Final EU-MOP project workshop EU-MOP Intelligent Design Dennis Fritsch, Fraunhofer IPA Madrid, January 2008
Introduction Why is a swarm better than a single unit? Swarm Scalability Fault tolerance Multi locality Flexibility System performance
Introduction In order to use these advantages, the units have to be intelligent. This artificial intelligence will be achieved by several sensors and a control system: Plan Act Environment Sense
Introduction
Introduction
Sensor systems Sensors will be mainly needed for navigation Where am I? Position Orientation Where do I want to go? Oil Internal state How can I get there? Other robots Environment
Sensor systems Proceeding Classification of sensors Identification of sensor systems Test of sensor systems Definition of sensor configurations
Sensor systems Step 1: Sensor classification matrix
Sensor systems Step 2: Identification of sensors
Sensor systems Step 2: Identification of sensors
Sensor systems Step 2: Identification of sensors
Sensor systems Step 2: Identification of sensors
Sensor systems Step 3: Test of sensors
Sensor systems Step 4: Definition of several sensor configurations, e.g.: Sensor system L model S model Oil sensor @ MS DGPS High end Low cost IMU RADAR Depth sensor Bumpers Fuel tank / oil storage sensors Radio system
Control / Swarm strategies 6 basic operations …
Control / Swarm strategies … lead to 11 basic tasks: move to position (x,y) avoid collision (pre-collision) react to collision (post-collision) move to known oil position skim oil and stay in oil slick as long as possible (information) chaotic operation search oil skim oil and stay in oil slick as long as possible (oil sensor) return to MS / collection point move into operational area stop engine and wait for new commands
Control / Swarm strategies Strategies for task move to position (x,y)
Control / Swarm strategies Strategies for task avoid collision (pre-collision)
Control / Swarm strategies Strategies for task skim oil and stay in oil slick
Control / Swarm strategies Strategies for task chaotic operation
Control / Swarm strategies Strategies for task move into operational area
Robot simulation
Robot simulation Input GUI Output Oil fate model by OXF Analysis by BMT Parameter file Oil fate model
Robot simulation Real case scenarios Sea Empress Oil Spill at Tenby Harbour
Robot simulation Results: Identification of best sensor configurations best swarm strategies But: Simulation is like masturbation. If you do it too often, you begin to think it is the real thing.
Development of Concept Proof of concept Proceeding Development of Concept Hardware Robots Projector Camera … Software Camara: Robot localisation Projector: Oil spill projection
Proof of concept Concept
Proof of concept Hardware Components
Proof of concept Hardware Components
Proof of concept Hardware Components
Proof of concept Software for oil projection
Proof of concept Software for oil projection
Proof of concept Software for oil projection
Proof of concept Programming of robots
Proof of concept Programming of robots
Proof of concept Video
Proof of concept Video
Proof of concept Video
Proof of concept Video
Results