underwater drones control tower · 2020-05-07 · maximal dive for whales (curver beaked whale)...
TRANSCRIPT
UNDERWATER DRONES CONTROL TOWER
UNDERWATER DRONES CONTROL TOWERAdnan Tahirovic - Kemal Delic
ARCHITECTURE, DESIGN, ENGINEERING
Talk outline - why and how uwr is important ? + Underwater World Explained+ Technology Challenges and Future Developments+ Architecture, Design, Engineering Introduced+ Control Tower Architecture : Conceptual View+ Cloud Based Analytics : Design View+ Mapping the Sea Bottom - Navigation+ Intelligent Underwater Drone Design : Swarming+ Live Demo : Navigation+ Algorithm Explained+ Future Explored
Underwater World ExplainedHidden Face of Oceans
Oceans in numbersDepth of Ignorance - Level of Dependency
LIVING SPECIES
91% still unknown, 13% only catalogued
RESOURCES
90% of transportation , 20% of animal proteins
PHYSICAL WORLD
71% Earth surface water, 93% of heat stored
80% of volcanic activities under water
Eight challenges - unknowns + Thermal - temperature anomalies, impacting life on earth + Geological - cobalt, platinum etc found in proximity of volcanoes+ Genetic - new molecules for drugs learned from deep sea creatures + Ecological - destruction of habitats+ Climate - likely impact of human activities+ Hydrodynamic - Golf Stream 15% lower circulation + Chemical - seas and oceans may become toxic or sterile + Physical - rise of the sea level, 60% megapolis on the coast
Map of unknown worldsNobody knows for sure what
might be below seabed where,
how much it is worth
Strategic future exploration
Always preceded by map
creation
New moleculesDiscoveries of new drugs and
materials
Species living in extreme
conditions, no sunlight, huge
pressure and cold
Gulf stream changeClimate Change
Might be caused by
Changes in ocean
Streams ?
Last 3 centuries
Underwater World stratified
Into the abyss0 m100 m
500 m
1000 m
2000 m
10350 m
4000 m 8145 m deepest fish (snailfish) found
7000 m11000 m Mariana Trench(Deepest point in the Pacific Ocean)
6500 m
3000 m
6000 mABISMO ROV (Japan)
8400 m Puerto Rico trench(deepest point in the Atlantic Ocean)
Maximal dive for whales(Curver beaked whale)
ALVIN (USA)
Depths for divers
Depths for submarines
MIR (Russia) Nautile (France) Sentry HROV (USA)
Shinkai 6500 (Japan)
Jason ROV (USA)
Jiaolong (China)Mariana Trench reached by: Bathyscaph Trieste on 23.1.1960.Kaiko ROV on 24.3.1995. lost in 2003Nereus HROV on 31.5.2009. lost in 2012Deepsea challenger on 26.3.2012.
97% of ocean depths are less than 6000m
Area: 361,000,000 km2 (71% of Earth surface)
Technology Challenges and Future DevelopmentsLast week in Croatia ..
Breaking The Surface 2018
10 Years anniversary workshop
Game changing technologies that have the potential to significantly enhance capabilities of systems and
transform how we will use future systems
✓ Quantum computing, neuromorphic (brain inspired computing), …✓ Microelectronics, (components built of molecules), … ✓ Robotics, Soft reconfigurable robotics, ….✓ Nanomaterials, advanced materials,….✓ Genetics, ….✓ “Big data” , …✓ Alternative energy sources, ✓ Artificial intelligence, machine learning, …. ✓ Modeling and simulation, ....
Ec subucultron project http://www.subcultron.eu/Venice - Laguna
Health Monitoring
Architecture, Design, Engineering Introduced
Control Tower Architecture : Conceptual View
Control Tower Architecture : Conceptual View
CT: Cloud Based Analytics : Design View
Intelligent Underwater Drone Design : concept
Vision dl explained Picture
Recognition
Olfaction with DL NNOdor Recognition
Intelligent Underwater Drone Design
Deep dive follows ..
A possible mission: Coverage path planning (CPp)• Monitoring• Surveillance• Hazard detection• Planetary exploration• Rescue• Cleaning• De-mining• Fire extinguishing• Agricultural spraying
Tahirovic Adnan and Alessandro Astolfi. "A convergent solution to the multi-vehicle coverage problem." American Control Conference (ACC), 2013. IEEE, 2013.
CPp Algorithm Explained• Unconstrained environment• Fully-connected swarm
CPp Algorithm Explained
CPp Algorithm Explained Partially-connected swarm
CPp Algorithm Explained
Tahirovic Adnan, et al. "A receding horizon scheme for constrained multi-vehicle coverage problems." Systems, Man, and Cybernetics (SMC), 2016 IEEE International Conference on. IEEE, 2016.
CPp Algorithm Simulation
CPp Algorithm Features• Simple!!!• Cooperative!!! • Scalable!!!• Robust!!!• Adaptive???
All necessary features of swarm intelligence obtained via simple agent’s rules.
Rapidly Exploring Random Trees
Rapidly exploring random vines
Tahirovic Adnan, and Mina Ferizbegovic. "Rapidly-Exploring Random Vines (RRV) for Motion Planning in Configuration Spaces with Narrow Passages." 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018.
Rapidly exploring random vines
Rapidly exploring random vines
Rapidly exploring random vines
Rapidly exploring random vines
Key takeaways + Shift from ROV/AUV devices to the entire ecosystem+ The rise of multi-modal systems : flying, sailing, diving+ Big Data collections waiting for better analytics+ Security nearly non-existent+ Biology inspired sensory and communication systems
+ Ocean explorations will be even more important in the future and AI approaches and ML methods will play crucial role - from intelligent swarm edge devices to elaborate analytics in the cloud
Back up slides
• Monitoring of Bosnian lakes• Health monitoring of Venetian Lagoon• Monitoring of fishponds in Norway• Monitoring underwater cables
Future explored - what’s next?