LOGIMATIC Port vehicle automation through tight...
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[email protected] LOGIMATIC Port vehicle automation through tight integration of GNSS and on-board sensors Jesús Pablo González Project Manager at Eurecat [email protected] European Robotics Forum, March 24 th 2017, Edinburgh
Transcript of LOGIMATIC Port vehicle automation through tight...
LOGIMATICPort vehicle automation through tight
integration of GNSS and on-board sensors
Jesús Pablo GonzálezProject Manager at Eurecat
European Robotics Forum, March 24th 2017, Edinburgh
Today’s science is tomorrow’s technology
Creation and data retrieval
Advances in interfaces(Wearable, mobile, M2M,
Social Media, IoT)
Data Science
New algorithms, methodsand platforms to approach
new challenges
Data storage andInfrastructures
Big Data architecturesand Cloud Computing
Visualization andUser Experience
Simulation environments, Visual environments.
Audiovisual technologies
New efficienttechnologies
Sustainable processes
Functional materials
Adding properties toproducts of the future
Intelligent systems
Boosting the concept of intelligent factories
Industrial Laboratories of the
Future
From the concept to theindustry
SUSTAINABLE, DIGITAL & SMART: INDUSTRY 4.0
Eurecat’s synergy
Digital
Advanced Manufacturing
Autonomous Systems Group
• Applied-research on Autonomous Robots in real applications
• Field and industrial robotics
LOGIMATIC
Tight integration of EGNSSand on-board sensors forport vehicle automation
Modular GIS-based routeand yard planning integratedwith Terminal OperatingSystems
Projects related to Autonomous Systems
GRAPE
(Semi)autonomousvineyard monitoring andfarming tasks, withUnmanned GroundVehicles (UGVs).
GEOMOVE
Two synchronized AGVs(master/slave) for thecooperative transportation ofheavy, high-value loads in theaeronautic industry
Sensor-based non-invasiveautonomous localization andnavigation
MAIC
Cooperative mobilemanipulator
System composed by ahighly flexible robot armand an omnidirectional AGVin the production line of ourcustomer from theautomotive industry.
BOTS2REC
• Robots toreconstruction
• Multi-robot unitsfor asbestosremoval
ARSI
Semi-autonomousinspection of sewernetworks with aerialrobots
Autonomous navigationand mapping
Damage detection
BUILT2SPEC
3D reconstruction with aerialimages for Construction Siteinspection and auditing
INSPECTION
Drones forinspection ofseveral indoor andoutdoorsinfrastructure:
• electric towers,
• sewers,
• bridges,
• tunnels.NATURE4CITIES
• Nature basedsolutions forre-naturingcities
• Urbanlandscapingsupported bydrones
Total annual volume of container shipping is continuously
growing since the 80’s
Motivation
Container shipping trade in millions tones loaded (source: statista.com)
Motivation
"The Competitiveness of global Port-Cities: Synthesis Report". OECD, 2014.
The increase will push terminals’ utilization rates to 75 percent
in 2018 from the 68 percent of 2013 (Drewry 2014).
Motivation
Industry intelligence shows that a yard occupancy ratio of
around 70% will allow terminals to work at maximum
efficiency, while working consistently above this threshold will
reduce efficiency (OECD 2014).
"The Competitiveness of global Port-Cities: Synthesis Report". OECD, 2014.
Motivation
The usual way for ports to deal with the increasing demand of sea transport
and compete against competitors is to expand the port in the original site.
"Port Spatial Development and Theory of Constraints", Wing Yee Tracy Chan and Tsz Leung Yip
Motivation
"Port Spatial Development and Theory of Constraints", Wing Yee Tracy Chan and Tsz Leung Yip
The scarcity of land available in densely populated urban areas and the
high investment costs associated with port development.
Capacity of container ships in seaborne trade from 1980 to 2016 (in million dwt)
Motivation
Technical objectives
• An advanced automated navigation solution based on the integration of GNSS and sensors
• A GIS-based control module compatible with existing Terminal Operating Systems (TOS)
• A security mechanism in order to detect and avoid cyber-attacks
Route to market
Two types of partners in a project: the impact partners (taking the results to the next level) and the scientific partners who undertake the research
Scientific Excellence Technology Transfer
R&D MARKET
End-User
Lead userSystem providers
Standardization
TASK ALLOCATION REPORTING
MANUALLY OPERATED
(driving and container
manipulation)
Current situation
POSITIONING AND DETECTION
AUTOMATIC DRIVING CONTROL
CONTAINER OPERATIONS
MISSION PLANNING
TASK ALLOCATION REPORTING
Proposed situation
Project concept
Resource allocation through existing TOS
Monitoring and global path planning
Tight integration with local sensors
Ranging sensors
Inertial sensors
Use of available satellite ranges
Autonomous operations
Project status
M1 M2 M3 M4 M5 M6 M7 M8 M9 M10 M11 M12 M13 M14 M15 M16 M17 M18 M19 M20 M21 M22 M23 M24 M25 M26 M27 M28 M29 M30 M31 M32 M33 M34 M35 M36
#WP Title Leader Mar Apr May Jun Jul Aug Sep Oct Nov Dec Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec Jan Feb
WP1 Operational framework, system requirements and architecture definition THPA
T1.1 Definition of requirements and operational rules EUT
T1.2 System design and architecture definition DAPP
T1.3 Definition of the validation scenarios and KPIs TPHA
WP2 GIS for efficient planning and TOS integration definition and development TREDIT
T2.1 Identification and establishment of configuration needs TREDIT
T2.2 Exchange of data and relevant Interfaces TREDIT
T2.3 Movements planning for efficiency and collisions avoidance CERTH-HIT
T2.4 Real time monitoring and corrective actions TREDIT
WP3 Integration of EGNSS and on bard sensors CSIC-UPC
T3.1 GNSS/EGNOS localization unit EUT
T3.2 Multisensor integration for local positioning and navigation CSIC-UPC
T3.3Integration of multi-constellation GNSS/EGNOS signals and self-localization multi-sensor
based techniquesEUT
T3.4 Trajectory planning and conflicts resolution EUT
T3.5 Integration with GIS and TOS TREDIT
WP4 Reliable and robust service provision DAPP
T4.1 Risk assessment and scenario development THPA
T4.2 GNSS cyberattacks countermeasures for port logistics applications DAPP
T4.3 Securing the entire LOGIMATIC system DAPP
WP5 Integration and tests: Straddle carrier use case EUT
T5.1 Vehicle conditioning and sensor integration EMERSON
T5.2 Revision of validation plan and preparation of validation yard THPA
T5.3 Tests and performance assessment EUT
T5.4 Large scale application simulation and impact assessment CERTH-HIT
WP6 IPR Management and Business plan DAPP
T6.1 IPR Management DAPP
T6.2 Community Structure & Business Opportunity CERTH-HIT
T6.3 Business plan and transfer to a sustainable model EUT
T6.4 Standardization activities AENOR
WP7 Communication and Dissemination CERTH-HIT
T7.1 Communication activities CERTH-HIT
T7.2 Dissemination activities CERTH-HIT
T7.3 Link with other project or initiatives CSIC-UPC
WP8 Project Management EUT
T8.1 Administrative management EUT
T8.2 Financial management EUT
T8.3 Technical and risk management DAPP
2016 2017 2018 2019
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Integration with existing platforms
TOS
1. Container Movement Orders (Origin-Destination –Container ID)
2. Decide on SC assignment and routing based on:- Current location/status- Optimal route
3. Send job order:- Origin-destination- Optimal route
4. Receive position & status updates. Possible re-routing
5. Confirm on job conclusion
• Control with a operator module
• Emergency Stop (SIL 3)
Manual and Autonomous modes
Service Level GainsPark to yard
Service description Current performance / Limitation Objective / Indicator to measure
Dispatching of job orders to straddle
carriers
The dispatching rules do not take into account the current
position of the straddle carrier and their distance to the origin of
the movement
Reduction of total driven
kilometres
Straddle carrier routing The dispatching rules do not take into account the individual
routing of the straddle carrier to minimise driven kilometres and
maintenance costs
Reduction of Total driven
kilometres
Reduction of Maintenance costs
Combined CHE operations on container
receipt/delivery through the gates
(Double cycling)
Currently the container movement from yard to parking slot is
not combined with a reverse movement to avoid empty returns
of CHE
Reduction of Total driven
kilometres
Increased CHE efficiency (moves
per hour)
24X7 operations Currently – due to personnel shortages – the trucks are serviced
only during working days
Gate throughput increase
Yard to ship
Service description Current performance / Limitation Objective / Indicator to measure
Straddle carrier positioning below quay
crane during vessel loading
Currently the straddle carrier is not aware of the exact position
that it has to deliver the container below the QC (in relation to
the spreader)
QC increased efficiency (moves
per hour)
Container storage
Service description Current performance / Limitation Objective / Indicator to measure
Straddle carrier picks up and delivers a
container
Currently the confirmation on successful collection or delivery of
a container by straddle carrier is based on the input provided
manually by the driver
Minimise errors / Reported
misplaced containers
Straddle carrier positions a container at
the assigned yard slot
Currently the information on delivery of container at the
assigned slot in yard is only based on manual confirmation by
the driver
Minimise errors / Reported
misplaced containers
Straddle carrier picks up the correct
container
Currently this depends on the manual confirmation by the driver Minimise errors / Reported
misplaced containers
Straddle carriers working on same (or
adjacent) rows
Container storage sequencing in order to avoid straddle carrier
movements on same block/row and possible collisions
Container storage movements
completion time
NOVEL HYBRID POSITIONING SYSTEM
• Map creation and update• EGNOS capable multi-constellations receiver,
including GPS, GLONASS and GALILEO signals• Multi-sensor robust localization (GNSS + IMU + laser
+ odometry)
NOVEL GNSS CYBER-SECURITY MODULE
• Robust and secure service provision based on cyber-attacks protection
NOVEL GIS-BASED YARD TRANSPORT LOGISTICS
PLANNING AND MONITORING SYSTEM
• Modular GIS-based route and yard planningintegrated with Terminal Operating System
• Advanced navigation solution: specialized pathplanners and motion control
• Collision avoidance and re-planning capabilities
Project results
Tight integration of EGNSS and on-board sensors forport vehicle automation.
IMPACTS
• Improve productivity by increasing operationalefficiency
• Increase task accuracy and reduce errors• Reduce worker strain and safety incidents
Impact of the results
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