscopes are used for the angular motion estimation.
The sensors are expensive and require an accurate calibration.
The position estimate drifts over time.

Early INS were based on gyro-stabilized gimbaled platforms
Strapdown systems avoid moving parts using virtual gyro-stabilization techniques
Measure acceleration & angular velocity. Computer linear velocity, position and attitude.
Navigation: Estimate the position, orientation and velocity of a vehicle
Inertial Navigation Systems (Strapdown)
+!122#
gravitationIB IB B IB
Ff a g a
m
BIB Can be measured using a triad acc.
DLc
Sagnac effect (1925)
Due to the rotation the light path is longer cw than acw.
The phase delay is proportional to the

Inertial Navigation Systems (Strapd

an introduction to applied underwater · pdf filean introduction to applied underwater...

Documents