docAutonomous Platforms - UK-IMON
download 
Report Transcription
Autonomous Platforms - UK-IMON
Autonomous Platforms IMarEST 2013 Southampton, UK Doug Au Director of Engineering [email protected] Brian Kieft [email protected] Monterey Bay Aquarium Research Institute 7700 Sandholdt Rd. Moss Landing, Ca. 95039 www.mbari.org IMarEST 2013 – Autonomous Platforms Monterey Bay, California, USA IMarEST 2013 – Autonomous Platforms Why use an AUV? Alternatives: • Remote sensing - Ship-hull mounted sensors • Cabled Towfish or ROV • Manned Submersible • Moored Platform AUV Advantages: • Less Expensive • Higher Quality Data, especially when deep • Safer • Mobile IMarEST 2013 – Autonomous Platforms AUV Operational Domain Power Towed Vehicle Seismic Survey High power imaging/mapping Interactive Tasks Sediment Sampling Hi-freq Sidescan Flow Hydrographic or MBES Cytometer Survey Chem/bio Inspection Water measurements Sampling ROV AUV Glider Task Complexity IMarEST 2013 – Autonomous Platforms Types of AUVs -1 • Propeller-driven (cruising and hovering) Hydroid Remus 100 Bluefin 9” ISE Explorer WHOI Sentry Teledyne Gavia Bluefin HAUV WHOI Seabed Kongsberg Hugin 100 Ocean Server IVER2 ECA Alistar JAMSTEC Urashima NOCS Autosub IMarEST 2013 – Autonomous Platforms Types of AUVs - 2 • Buoyancy driven gliders and floats, Scripps Bluefin Spray Teledyne Webb Thermal Glider Teledyne Webb Argo Float Teledyne Webb Electric Glider UW – iRobot Seaglider 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 MBARI’s Benthic Rover Liquid Robotics Wave Glider NEPTUNE Canada’s Wally Rover EvoLogics Fin Ray Effect Glider Nekton’s Pilotfish Nekton’s Transphibian RoboLobster – Joe Ayers IMarEST 2013 – Autonomous Platforms Types of AUVs - 5 Unmanned Aerial Vehicles (UAV) AscTec Hummingbird NOCS UAV Boeing Insitu ScanEagle IMarEST 2013 – Autonomous Platforms Types of AUVs - 5 Unmanned Aerial Vehicles (UAV) IMarEST 2013 – Autonomous Platforms Types of AUVs: Cruising AUV Seafloor Mapping MBARI Mapping 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 Types of AUVs: Cruising AUV Typical Mission for Tethys 1800 km long Mission plot Data Products: 500 km wide, 100m deep panel Nitrate, Temperature, Chlorophyll, Salinity, Oxygen 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 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 Less Toxic IMarEST 2013 – Autonomous Platforms Lagrangian Observation of Toxigenic Phytoplankton IMarEST 2013 – Autonomous Platforms Advanced Sensors • 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 3rd generation ESP on LRAUV Chris Scholin, MBARI UW SeaFlow IMarEST 2013 – Autonomous Platforms Q&A IMarEST 2013 – Autonomous Platforms IMarEST 2013 – Autonomous Platforms