towards autonomous ship systems · 2018. 3. 24. · towards autonomous ship systems maritime and...
TRANSCRIPT
Towards Autonomous Ship Systems
Maritime and Transport Technology Department, TU Delft • STW ShipDrive
• STW GasDrive• STW i-Cave• NWO Comet-PS• 'HOP! Let's go
outside'!
Ir. Vittorio Garofano – Prof. R.R. Negenborn
M&TT
Table of contents
1. M&TT autonomous ship concept
2. The M&TT Facilities
3. The M&TT Autonomous ships Family
4. Safety and Security
5. Open Questions
6. Conclusions
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1. How we see Autonomous ship
1. How we see Autonomous shipNaval
ArchitectureMechanical Engineering
ControlEngineering
Artificial Intelligence
Electronics
Mobile Robotics
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Autonomous ship
Challenges
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Mechanical equations :
Electrical equations:
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Challenges
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Mechanical equations :
Electrical equations:
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manage model uncertainties?”5/26
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2. The Experimental way: M&TT FacilitiesThe Towing Tank
The Flume Tanks
The MTT lab
The “Outside”
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M&TT
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The Towing Tank
142m length
Simulation of regular and irregular
waves
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The Flume Tanks
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The M&TT Lab
Design Control Algorithms
Validate software in dry run
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The outside lake around the faculty
Unknown and Unpredictable environment
Stern view
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3. M&TT Autonomous Ships FamilyTito Neri
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ARM Cortex 32 bit
Sensors:
Communication:
CPU Hardware:
Accelerometer Encoder Distance (D)GPS Gyro
WiFi Radio
Mono Hull16 Kg
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M&TT Autonomous Ships Family:Tito Neri
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1,45 m
Application:
Autonomous Dynamic Positioning
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Grey Seabax
M&TT Autonomous Ships Family:
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Grey Seabax
M&TT Autonomous Ships Family:
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Sensors:
Communication:
CPU Hardware:
Accelerometer Encoder Distance (D)GPS
CameraGyro
WiFi Radio
19 KgMono Hull
1,75 m
ARM Cortex 32 bit
Application:
Remote Controlled Vessel
AI
Delfia1*
M&TT Autonomous Ships Family:
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Sensors:
Communication:
CPU Hardware:
Delfia1*
M&TT Autonomous Ships Family:
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Accelerometer Encoder Distance (D)GPS
CameraGyro LiDar
WiFi Radio
ARM Cortex 32 bit
5 Kg 45 cm Catamaran
Application:
Multi-Agent Control Framework
AI
Improve accuracy:D-GPS
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Centimeter feedback position accuracy
Position feedback in a closed environment: Motion Capture Cameras
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Improve accuracy:
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Millimeter feedback position accuracy
Update frequency:160 Hz
and…
4. Safety & Security
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Reliability
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Robustness Redundancy
Control & Monitoring
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Decentralization
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Adaptive Model Based Control
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Adaptive Model Based Control Distributed
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1. Monitor and collect informations2. Adapt Model & Predict Dynamics
3. Control for optimal performances
Delfia-1*: From Centralized to Distributed Control
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“More autonomy on a lower level results in increased survivability”
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From Centralized to Distributed Control
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Decentralized Application
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5. Open Questions:Not only Safety and Security…
What About :
Effect on Employment ?
Effect on Environment ?
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Effect on employment Increase on IT sector Decrease offshore employment
Effect on the environment Decrease emission Highly dependent on
manufacturing technology
Factors Expected Impact
5. Open Questions:Macro perspective
“Several “doors” would be closed, but lot more will be open”
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“Share the knowledge, share the results and together we will make it real very soon”
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6. Conclusions
M&TT lab for OPENscience
Ir. Vittorio Garofano : [email protected]. Rudy R. Negenborn : [email protected]
- From Simulation to Experimental approach- From Centralized to Decentralized Control