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http://www.ifremer.fr/flotte/index.htm

Vincent RigaudHead of Underwater systems dept

Ifremer

European Underwater systems Trends and innovations vs challenging scenarios for scientific applications of marine robots

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Act I: Problems (some…)“So far, so close, Oceans reveal passions”

First Knowledge, understanding, in general

?

Then evolution of oceans sciences from “pioneer” discoveries and knowledges in

oceanography to operational surveillance of phenomenas and interventions for durables

exploitations and usages of the sea

!

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geological processes and ressouces :Risks , oil/gaz and mineral ressources, ...

�fluid migration�cold seeps� slope instability�Earthquakes�Tsunamis…�H2, Methan, Oil, gaz…Explore, sample, analyse, Map …

Small turbidity current observed from a submersible

Offshore Technological

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biodiversity : Marine environmental policy (MSFD) MPA...

Vestimentiferan worms

Bivalves Bathymodiolus

ShrimpsAlvinocarididae

Bivalves Vesicomyidae

Fish Bathypterois

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Largely undiscovered ecosystem covering 62% of the globeMay contain up to 10 million unknown species Home to many specialised communities with unique speciesMain threats to biodiversity are: • unsustainable fisheries • habitat destruction by trawling

and resource exploration • lack of knowledge on

ecosystems

Spot on Deep Sea Ecosystems

©MISSÃO SEAHMA-1 (FCT-PORTUGAL), 2002

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Evaluation and monitoring of living ressources

�habitat

�behaviour

�densities

�fisheries impact

empereur > 50 years

langouste rose

chinchardsaround a

net

trawlertrack

synophobranchus

grenadier

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NOAA 1994 - 1995

Sensors OLS of DMSP

Coastal environment : Enthropic pressure, chemical contaminants,

Habitats, coastal lines ….

ALGER

TUNIS

VALENCE

BARCELONENAPLES

GENESMARSEILLE

PALERME

ROME

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Example of chemical polluant transportsSensing and modeling the ocean

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Global warming …. Ocean Météo ??…Toward Operational oceanography

In situ Tools, Models and Data assimilation

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10

~70 m

350 m

100 m

14.5 m

Underwater links

Junctionbox

40 km to shore

weight

• 900 PMTs • 12 lines• 25 stairs / line• 3 PMTs / stair

stair

Other sciencesAntares: Neutrino telescope Astronomy underwater…

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Act II: underwater tools history(some steps…)

From manned submersibles to robots And systems of systems

Fleets , observatories, ...

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The pionniers and dreamersFrom 1934 Bebee and Barton

« Bathysphere » to « Bathyscaphes »and Deep manned Submersibles

Europe vs USA !

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FrenchARCHIMEDE

Some history about Bathyscaphes!The 60-70 ties Achimede-9260m

Trieste -10916m« Looking for blue Ribbon Depth competition »

US trieste

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EPAULARD

80-90ties Robotics arised, first deep sea scientific AUV

Polymetalic Nodules fields optical survey up to 6000m

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Ifremer CYANA 3000m

70ties -To Day Manned DSV optimised for sciences

JY Cousteau Heritage

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The 80th end of the offhore Manned Sub –600m depth crash diver long autonomy Saga « Comex-

Ifremer » stirling powered Sub

80- To day ROVs, ROT arised, Maturity of technologies and markets

Merge of builders and operators

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First AUV commercial Hydrographic Survey (ISE)- 1984

© International Submarine Engineering – 2009 © International Submarine Engineering – 2010

1995-6

First Arctic Deployment AUV Theseus- cable laying under the Ice

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Since 2000

ROV market and technologies at maturity

AUVs Arised and are now operationnal

Gliders arised and are pre-operationnal (data assimilation remain a problem)

New hybrid systems and fleets concepts arisedin coherency with subsea observatories views, and reduction of cost of sea operations

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Act III : status and perspectives for underwater systems

vs European dimension

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Deep HOV in the world

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Others manned Subs...For shallow-coastal waters,biodiversities, public outreach trends

LuLa 500m AzoresJaGo 400m Ifm-geomar D

Thetys 1000m HCMRRemora France

PC8-B 250m Bulgaria

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Harmony 7000

Alvin 6500

+ NIOT….

Get out men?Get In only robots?

Or Back to the future ....Flagships!

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NAUTILE

Sciences:World /« EU » reference

System of systemsCycle of life management

Maturity and competencies

Operational systemNautile HOV

1740 dives in 20 years

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Remotely Operated VehicleROVs

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ROVs for scientific useThese ROVs have lower power (to keep umbilical size small)Typical missions include

• Instrument placement, retrieval and support. • In situ experimentation.• Ecological studies and observations (midwater and benthic). • Sampling and light coring. • Local surveys of environmental parameters• Observatories services

UROV7K (Jamstec); Tiburon (MBARI), Kaiko (JAMSTEC)

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Large ROVs for sciences

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Status ofEU Large (sciences) ROVs

Quest4K Marum, Quest6KIfm Geomar, Victor6000 Ifremer

ISIS Noc, Holland NUIG,others…

• Mature, Operational with InterOperability examples• Payload sharing ( Biogeochemical module, 3D HDTV within Eurofleets), Softwares exchange Mimosa(r),Matisse(r), Caraibes(r)...)• Instrumental interoperability (ROV-AUV)• Full HD videos, Digital Data Management ...• Common Framework for education and public outreach• Optimization of the possession cost (Easy maintenance,ergonomy, standarisation...)• Teaming – Training –sharing•Easy to buy, more difficult to exploit (portugues recent lost?) Interoperablity

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Victor 6000 Ifremer, The 1st Eu Deep ROV

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Modularity

ROVs InnovationA cooperative exampleHigh Resolution multimodal Real time Georeferenced Optical and

acoustical mosaicks

10 Years First Overhaul-Cycle of lifeLarge scale equipments @ EU level

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24 marine institutes, universities, foundations and SMEs, + 1 associated partner -from 16 European countries (Member States -4 recent ones- and associated countries- agree to propose together their research vessels, associated equipment, and their know howwithin the EUROFLEETS I3 project.

1 Ifremer, France

2 AWI, Germany

3 OGS, Italy

4 IEO, Spain

5 HCMR, Greece

6 NERC, U.K.

7 FCT, Portugal

8 MPIMM, Germany

9 CNR, Italy

10 IMS-METU, Turkey

11 GeoEcoMar, Romania

12 MI, Ireland

13 Imares, Netherlands

14 CSIC, Spain

15 RBINS-MUMM, Belgium

16 IOPAS, Poland

17 IPEV, France

18 IO-BAS, Bulgaria

19 MARUM, Germany

20 MARIS, Netherlands

21 EurOcean, Portugal

22 TUT, Estonia

23 VLIZ, Belgium

24 IMR, Norway

Towards an alliance of European research fleets

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Aberdeen Declaration - A New Deal for Marine and Maritime Science - 22nd

June 2007 : « Support for other key infrastructures, including for example …research fleets which, because of their size and complexity, can only beoperated and sustained on a partnership basis »

Action Plan for a Maritime Policy (EC, Com1278/2,2007) proposes «totake into consideration the need for supporting specialised infrastructures, research vessels, etc.»

European Strategy Forum on Research Infrastructures (ESFRI): theEUROFLEETS consortium has the ambition to contribute to the concepts risen by the European Research Area and promoted by the ESFRI.

ConceptsConcepts andand objectivesobjectivesA project in coherence with the EU policies ::

::

the ESF-Marine Board Position Paper 10 : « European Ocean ResearchFleets – Towards a Common Strategy and Enhanced Use » (March 2007), and developed in the frame of the MarinERA ERANet project (Oct. 2007)

OFEG Group

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• define a common strategic vision for European research fleetsand associated heavy equipment (e.g. underwater vehicles as ROV and AUV);

• use more efficiently the existing European Ocean/Global andRegional fleets, and develop their interoperability capacities;

• facilitate a wider sharing of knowledge and technologies acrossfields and between academia and industry;

•promote greener and sustainable research vessel operations andeco-responsibility;

• open to all European researchers access to high performingresearch fleets on sole condition of scientific excellence

• foster the coordinated and joint development of European fleetsin terms of capacity and performances.

Towards an alliance of European research fleets : The EU dimension

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(Wo)Men and robotsPilots and scientists

Tools, training, teaming!

ROVs vs EU dimension

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Example: Innovation 3D HDTVWithin Eurofleets JRA between Marum and IfremerFor local 3D viewing and quantitative imagingMini Head on end effectorInteroperable on Quest4K and Victor6000

Iris-exocet D © ifremer Quest © marum

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Towards EU cooperation and Interoperability:Impacts!

AWI-IfremerUST European Research Group

Under enlargment

Ship-ROV interfacesCSIC / Ifremer

cooperation

Instrumental DevtEu ExocedD project

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Autonomous Underwater Vehicle AUVillustration: protein based AUV

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AUVs Bio-diversity….maturity?Numerous mockup,

some prototypes with some feedacksAUV industry has begun to emerge from the R&D and prototype phase to small production runsOver the past decade, nearly 380 AUV have been built (mostly experimental), and with 3 vehicles a sector as Deepwater pipe survey have been saturated (proof of efficiency and ?)For the oil&gas industry AUV are now an efficient tool for seafloor survey and mapping, especially in deepwater (up to 3000 m)Cost reduction of up to 30% and better data quality with respect to traditional tools (towfish)Commercial AUV services are now offered

( C&C references!)

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Biodiversity with operationnal references(some)

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Survey AUVs used in Industry

Hugin Norway

Hugin NorwayBluefin and Hydroid USA

Explorer ISE Canada

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Status European Survey AUVsAutosub(s) NOC , Explorer(s) Ifremer/Marum

, Abyss/Ifm-Geomar And others…

• Now mature and used as operationnal systems• “Cost optimization” and/or “impossible missions” regular-repetitive monitoring , underIce ...• High request pressure Ifremer AsterX-IdeX 70 D/Y• Well adapted to cooperations Marum-Ifremer• Crews: « esprit de corps », teaming! • Eurofleets JRA on common Mission Programming and Data management tools +Payload interoperability and sharing

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2010

Main Ice-Camp

© International Submarine Engineering – 2010

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International Submarine Engineering Ltd. 2010Ice camps are all about flying

Main Ice CampRemote Camp

© International Submarine Engineering – 2010

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Survey AUVs for Sciences:

Cost Optimization of environmental surveillanceMultiPayloads to increase rate of usage

ASTERx,IDEFx 10 000kms

AsterX IdefX

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Geophysics payloadmultibeam – subbottom profiler – gas detection - magnetometer

iXSEA echoes 10000

Kongsberg EM2000

EM2000 (imagery)

Kongsberg EK60(gas plume)

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Environment 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)

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Towards EU cooperation and Interoperability

AWI-Paul on the Atalante

BSeal Marum

Abyss Ifm-Geomar

Autosub-Noc

AsterX & IdefX Ifremer

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AUV novation 3 Fuel Cell: H2/02 experimentObjective 300kms without payload

36kWh, Vehicle Weight +800kgs Lenght + 1mRefuelling on ship

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Towards intervention-class AUV

• Present operationnal AUVs (survey-class) cannot have a role in IRM offshore activities and complex manipulation tasks

• To make AUV suitable to carry out intervention tasks on subsea facilities a solution consist to:

a) Combine ROV and AUV capabilities :hybrid AUV

a) Develop a completely new configuration of AUV, different from the survey-class AUV: theintervention (or work class) AUV

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Typical scenario for hybrid AUV operation

Fixed platformor FPSO

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SWIMMER world first.Subsea Works Inpection and Maintenance with Minimum Environment ROVThe first demonstration with Hybrid AUV

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How a hybrid AUV operates

1 Launch2 Transit3 Approach4 Docking5 ROV operations

(Cybernetrix-Ifremer Swimmer)

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1Docking panel before intervention:valve in horizontal position

2Docking panel after intervention:valve in vertical position

AUV Innovation 2Intervention AUV: ALIVE World First!

• fitted with manipulators• operated in acoustically-supervised mode• able to autonomously dock to the

infrastructure and interact with it,using video & acoustic based control

• Demo for observatories & offshore services• Sciences/industry

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Inspection AUVPipe tracking and structure ispection

OFFRES AUV INSPECTION/SURVEY

ECA-Alistar 3000 in GoM Demo

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• Steering : partially automated (equivalent to what the WRC dockserver is doing)+alarms• Ploting NRT data : completely automated but fixed format for plots• Forecasting of the trajectories : completely automated with the daily updated waypoint• Saving to Coriolis DC : automated

Data Center(Coriolis, GTS, …)

Operational model (MERCATOR, MFS, …)

Groundstation(dockserver, Kermit,

mail, …)

European underwater gliderscommunity & technologies

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AUV innovation 5European underwater gliders community & technologies

Main characteristics:No wingsLong, low-drag antennaInternal actuatorsLi-Ion rechargeable batteriesIntegrated acoustic positioning and communicationsHigh tolerance, self-adjusting trimOptional hybrid propeller

GPS FIXRADIO/SAT COMM.

BALLAST INFLATION

BALLAST DEFLATION ACOUS

TIC FIX

HYBRID THURSTER MODE

GIBTM FIXandCOMM.

LLASTAT

EN

LLLLLLLLLLLLASASASASSSSSSSASAAAAA TTTTTTTTTTTLLLLLLLLLLLLLLLLLLLLATATATATTTATATTATATATATAAAAAAAAAAAAAAAAAAAAAAAAA IOIOOIOOIOOOOOIOOOOLLLLLLLLLLLLLLAAAAAAAAAAAAA

ACACACCACACCCCCCCCCCAAAAAAAAAAAAAAATIIITIITIITIIITIITTTTTTTTTTTTTTTTTTTTTT CCCCCCCCCCCC

racteristics:gsow-drag antennal actuatorsechargeable batteriested acoustic positioning and communiccaaaaatttttiiiioooonnnnsssslerance, self-adjusting trimal hybrid propeller

GPS FIXADIO/SATOMM.

H BRID THURSTERMOM

GRAARAARARARAARAARAAARARARARAARRRRR DDDDCOCOCOOOCOCOOOCOCOCOOCOCOOCOCOCOCCCCCCC

HYYYYBRRRRIDDIDIDDDDDDDDIII TT TTT TTTTTHUUUHUHUHUUHUHUHUUUHUUHUHUHUHUHUUUHUHUUUUHUUHH RSRRSRSRSRSRSSRSRSRSRSRSRRSRSRSRRRRRRRRRR TOMOOOOODEDMOOMOOOOMOMMMMMM DE

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AUVs Innovation 4: Toward 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

=

Inside Realities!

Teaching Training and Mobility ofheterogeneous Minds and Hands

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Heterogeneus autonomous marine vehicles

…what are they?

ASVAutonomousSurfaceVehicles

AUVAutonomousUnderwaterVehicles

… and:

Autonomousaerial drones,

ROVs,….

UnderwaterGliders

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Other Innovations in the ROV area …

Charly CNR It

Delfim IST Pt Basil2 Acsa-Cybernetix-Ifremer Fr

Numerous projects with Unmanned Surface and Supervised VesselsRandD support with some operational constraints

SpiderCybernetix/Ifremer Fr

MoveMarum D

Others: crawlers, geotechnical tools ….

MeboMarum D

PenfeldIfremer Fr

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HROV

Now coming soon…!RandD: Integrated intelligent systems made of NetworkedHeterogeneous Autonomous and remote systems (includinggliders,USVs, Observatories technologies…)Operationnal:

New Hybrid ROV-AUV system with Hovering capacities for Habitat mapping, quick inspection and intervention on future observatories (Ifremer/Marum),Long Range AUVs (NOC and others) including under Ice

applicationsNew systems for mineral ressources exploitation andobservatories services

Nereus WHOI-USA

SAAB-Nor

Spere Fin

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Subsea observatoriesNeptune Can as reference- Esonet EU initiativeFrance-EU Antares Reference in Deep Sea for Astronomy

Innovations in fibber Optic Networks: Deepseanet

CSIC...Obsea coastal system in Barcelona Momar Field of works...

AntaresSite with Telecom

Cable to shore and Main JBDeepseanet expandable

FO network extension

50km between Nodes,

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New objectives vs innovations• New requests with more complextasks• Instrumented sites (Observatories)• Habitat mapping, ...• Status of marine waters, ...• Quantitative/repetitive surveys ...• Cost of Possession optimisation• Cost of ships• Cost of crews• Cost (of Data and/or services) oriented systems....

• Advanced control and safe Intelligent mission programming• Fleet management &environment based control• New Energy sources• Embedded systems optimization( “smart” sensors, electronics, actuators...)• Innovative optimized architectures•.Biomimetic, Intelligent networks ....• Smart, Hybrid & cooperative systems