May Meditate1 TAIPAN Autonomous Underwater Vehicle Bruno Jouvencel Professor University of Montpellier Underwater robotics
May Meditate2 OUTLINE First part : our experience in AUV Second part : new prototype of AUV for MEDITATE project Third part: WP3
May Meditate3 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
May Meditate4 Underwater Robotics TEAM for MEDITATE Bruno Jouvencel Professor Olivier Strauss : Assistant Professor Michel Benoit : Research Engineer Jean Mathias Spiewak : PhD Student Lionel Lapierre postdoc from september 2004
May Meditate5 TAIPAN One
May Meditate6 Video of TAIPAN
May Meditate7 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)
May Meditate8 Scientific Sensors CTD sensor Positioning Transponder for Trackpoint 2
May Meditate9 Mission Interface
May Meditate10 Vehicle Control
May Meditate11 CTD Mapping with Taipan
May Meditate12 3D Trajectory
May Meditate13 Thau Lagoon : Spring LA-VISE Real trajectories Bathymetric measurements
May Meditate14 Thau Lagoon LA-VISE Real trajectories Bathymetric measurements
May Meditate15 Presentation of a new Autonomous Underwater Vehicle TAIPAN 2 Jean Mathias Spiewak PhD Student
May Meditate16 Overview of AUV Taipan 2
May Meditate17 Topsolid view of Taipan 2
May Meditate18 Two onboard computers : navigation -- perception Additional card dedicated to : A/D conversions, RS232 serial communications, logical I/Os and PWM signal generation
May Meditate19 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
May Meditate20 Scientific sensor payload CTD sensor Acoustical Doppler Current Profiler Side Scan Sonar CCD Camera Acoustical sensors (obstacle avoidance)
May Meditate21 CTD Sensor
May Meditate22 Side Scan Sonar picture La Vise fresh underwater spring : 30 meter depth starboard and port side pictures
May Meditate23
May Meditate24 Work Package 3
May Meditate25 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.
May Meditate26 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.
May Meditate27 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,
May Meditate28 Deliverables Vehicle’s specifications Interface man machine Data fusion méthod Vehicle test
May Meditate29 Milestones expected results Month 0 +7 : interface man machine Month : demonstrator of data fusion Month start of submarine springs survey