TAIPAN Autonomous Underwater Vehicle

May 7 2004 Meditate 1

TAIPANAutonomous Underwater Vehicle

Bruno Jouvencel

Professor University of Montpellier

Underwater robotics


OUTLINE

• First part : our experience in AUV

• Second part : new prototype of AUV for MEDITATE project

• Third part: WP3


LIRMM - CNRS

• Laboratory – Computing science

– Robotics

– Micro-electronics systems

Staff 260 persons– Researchers 110

– Technical staff about 30

– About 120 invited researchers, postdoc, PhD students


Underwater Robotics TEAMfor MEDITATE

• Bruno Jouvencel Professor

• Olivier Strauss : Assistant Professor

• Michel Benoit : Research Engineer

• Jean Mathias Spiewak : PhD Student

• Lionel Lapierre postdoc from september 2004


TAIPAN One


Video of TAIPAN

QuickTime™ et undécompresseur codec YUV420sont requis pour visionner cette image.


FIRST Scientific Mission

• GOATS : Generic Oceanographic Array Technology System: (scientific program of NATO)

• For TAIPAN:– First field deployment with a real scientific goal– Role : to provide the modelers with CTD data

along trajectories in Biodola bay (Elba)


Scientific Sensors

CTD sensor

PositioningTransponder for Trackpoint 2


Mission Interface


Vehicle Control

0.5 1 1.5 2 2.5 3

50

100

150

200

250

300

350

heading control

minutes

deg

0.5 1 1.5 2 2.5 3

0

2

4

6

8

10

depth control

minutes

meters


CTD Mapping with Taipan


3D Trajectory


Thau Lagoon : Spring LA-VISE

Real trajectories

Bathymetric measurements


Thau Lagoon LA-VISE

Real trajectories

Bathymetric measurements


Presentation of a new Autonomous Underwater Vehicle

TAIPAN 2

Jean Mathias Spiewak

PhD Student


Overview of AUV Taipan 2


Topsolid view of Taipan 2


• Two onboard computers : navigation -- perception • Additional card dedicated to :

A/D conversions, RS232 serial communications, logical I/Os and PWM signal generation


To compute displacement three-axis inclinometer, three-axis magnetometer, yaw rate and pitch rate gyrometers and accelerometers two pressure sensors, loch doppler

For dead reckoning Acoustical range meter GPS receiver

For communication UHF radio link Wifi link


Scientific sensor payload

• CTD sensor

• Acoustical Doppler Current Profiler

• Side Scan Sonar

• CCD Camera

• Acoustical sensors (obstacle avoidance)


CTD Sensor


Side Scan Sonar picture

• La Vise fresh underwater spring : 30 meter depth

• starboard and port side pictures



Work Package 3


WP3• Task A.1. Define the pay-load of

vehicle. – Selection of sensors (Conductivity

Temperature Depth, loch, sonar, doppler, GPS…)

– the determination of the best positioning of sensors according the desired precision on measurements.


WP3– Task A.2. Performances of the AUV.

– Error on the trajectory of the vehicle, – The energy autonomy, – And so on.

– Task A.3. Protocol to define for scientist missions:

• The interface man machine has to be developed as well as the facility of using the files in a compatible format with the GIS that will be used in the WP1 and WP4.


WP3– Task A. 4. Development of vehicle and

sensors integration– Task A. 5. Study of fusion data method

to build a 3D representation of spring based on the lateral sonar data.

– Task A. 6. Test of vehicle– Task A. 7. Submarine springs survey– Task A.8. Feasibility study concerning

the use of the AUV in the Syrian test site,


Deliverables

• Vehicle’s specifications

• Interface man machine

• Data fusion méthod

• Vehicle test


Milestones expected results

• Month 0 +7 : interface man machine

• Month 0 +11 : demonstrator of data fusion

• Month 0 + 10 start of submarine springs survey

Documents

TAIPAN Autonomous Underwater Vehicle