autonomous platforms - uk-imon initiative - new...imarest 2013 – autonomous platforms auv...
Post on 27-May-2018
217 Views
Preview:
TRANSCRIPT
IMarEST 2013 – Autonomous Platforms
Autonomous Platforms
IMarEST 2013 Southampton, UK
Monterey Bay Aquarium Research Institute
7700 Sandholdt Rd.
Moss Landing, Ca. 95039
www.mbari.org
Brian Kieft
bkieft@mbari.org
Doug Au
Director of Engineering
audo@mbari.org
IMarEST 2013 – Autonomous Platforms
Monterey Bay, California, USA
IMarEST 2013 – Autonomous Platforms
Why use an AUV?
AUV Advantages:
• Less Expensive
• Higher Quality Data, especially when deep
• Safer
• Mobile
Alternatives:
• Remote sensing - Ship-hull mounted sensors
• Cabled Towfish or ROV
• Manned Submersible
• Moored Platform
IMarEST 2013 – Autonomous Platforms
Po
wer
Task Complexity
Seismic
Survey
Sediment
Sampling
Inspection
Interactive
Tasks
Hi-freq Sidescan
or MBES
High power
imaging/mapping
AUV Glider ROV
Towed
Vehicle
AUV Operational Domain
Water
Sampling
Flow
Cytometer
Chem/bio
measurements
Hydrographic
Survey
IMarEST 2013 – Autonomous Platforms
Types of AUVs -1
• Propeller-driven (cruising and hovering)
Hydroid Remus 100
ECA Alistar
Teledyne Gavia
Bluefin 9”
Bluefin HAUV
Ocean Server IVER2
JAMSTEC Urashima NOCS Autosub
Kongsberg Hugin 100
WHOI Sentry ISE Explorer
WHOI Seabed
IMarEST 2013 – Autonomous Platforms
• Buoyancy driven gliders and floats,
Types of AUVs - 2
Scripps Bluefin Spray
Teledyne Webb
Electric Glider
UW – iRobot Seaglider
Teledyne Webb Argo
Float
Teledyne Webb
Thermal Glider
IMarEST 2013 – Autonomous Platforms
AUV Architectures
– Single Purpose
– Fixed Hull Multi Purpose
– Modular
Torpedo image from U.S. Navy
web page: www.chinfo.navy.mil
UW/iRobot SeaGlider
IMarEST 2013 – Autonomous Platforms
Types of AUVs - 3
• Wave gliders
• Crawlers
• Biomimetic
EvoLogics Fin Ray Effect Glider
RoboLobster – Joe Ayers Nekton’s Transphibian Nekton’s Pilotfish
MBARI’s Benthic
Rover
Liquid Robotics Wave
Glider
NEPTUNE Canada’s
Wally Rover
IMarEST 2013 – Autonomous Platforms
Unmanned Aerial Vehicles (UAV)
Types of AUVs - 5
Boeing Insitu ScanEagle
NOCS UAV
AscTec Hummingbird
IMarEST 2013 – Autonomous Platforms
Unmanned Aerial Vehicles (UAV)
Types of AUVs - 5
IMarEST 2013 – Autonomous Platforms
MBARI Mapping AUV
Seafloor Mapping
Types of AUVs: Cruising AUV
IMarEST 2013 – Autonomous Platforms
Multibeam Sonar Example
Mapping AUV Survey of
80m high drained lava
ponds along the south rift of
Axial Seamount
IMarEST 2013 – Autonomous Platforms
Types of AUVs: Cruising AUV
Tethys Long Range Vehicle
Specs:
300m depth rated
105 kg, .3m dia x 2.1m long
.05 -1.2 m/s speed plus hover
3.8 kW-hr Secondary Battery Pack
~1 week endurance or 600 km range
12 kW-hr Primary Battery Pack
~ 3 week endurance or 1800 km
Active variable buoyancy system
Active mass shifter
Paired elevator/rudder
16 channel load controller/monitor
Extendable, flooded, nose section
MBARI’s Tethys AUV
IMarEST 2013 – Autonomous Platforms
AUV Operations – Reducing Cost
Launch and Recovery
– Remove ship requirement
– L&R near shore
– Utilize other autonomous platforms
Vehicle Interaction
– No “babysitting”. Vehicle calls when it needs help
– Easy to understand vehicle state
– Graphical mission planning
– Single operator for many platforms
Extending Deployments / Reliability
– Higher MTBF
– Onboard health monitoring/reporting
– Disable non-critical failed subsystems
IMarEST 2013 – Autonomous Platforms
Typical Mission for Tethys
1800 km long Mission plot Data Products:
500 km wide, 100m deep panel
Nitrate, Temperature,
Chlorophyll, Salinity, Oxygen
Types of AUVs: Cruising AUV
IMarEST 2013 – Autonomous Platforms
Adaptive Front Tracking
IMarEST 2013 – Autonomous Platforms
AUV Gulper / Upper Water Column AUV
– Suite of instruments
• LISSTHOLO and LISST 100 particle
counter
• Laser Optical Plankton Counter
• Nitrate
• Oxygen
• Dual CTD
• Optical backscatter and chlorophyll
• Water sampling (2 liter gulp)
IMarEST 2013 – Autonomous Platforms
Patch Tracking
A lagrangian frame of reference clarifies the patch
Ryan, J.P., et al., Boundary influences on HAB phytoplankton ecology in a stratification-enhanced upwelling shadow. Deep-Sea Res. II (2013), http://dx.doi.org/10.1016/j.dsr2.2013.01.017i
IMarEST 2013 – Autonomous Platforms
Lagrangian Observation of Toxigenic Phytoplankton
Toxic Less Toxic
Ryan, J.P., et al., Boundary influences on HAB
phytoplankton ecology in a stratification-enhanced upwelling
shadow. Deep-Sea Res. II (2013),
http://dx.doi.org/10.1016/j.dsr2.2013.01.017i
IMarEST 2013 – Autonomous Platforms
Lagrangian Observation of Toxigenic Phytoplankton
IMarEST 2013 – Autonomous Platforms
Advanced Sensors
3rd generation ESP on LRAUV
Chris Scholin, MBARI
• Insitu Genomic Identification • Environmental Sample Processor (ESP) identifies microorganisms and their gene products in situ • Smaller version ESP designed for use on Tethys provides mobile platform for identifying toxicity
• Insitu Microbe Identification • Flow Cytometer
• SeaFlow: 0.5 - 20 Micron • FlowCam 10 - 60 Micron
Fluid Imaging FlowCam
UW SeaFlow
IMarEST 2013 – Autonomous Platforms
Q&A
IMarEST 2013 – Autonomous Platforms
top related