Antonio Vasilijevic - LABUST training activities and resources

8/7/2019 Antonio Vasilijevic - LABUST training activities and resources

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Overview

LUST

LABUSTLABUSTTRAINING ACTIVITIES AND RESOURCESTRAINING ACTIVITIES AND RESOURCES

LABUSTLABUSTTRAINING ACTIVITIES AND RESOURCESTRAINING ACTIVITIES AND RESOURCES

A. Vasilijevi

Laboratory for Underwater Systems and TechnologiesFaculty of El. Engineering and ComputingUniversity of Zagreb


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LABUSTLABUST

IPSIT 1. 4. 2011.2

Established in 2005

Laboratory primary goal is education of students with underwater systems

and technologies

Education in the domain of navigation, guidance and control of unmannedmarine vessels (surface and underwater)

R & D of underwater systems and technologies

Interdisciplinary and multidisciplinary cooperation for the purpose of

underwater systems and technologies

Organization of training courses in domain of underwater technolgies


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ResourcesResources Our fleetOur fleet

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AUV (autonomous underwater vehicle) - IVER2

ROV (remotely operated vehicle) - SeaMor 300F and VideoRay

IPSIT 1. 4. 2011.


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ReRemote sensingmote sensing SonarsSonars

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Rotary scan sonar Side scan sonarImaging sonar

IPSIT 1. 4. 2011.


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ResoursesResourses

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CTD Physical properties of sea water Environmental optical sensors

Acoustic communication - modems Acoustic USBL positioning system

IPSIT 1. 4. 2011.


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SoftwareSoftware

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Our goal: to see the world around us layered with information, data andvisualizations.

Original mission planning software: Vector map

Our prefered and future platform: Google earth


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TrainingTraining

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Laboratory provide variety of training courses:

AUV / ROV Mission Planning and Operator Training

Remote sensing

Underwater navigation, localization and communication (situational

awareness)

Trainings are targeted for professions utilizing underwater technology:

Maritime security, underwater surveillance and mine hunting

Surveys, data gathering e.g. bathymetrical or environmental

Offshore, inspection, detection and tracking of subsurface installations

IPSIT 1. 4. 2011.


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Navy trainingNavy training topic and goalstopic and goals

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This presentation shows one of our latest training organized for Croatian Navy.

Training was provided to Mine Countermeasures personnel.

Topic: advanced underwater technology for security inspections and mine

hunting

Security inspections:

Port and channels seabed inspections

Ships hull and Underwater structures

Goals:

detection, classification and identification of underwater objects high area search rate with low false alarm generation

rapid deployment and employment

IPSIT 1. 4. 2011.


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Navy trainingNavy training benefits and conceptbenefits and concept

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Benefits: fast and efficient wide area search, saving man-hours, time and money

reduce unnecessary risk for the human operators who otherwise have to

interface with the underwater objects

easy re-inspection

work in a zero or low visibility conditions

As a concept is used very well known approach:

1. Target detection and localization using autonomous vehicles AUV

2. Visual identification and classification of the previously detected objects

using ROV

3. Mapping. Map can be used for periodic inspections (re-inspections)

The training was organized into three modules:

IPSIT 1. 4. 2011.


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Module 1Module 1

IPSIT 01. 04. 2011.10

1. Technology familiarization (workshop), concept, theory and demo missions

Concept and role of unmanned vehicles in maritime security, underwater surveillance and

mine hunting.

Theory needed: hydro-static hydro-dynamic, underwater vehicles, navigation, underwater

sensing (sensors), acoustic localization and communication etc.

Demo missions to explain the concept, principals and advantages


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Module 2Module 2

IPSIT 01.04. 2011.11

2. Hands-on training providing real world experience for trainees

Participants were split in groups of two (vehicle crew)

Mission planning

Vehicle deployment, AUV and ROV

Independent missions, data transfer

Presentation and interpretation of the results


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Module 3Module 3

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3. Demonstration

Training participants demonstrated their new skils during the international

workshop BTS 2010 Murter

IPSIT 01.04. 2011.


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Mission planningMission planning

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AUV Mission ResultsAUV Mission Results

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Mission data is downloaded from the vehicle and the results are presented onthe map in layers e.g. corrected trajectory, SideScan image, temperature

IPSIT 1. 4. 2011.


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15IPSIT 1. 4. 2011.


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MapMap sonar imagesonar image

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Using SideScan image of the area, detected objects are labelled and Geo-

localized.

IPSIT 1. 4. 2011.


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ReinspectionReinspection

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New inspection Previous inspection

IPSIT 1. 4. 2011.


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ROV Mission ResultsROV Mission Results

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Suspicious object from AUV mission were then visually inspected using ROV.

IPSIT 1. 4. 2011.


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ROV Mission ResultsROV Mission Results

III. SAVJETOVANJE O MORSKOJ TEHNOLOGIJI 30. 11. - 1. 12. 2009.19

To pilot ROV to the labelled objects and to identify them, trainees used:

USBL underwater localisation system to guide them to the proximity of the object

Imaging Sonar in low visibility condition to find the object

Finally video for object identification and classification.


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ReinspectionReinspection



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24IPSIT 1. 4. 2011.


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ResourcesResources Our fleetOur fleet

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AUV (autonomous underwater vehicle) - IVER2

Vehicle specifications:Hull Diameter: 14.7 cm (5.8 in)

Hull Material: Carbon Fibre TubeVehicle Length: 148 cm (58+ in).

Weight in air: 21kg (47+ lbs)

Maximum Operating Depth: 100 m (328 ft)

Maximum speed: 4 knots

Energy: 600 watt/hours, Li-Ion battery system.

Propulsion and Control: Direct drive DC brush-less motor and four independent fin control surfaces.

Navigation: Dead Reckoning + integrated DVL.

Processor: Two OceanServer designed CPUs (Intel ATOM 1.6Ghz)

Sensors:Compass, roll and pitch sensors

GPS

Depth sensor

Side Scan sonar (Imaginex Sport scan).

Vehicle applications:Creation of nautical charts, detection and identification of

underwater objects and bathymetric features.

Archeological, biological, environmental surveys etc.

Current profiling.

IPSIT 1. 4. 2011.


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ResourcesResources -- EquipmentEquipment

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ROV (remotely operated vehicle)-

SeaMor 300F

Vehicle applications:

Remote Visual inspections, Marine Security,Offshore,

Science, Salvage

Vehicle specifications:

Size (W X L X H) 355mm X 472mm X 355mm

Weight in air ~ 20kg

Construction Aluminium and high impact ABS

Depth Rating 1,000 ft / 300m

Speed Up to 3 knots

Thrusters 4x150w

Sensors:

Compass, roll,pitch,depth

Color Camera, focus manual/auto, zoom 10x optical, 4x digital, tilt 180 Degree and 2x50W variable intensity

light (tilt with camera).LYYN video optimization in controller

DVR video recorder

Front looking Dual frequency sonar system BlueView DF900/2250. Provides the medium and ultra-short

range imaging required to perform complex tasks in zero visibility conditions.

DVL, LinkQuest , determine the velocity vector and altitude of a subsea vehicle moving across the sea floor.

USBL Tritech, used for underwater positioning.

IPSIT 1. 4. 2011.

Antonio Vasilijevic - LABUST training activities and resources

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