Towards Autonomous Ship Systems · 2018. 3. 24. · Towards Autonomous Ship Systems Maritime and...

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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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 : V.Garofano@tudelft.nlProf. Rudy R. Negenborn : R.R.Negenborn@tudelft.nl

- From Simulation to Experimental approach- From Centralized to Decentralized Control