1. GESMA
GESMA PRESENTATION

2. The systems evaluation and test directorate Main sites
GESMA

3. Groupe d’Etudes Sous-Marines de l’Atlantique
FACILITIES LOCATION
LANVEOC

4. C T I A C R E P GOVERNMENTAL EXPERT STUDIES SIMULATIONS TRIALS
Prospective
International exchanges C T A I C R
Threat assesment
Studies P E
Risk management
STUDIES
TRIALS
SIMULATIONS
Performances evaluation
Expertise
Education

5. SKILLS Mine Warfare and Mine Warfare Mine Warfare Underwater
Operations
Ranges
Silencing
and Mine Warfare
Mine
Warfare
Mine Warfare

6. FACILITIES Acoustic tanks Trialling vessels
(Aventurière, Thétis, Langevin)
ROV and experimental AUV
(Sea-Twinn, Redermor, Klein 5400)

7. FACILITIES Acoustic tanks Trialling vessels
(Aventurière, Thétis, Langevin)
ROV and experimental AUV
(Sea-Twinn, Redermor, Klein 5400)
Magnetic environment simulator
Sonar MMI & sonar performance prediction system
In situ sonar tests equipment
Combined magnetic, electric &
acoustic data acquisition (AMI)

8. 28 workers and secretaries
STAFF
28 workers and secretaries
42 PhD’s or equivalent
34 Technicians
Total : 104 employees

9. Capabilities of The REDERMOR Unmanned Underwater Vehicle

10. Previous Versions
Capteurs: différents de la nouvelle version (INS, DVL)
Version du haut: véhicule manoeuvrant (V. propulseurs) avec une antenne française
Version du milieu: véhicule manoeuvrant avec une antenne anglaise
Version basse: véhicule rapide (pas de propulseurs auxiliaires mais gouvernes)

11. REDERMOR II Actuators 4 main thrusters 3 vertical thrusters
1 transverse thruster
2 pairs of horizontal fins
1 rudder
1 canard
GPS: alignement de la centrale au départ et recalage si pas d’amers au fond
CTD: utilisé en navigation pour améliorer le calcul de la vitesse du doppler (traitement réalisé dans la centrale inertielle)
EM log: peu utile
Echosondeur vetical: fournit l’altitude du véhicule
Capteur de pression: fournit l’immersion du véhicule

12. REDERMOR II Intern Elements Battery Processors Sonar processors
CAN Network
Batterie: 4 heures à 5noeuds - 10 heures à 1 nœud (amélioré par le changement des hélices)
Calculateurs: sous Linux
CAN Network: Can Big Box dans les fond bombés avant et arrière - intérêt: limitation de la connectique entre les fonds bombés et les calculateurs
(architecture précédente: liaison séries entre les équipements et les calculateurs => beauc oup de connectiques et donc de riques de pannes)

13. Navigation Navigation Sensors Inertial Navigation System
Doppler Velocity Log
Vertical Echosounder
Pressure transducer
EM log
GPS
CTD
Pingers
Relative position
Nautronix or TrackPointII
Absolute position
Gib
Safety

14. Navigation

15. REDERMOR II Perception sensors Front Looking Sonar Side Scan Sonar
Obstacle detection
Movement estimation: matching between echoes in the different images (CML)
Side Scan Sonar
Position estimation: matching with the Feature Map Database 5 10 15 20 25 30
FLS:
2 fonctions:
détection d’obstacles (vers le bas - le sonar est orienté de 15 deg vers le bas)
estimation du déplacement du véhicule entre deux pings consécutifs (recherhce d’objets communs dans les deux images consécutives et déduction du déplacement)
SSS:
Matching entre base de données et images sonars
ES:
détection d’obstacles
10 ES: 3 orientés vers le haut, 4 horizontaux et trois vers le bas
Echosounder Network
Obstacle detection

16. Communication Fiber optic Acoustic Radio link Workshop link test
collecting data
Acoustic
Low rate
Emergency stop
Mission modification
High rate
Images from sonars
Radio link
Low rate
Move the AUV
High rate
Collecting data
Mission modification
Workshop link
Serial link
Ethernet
Bus Can link
Modem acoustique bas débit
F= 34kHz
Modulation fonction de l’environnement (caractérisation a priori) et de la taille des messages
Débits: 20bps(chirp) ou 150bps (frequency hopping) ou 300 bps (MFSK)
Modem acoustique haut débit
F=34 ou 53 kHz
avec égaliseur (Decision Feedback Equalizer)
Antennes avec 4 capteurs
Débit: 20 kbps (BPSK ou QPSK)
Modem hertzien
Tests du véhicule en surface
Eloignement du véhicule de sa zone de lancement
Nautronix
Base ultra courte
GIB
Bouées en surface équipées de récepteurs GPS et de modem
Traitement des données en surface sur la zone de surveillance

17. REDERMOR II At Sea Trial Agenda October2002 - december 2003:
Integration and tests of the software modules
Global verification
Tests in ROV configuration
January - february 2004
Autonomous mission
Octobre/Novembre
Vérification du dialogues entre les calculateurs et les éléments du véhicule
de Janvier à Juillet
Intégration des modules et passage progressif du mode ROV au mode AUV
Octobre:
Mission autonome totale
programmation de la mission par un opérateur puis réalisation de la mission par le véhicule seul

18. Non Traditional Navigation UUV Guidance and Control Research Project

19. Development of Generic Tools for underwater mobile robots
Main Goal
Development of Generic Tools for underwater mobile robots
Main objectives :
Precise navigation (for drift limitation) by sonar and inertial data fusion ;
Development of high level functions : image processing, mapping and localization, mission planning and control ;
Hardware and software Integration for at sea demonstration.
Final Demonstration :
To rally different mission areas for operation achievement
To use sonars for mapping and localization
But: Démontrer l’intérêt des sonars pour aider à la navigation, le guidage et le contrôle d’un AUV
Pour cela, nous avons dû développer des fonctions de planification et de gestion de mission
Validation à la mer sur un véhicule expérimental

20. General System Architecture
Perception environment,
internal
Decision
Action planning,
guidance, control / command
Functionalities:
- are activated by messages (requests)
- send back messages (events)
- exchange data through shared memory
Execution Monitoring
send requests when events occur
according with Behaviors specifications.
Trois parties:
Perception
capteurs traditionnels (INS, DVL, capteur de pression)
capteurs non traditionnels (FLS, SSS)
Estimateur d’état (accélérations, vitesses, cap, roulis, tangage, position)
FMG ( traitement d’images sonar)
FMP (matching base de données - images et calcul de l’erreur de position)
State Generator (Calcul de osition à partir du SE, du GPS, du FMP)
Decision
Mission Controller (Vérifie le bon fonctionnement de la mission et envoie des événements si problème)
Action
Global Planner (Planification d’itinéraires)
Local Planner (Planification de trajectoires)
Guidage (Calcul du torseur de vitesses)
Contrôleur (Calcul des consignes des actionneurs)
PROCOSA:
Assure le dialogue entre les modules et lance des requêtes vers les modules
Echange au travers d’une mémoire partagée
Validation des modules et du fonctionnement global sur simulateur puis en mer

21. Mission Control with Petri Nets
description of
behavior
event + information
actions = request for
computation towards
servers (sockets)
event + results
ProCoSA = programming and execution monitoring of autonomous systems (® ONERA)
EdiPet : graphic user interface for Petri nets generation (places for behavioral state, transitions for actions, events for messages)
JdP : Petri player automata (LISP) to run the system
VisuPet: possible display of the behavior states during mission execution
added value : integration of independent sub-systems, behavior specification
identical to execution monitoring 4

22. Mission Definition execution of operations at specific mission areas
partially known environment and mission constraints
ability to adapt the mission plan with unexpected events
mission start point
mission end point
no use of active sensors
forbidden
area
operation
depth constraints
area
high density
landmark area
(localization)
operation

23. Operations Planning : Results
Area survey:
one-direction
scan
Pipe
following
Object
inspection
with SSS
Object research:
spiral scan

24. CML & Navigation Recalage par sonar latéral Recalage par sonar frontal
FMP - SSS
CML - FLS
GPS
Pression
CTD
INS
Loch EM
Kalman
Filter
State
Estimator
Gene
rator
Doppler
S. latéral
S. frontal
Recalage par sonar frontal

25. Simulation in Underwater Robotics

26. Side-Scan Sonar & Forward Looking Sonar
Simulation workshop
Calcul de la vitesse de rotation
Speed Output
I model 1
rad_over_s
first order filter
1/R
efficiancy W Cv
Torke Bias Pc Pv
P_a_vide P Wo
Offset
Cons_to_rad_over_s C
|u|
Abs
1/u
1_over_U 3
Hydrodynamic Torke 2
Tension
Cons
current I
Propulseur modélisé par simulink
Side-Scan Sonar & Forward Looking Sonar
simulation
3-D interface

27. Robot Simulation Server
Vehicle simulation
Strains: actuators, vehicle hydrodynamics,
static strains, external interactions
Sensors (Loch Doppler, pressure sensor, Motion Reference Unit, Ultra-Short Base Line...)
Other components: battery, acoustic communication...
Example of component simulation :
Strains
sensors I
III II M -1 *F
Calcul de la vitesse de rotation
Speed Output
I model 1
rad_over_s
first order filter
1/R
efficiancy W Cv
Torke Bias Pc Pv
P_a_vide P Wo
Offset
Cons_to_rad_over_s C
|u|
Abs
1/u
1_over_U 3
Hydrodynamic Torke 2
Tension
Cons
current I
Propeller (simulink module )

28. Platform simulators
VAMA
RMHS / REDERMOR
Remora

29. Sonar Simulation Server Simulation using Raytracing method
with noise

30. Environment Server Environment Server :
global or local data
2-D maps (currents, isobathymetry,
sound speed, temperature, textures)
3-D maps (bottom, objects)
bathymetry server

31. MMI : Viewing and Results
Access to settings and 2-D situation, 3-D view

32. Conclusion and Prospects

33. Covert REA evaluation studies

34. Now contracting for the AUV
Covert REA project
Main goal
Testbed AUV for covert REA evaluation
Multi sensors fusion
Final products from REA
Navigation adaptability
Now contracting for the AUV

35. The TRIDENT acoustic system Interest of real-time acoustic communication for mine and antisubmarine warfare.
The GESMA needs to provide an AUV with an high data rate acoustic link. That is why, we drive a project whose aim is to design a receiver able to cope with all perturbations induced by shallow water propagation. Communications over rapidly time varying channels know an active research with development of coherent receivers able to track the fluctuation of such harsh channels.
So, this presentation will show you the first results of our last three weeks of sea trials.
Ecole Nationale Supérieure des Télécommunications de Bretagne
Brest FRANCE
Joël TRUBUIL
Joël LABAT
Thierry LE GALL
Groupe d ’Études
Sous-Marines de l ’Atlantique
Brest FRANCE
Gérard LAPIERRE

36. The TRIDENT system

37. Array Battery Modem Water depth ~22m 1 m Camera 500, 1000 & 2000 m
20cm ~ 5
High data rate up-link
Array
Acoustic downlink
Battery
Modem
Water depth
~22m
1 m
Camera
Based on coding and space diversity, the system is mainly composed of an autonomous underwater unit with camera, elctronic circuits (acquisition, DSP, image compression, coding, modulator, power amplification) and omnidirectionnal transducer and a surface unit with antenna array for reception (omni directional hydrophones), transducer for transmission ,electronic circuits , a PC computer which integrates blind equalization and associated software including real time image decompression and display.
Acoustic downlink is used to control the underwater unit (compression ON/OFF, compression factor, source level, bit rate, modulation…).
Acoustic uplink is used to transmit images and other parameters at various programmable bit rates (from 8 to 23 kbps).
500, 1000 & 2000 m

38. A potential application...
Investigation of a mine by a diver:
October 2002
Bay of Brest
1000m range
Video transmission
Bit rate: 10 kbps
In this paper, a review of a project driven by GESMA and ENST-Bretagne is presented.
An interesting approach was proposed by Labat et al. Its main properties are an improved robustness and convergence speed brought by spatial diversity and blind adaptation.
This new receiver integrated into a DSP plate-form has shown a good behavior on UWA communication signals where channel is very severe Experimental results are clearly convincing.
As a conclusion, real time processing is really convincing and an acoustic link of 20 kbps is currently designing. Sea trials in 2002 will be very exciting to do.

39. Sea-twin Array Water depth ~22m ~ 1000 m High data rate up-link
20cm ~ 5
High data rate up-link
Sea-twin
Array
Acoustic downlink
Water depth
~22m
~ 1000 m

40. A potential application...
Investigation of a mine by an AUV :
June 2003
Bay of Brest
1000m range
Video transmission
Bit rate: 10 kbps
In this paper, a review of a project driven by GESMA and ENST-Bretagne is presented.
An interesting approach was proposed by Labat et al. Its main properties are an improved robustness and convergence speed brought by spatial diversity and blind adaptation.
This new receiver integrated into a DSP plate-form has shown a good behavior on UWA communication signals where channel is very severe Experimental results are clearly convincing.
As a conclusion, real time processing is really convincing and an acoustic link of 20 kbps is currently designing. Sea trials in 2002 will be very exciting to do.

41. Futur

42. Axes de progrès Portage des développements sur la plate-forme Redermor
Homing et docking
Détection et évitement d ’obstacles
Intelligence embarquée
Optimisation de navigation
Méthode et outils d ’essais
Simulation
Évaluation technico-opérationnelle

43. Simulation - Schéma directeur
Pérenniser et industrialiser les développements déjà réalisés
S ’interfacer avec les architectures de plus haut niveau (Wargame, ITCS)
Développer les briques « fonctions »(sonar, interférences, communication, signature, environnement, ...)
Développer l ’approche méthodologique utilisée dans la simulation pour l ’acquisition (Prototypage rapide, Identification des paramètres d ’un modèle)