Underwater Robots - Proseminar · PDF fileUnderwater Robots Proseminar Patrick Schmolke...
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Underwater Robots
Proseminar
Patrick Schmolke
University Hamburg
14. December 2009
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Overview
1 Underwater Robotics - Introduction
2 History of Underwater Robotics
3 Technic
4 ROVs introduced
5 AUVs introduced
6 Conclusion
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Underwater Robotics - Introduction
Overview
1 Underwater Robotics - IntroductionIntroductionROVsAUVs
2 History of Underwater Robotics
3 Technic
4 ROVs introduced
5 AUVs introduced
6 Conclusion
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Underwater Robotics - Introduction Introduction
Introduction
Why do we develope underwater robots?
Reach dangerous spots in the sea
Long term observations
Automatic maintenance
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Underwater Robotics - Introduction Introduction
Introduction
Why do we develope underwater robots?
Reach dangerous spots in the sea
Long term observations
Automatic maintenance
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 4 / 30
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Underwater Robotics - Introduction Introduction
Introduction
Why do we develope underwater robots?
Reach dangerous spots in the sea
Long term observations
Automatic maintenance
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 4 / 30
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Underwater Robotics - Introduction Introduction
Introduction
Why do we develope underwater robots?
Reach dangerous spots in the sea
Long term observations
Automatic maintenance
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 4 / 30
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Underwater Robotics - Introduction Introduction
Basic Types of Underwater Robots
ROV
Remotely Operated underwater Vehicle
AUV
Autonomous Underwater Vehicle
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Underwater Robotics - Introduction Introduction
Basic Types of Underwater Robots
ROV
Remotely Operated underwater Vehicle
AUV
Autonomous Underwater Vehicle
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 5 / 30
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Underwater Robotics - Introduction Introduction
Basic Types of Underwater Robots
ROV
Remotely Operated underwater Vehicle
AUV
Autonomous Underwater Vehicle
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 5 / 30
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Underwater Robotics - Introduction Introduction
Basic Types of Underwater Robots
ROV
Remotely Operated underwater Vehicle
AUV
Autonomous Underwater Vehicle
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 5 / 30
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Underwater Robotics - Introduction ROVs
What is a ROV?
remotely operated
connected to support unit by:
wiretether
battery or surface supported
mostly frame shaped
more of a tool than of a robot
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Underwater Robotics - Introduction ROVs
What is a ROV?
remotely operated
connected to support unit by:
wiretether
battery or surface supported
mostly frame shaped
more of a tool than of a robot
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Underwater Robotics - Introduction ROVs
What is a ROV?
remotely operated
connected to support unit by:
wiretether
battery or surface supported
mostly frame shaped
more of a tool than of a robot
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 6 / 30
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Underwater Robotics - Introduction ROVs
What is a ROV?
remotely operated
connected to support unit by:
wiretether
battery or surface supported
mostly frame shaped
more of a tool than of a robot
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 6 / 30
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Underwater Robotics - Introduction ROVs
What is a ROV?
remotely operated
connected to support unit by:
wiretether
battery or surface supported
mostly frame shaped
more of a tool than of a robot
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 6 / 30
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Underwater Robotics - Introduction ROVs
What is a ROV?
remotely operated
connected to support unit by:
wiretether
battery or surface supported
mostly frame shaped
more of a tool than of a robot
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 6 / 30
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Underwater Robotics - Introduction ROVs
What is a ROV?
remotely operated
connected to support unit by:
wiretether
battery or surface supported
mostly frame shaped
more of a tool than of a robot
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 6 / 30
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Underwater Robotics - Introduction AUVs
What is an AUV?
AI operated
powered by capacitor, battery or fuel cell
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Underwater Robotics - Introduction AUVs
What is an AUV?
AI operated
powered by capacitor, battery or fuel cell
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History of Underwater Robotics
Overview
1 Underwater Robotics - Introduction
2 History of Underwater Roboticshistory
3 Technic
4 ROVs introduced
5 AUVs introduced
6 Conclusion
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History of Underwater Robotics history
First AUV
SPOV
manufactured by University of Washington Applied Physics Laboratory
torpedo shaped
DOF: 1
nominal speed: ca.2 m/s
maximum depth: 3.600m
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History of Underwater Robotics history
First AUV
SPOV
manufactured by University of Washington Applied Physics Laboratory
torpedo shaped
DOF: 1
nominal speed: ca.2 m/s
maximum depth: 3.600m
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History of Underwater Robotics history
First AUV
SPOV
manufactured by University of Washington Applied Physics Laboratory
torpedo shaped
DOF: 1
nominal speed: ca.2 m/s
maximum depth: 3.600m
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 9 / 30
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History of Underwater Robotics history
First AUV
SPOV
manufactured by University of Washington Applied Physics Laboratory
torpedo shaped
DOF: 1
nominal speed: ca.2 m/s
maximum depth: 3.600m
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History of Underwater Robotics history
First AUV
SPOV
manufactured by University of Washington Applied Physics Laboratory
torpedo shaped
DOF: 1
nominal speed: ca.2 m/s
maximum depth: 3.600m
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History of Underwater Robotics history
First AUV
SPOV
manufactured by University of Washington Applied Physics Laboratory
torpedo shaped
DOF: 1
nominal speed: ca.2 m/s
maximum depth: 3.600m
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 9 / 30
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History of Underwater Robotics history
timeline
1957 SPOV
1973 SPOV II
1974 SKAT
1977 EAVE I
1978 SKAT-GEO
1980 L-2,Epaulard
1981 EAVE III
1983 ARCS
1987 EAVE IV, LSV-1
1988 Seasquirt, MT-88
1990 Tiphlonus
1992 ALBAC,Odyssey
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History of Underwater Robotics history
timeline-continued
1993 Odyssey II
1993 Twin Burger
1994 TSL
1995 CR01,ABE
1996 Autosub
1997 OKPO-6000
1998 SAUV,Rauver MkII, Taipan
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Technic
Overview
1 Underwater Robotics - Introduction
2 History of Underwater Robotics
3 TechnicChassis TypesPower SupplySensors
4 ROVs introduced
5 AUVs introduced
6 Conclusion
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Technic Chassis Types
Shapes
Torpedo
Rectangular
Open-Space-Frame
Biomimetic
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Technic Chassis Types
Shapes
Torpedo
Rectangular
Open-Space-Frame
Biomimetic
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Technic Chassis Types
Shapes
Torpedo
Rectangular
Open-Space-Frame
Biomimetic
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Technic Chassis Types
Shapes
Torpedo
Rectangular
Open-Space-Frame
Biomimetic
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Technic Chassis Types
Shapes
Torpedo
Rectangular
Open-Space-Frame
Biomimetic
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Technic Power Supply
Power Supply
battery
akkumulator
fuel cell
solar energy
surface support unit
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Technic Power Supply
Power Supply
battery
akkumulator
fuel cell
solar energy
surface support unit
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Technic Power Supply
Power Supply
battery
akkumulator
fuel cell
solar energy
surface support unit
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Technic Power Supply
Power Supply
battery
akkumulator
fuel cell
solar energy
surface support unit
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Technic Power Supply
Power Supply
battery
akkumulator
fuel cell
solar energy
surface support unit
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Technic Sensors
Sensors
pressure
temperature
inertia
conductivity
sonar and similar systems
GPS and similar systems
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Technic Sensors
Sensors
pressure
temperature
inertia
conductivity
sonar and similar systems
GPS and similar systems
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Technic Sensors
Sensors
pressure
temperature
inertia
conductivity
sonar and similar systems
GPS and similar systems
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Technic Sensors
Sensors
pressure
temperature
inertia
conductivity
sonar and similar systems
GPS and similar systems
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Technic Sensors
Sensors
pressure
temperature
inertia
conductivity
sonar and similar systems
GPS and similar systems
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Technic Sensors
Sensors
pressure
temperature
inertia
conductivity
sonar and similar systems
GPS and similar systems
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ROVs introduced
Overview
1 Underwater Robotics - Introduction
2 History of Underwater Robotics
3 Technic
4 ROVs introducedNereus
5 AUVs introduced
6 Conclusion
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ROVs introduced Nereus
About Nereus
first deployed in 2007
deep diving vehicle
hybrid ROV
AUV for surveys
ROV for direct multipurpose interaction
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ROVs introduced Nereus
About Nereus
first deployed in 2007
deep diving vehicle
hybrid ROV
AUV for surveys
ROV for direct multipurpose interaction
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ROVs introduced Nereus
About Nereus
first deployed in 2007
deep diving vehicle
hybrid ROV
AUV for surveys
ROV for direct multipurpose interaction
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ROVs introduced Nereus
About Nereus
first deployed in 2007
deep diving vehicle
hybrid ROV
AUV for surveys
ROV for direct multipurpose interaction
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ROVs introduced Nereus
About Nereus
first deployed in 2007
deep diving vehicle
hybrid ROV
AUV for surveys
ROV for direct multipurpose interaction
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ROVs introduced Nereus
Nereus Data
tethered
maximum 20h operation time
3 Thrusters, 6 DOF
nominal speed: 1.5 m/s
maximum depth: 11km
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ROVs introduced Nereus
Nereus Data
tethered
maximum 20h operation time
3 Thrusters, 6 DOF
nominal speed: 1.5 m/s
maximum depth: 11km
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ROVs introduced Nereus
Nereus Data
tethered
maximum 20h operation time
3 Thrusters, 6 DOF
nominal speed: 1.5 m/s
maximum depth: 11km
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ROVs introduced Nereus
Nereus Data
tethered
maximum 20h operation time
3 Thrusters, 6 DOF
nominal speed: 1.5 m/s
maximum depth: 11km
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ROVs introduced Nereus
Nereus Data
tethered
maximum 20h operation time
3 Thrusters, 6 DOF
nominal speed: 1.5 m/s
maximum depth: 11km
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ROVs introduced Nereus
Nereus
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AUVs introduced
Overview
1 Underwater Robotics - Introduction
2 History of Underwater Robotics
3 Technic
4 ROVs introduced
5 AUVs introducedAutosubAquaJellyAqua Penguin
6 Conclusion
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AUVs introduced Autosub
About Autosub
introduced and first deployed 1996
first launched as demo vehicle in Loch Linnhe
limited capabilities
continously upgraded
distributed control system
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AUVs introduced Autosub
About Autosub
introduced and first deployed 1996
first launched as demo vehicle in Loch Linnhe
limited capabilities
continously upgraded
distributed control system
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AUVs introduced Autosub
About Autosub
introduced and first deployed 1996
first launched as demo vehicle in Loch Linnhe
limited capabilities
continously upgraded
distributed control system
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AUVs introduced Autosub
About Autosub
introduced and first deployed 1996
first launched as demo vehicle in Loch Linnhe
limited capabilities
continously upgraded
distributed control system
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AUVs introduced Autosub
About Autosub
introduced and first deployed 1996
first launched as demo vehicle in Loch Linnhe
limited capabilities
continously upgraded
distributed control system
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AUVs introduced Autosub
Autosub 6000
Standard and GeoSub Configuration
6x1x1m
nominal speed: 1 m/s
maximum speed: 2 m/s
DOF: 2
no hovering
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AUVs introduced Autosub
Autosub 6000
Standard and GeoSub Configuration
6x1x1m
nominal speed: 1 m/s
maximum speed: 2 m/s
DOF: 2
no hovering
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AUVs introduced Autosub
Autosub 6000
Standard and GeoSub Configuration
6x1x1m
nominal speed: 1 m/s
maximum speed: 2 m/s
DOF: 2
no hovering
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AUVs introduced Autosub
Autosub 6000
Standard and GeoSub Configuration
6x1x1m
nominal speed: 1 m/s
maximum speed: 2 m/s
DOF: 2
no hovering
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AUVs introduced Autosub
Autosub 6000
Standard and GeoSub Configuration
6x1x1m
nominal speed: 1 m/s
maximum speed: 2 m/s
DOF: 2
no hovering
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AUVs introduced Autosub
Autosub 6000
Standard and GeoSub Configuration
6x1x1m
nominal speed: 1 m/s
maximum speed: 2 m/s
DOF: 2
no hovering
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AUVs introduced Autosub
Autosub 6000 original configuration
weight: 2000kg
maximum depth: 6000m
maximum endurance: 206h
no obstacle avoidance
oceanographic survey robot
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AUVs introduced Autosub
Autosub 6000 original configuration
weight: 2000kg
maximum depth: 6000m
maximum endurance: 206h
no obstacle avoidance
oceanographic survey robot
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AUVs introduced Autosub
Autosub 6000 original configuration
weight: 2000kg
maximum depth: 6000m
maximum endurance: 206h
no obstacle avoidance
oceanographic survey robot
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AUVs introduced Autosub
Autosub 6000 original configuration
weight: 2000kg
maximum depth: 6000m
maximum endurance: 206h
no obstacle avoidance
oceanographic survey robot
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AUVs introduced Autosub
Autosub 6000 original configuration
weight: 2000kg
maximum depth: 6000m
maximum endurance: 206h
no obstacle avoidance
oceanographic survey robot
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AUVs introduced Autosub
Autosub 6000 Geosub configuration
weight: 2400kg
maximum depth: 3000m
maximum endurance: 60h
industrial survey robot:
pipeline route surveygeophysical surveycable route surveyoil/gas survey
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AUVs introduced Autosub
Autosub 6000 Geosub configuration
weight: 2400kg
maximum depth: 3000m
maximum endurance: 60h
industrial survey robot:
pipeline route surveygeophysical surveycable route surveyoil/gas survey
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AUVs introduced Autosub
Autosub 6000 Geosub configuration
weight: 2400kg
maximum depth: 3000m
maximum endurance: 60h
industrial survey robot:
pipeline route surveygeophysical surveycable route surveyoil/gas survey
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AUVs introduced Autosub
Autosub 6000 Geosub configuration
weight: 2400kg
maximum depth: 3000m
maximum endurance: 60h
industrial survey robot:
pipeline route surveygeophysical surveycable route surveyoil/gas survey
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AUVs introduced Autosub
Autosub 6000 Geosub configuration
weight: 2400kg
maximum depth: 3000m
maximum endurance: 60h
industrial survey robot:
pipeline route surveygeophysical surveycable route surveyoil/gas survey
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AUVs introduced Autosub
Autosub 6000 Geosub configuration
weight: 2400kg
maximum depth: 3000m
maximum endurance: 60h
industrial survey robot:
pipeline route surveygeophysical surveycable route surveyoil/gas survey
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AUVs introduced Autosub
Autosub 6000 Geosub configuration
weight: 2400kg
maximum depth: 3000m
maximum endurance: 60h
industrial survey robot:
pipeline route surveygeophysical surveycable route surveyoil/gas survey
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AUVs introduced Autosub
Autosub 6000 Geosub configuration
weight: 2400kg
maximum depth: 3000m
maximum endurance: 60h
industrial survey robot:
pipeline route surveygeophysical surveycable route surveyoil/gas survey
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AUVs introduced AquaJelly
About AquaJelly
Project of Uni Stuttgard in cooperation with Effekt-Technik GmbHand Festo
foundet 2007
terminated 2008
goals:
develope and test new biomimetic propulsion systemdevelope and test a robot capable of swarm intelligence
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AUVs introduced AquaJelly
About AquaJelly
Project of Uni Stuttgard in cooperation with Effekt-Technik GmbHand Festo
foundet 2007
terminated 2008
goals:
develope and test new biomimetic propulsion systemdevelope and test a robot capable of swarm intelligence
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AUVs introduced AquaJelly
About AquaJelly
Project of Uni Stuttgard in cooperation with Effekt-Technik GmbHand Festo
foundet 2007
terminated 2008
goals:
develope and test new biomimetic propulsion systemdevelope and test a robot capable of swarm intelligence
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AUVs introduced AquaJelly
About AquaJelly
Project of Uni Stuttgard in cooperation with Effekt-Technik GmbHand Festo
foundet 2007
terminated 2008
goals:
develope and test new biomimetic propulsion systemdevelope and test a robot capable of swarm intelligence
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AUVs introduced AquaJelly
About AquaJelly
Project of Uni Stuttgard in cooperation with Effekt-Technik GmbHand Festo
foundet 2007
terminated 2008
goals:
develope and test new biomimetic propulsion systemdevelope and test a robot capable of swarm intelligence
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AUVs introduced AquaJelly
About AquaJelly
Project of Uni Stuttgard in cooperation with Effekt-Technik GmbHand Festo
foundet 2007
terminated 2008
goals:
develope and test new biomimetic propulsion systemdevelope and test a robot capable of swarm intelligence
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AUVs introduced AquaJelly
AquaJelly Technical Data
body type: biomimetic
propulsion: biomimetic
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AUVs introduced AquaJelly
AquaJelly Technical Data
body type: biomimetic
propulsion: biomimetic
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AUVs introduced Aqua Penguin
About AquaPenguin
Also by Festo
uses 3DFin-Technology
testing of energy-efficient propulsion
swarm intelligence
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AUVs introduced Aqua Penguin
About AquaPenguin
Also by Festo
uses 3DFin-Technology
testing of energy-efficient propulsion
swarm intelligence
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AUVs introduced Aqua Penguin
About AquaPenguin
Also by Festo
uses 3DFin-Technology
testing of energy-efficient propulsion
swarm intelligence
Patrick Schmolke (University Hamburg) Underwater Robots 14.12.09 27 / 30
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AUVs introduced Aqua Penguin
About AquaPenguin
Also by Festo
uses 3DFin-Technology
testing of energy-efficient propulsion
swarm intelligence
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AUVs introduced Aqua Penguin
Technical Data
body type: biomimetic
propulsion: biomimetic
maximum speed: 1,5m/s
maximum endurance: 7h
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AUVs introduced Aqua Penguin
Technical Data
body type: biomimetic
propulsion: biomimetic
maximum speed: 1,5m/s
maximum endurance: 7h
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AUVs introduced Aqua Penguin
Technical Data
body type: biomimetic
propulsion: biomimetic
maximum speed: 1,5m/s
maximum endurance: 7h
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AUVs introduced Aqua Penguin
Technical Data
body type: biomimetic
propulsion: biomimetic
maximum speed: 1,5m/s
maximum endurance: 7h
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Conclusion
Overview
1 Underwater Robotics - Introduction
2 History of Underwater Robotics
3 Technic
4 ROVs introduced
5 AUVs introduced
6 Conclusionconclusion
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Conclusion conclusion
conclusions
revolutionary propulsion systems
distributed networks and artificial intelligence
interesting for research:
biology researchclimatic researchengineering and computer technology researchinspection of cables, pipelines, ships and artificial underwater structuresmilitary
problems with maritime law
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Conclusion conclusion
conclusions
revolutionary propulsion systems
distributed networks and artificial intelligence
interesting for research:
biology researchclimatic researchengineering and computer technology researchinspection of cables, pipelines, ships and artificial underwater structuresmilitary
problems with maritime law
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Conclusion conclusion
conclusions
revolutionary propulsion systems
distributed networks and artificial intelligence
interesting for research:
biology researchclimatic researchengineering and computer technology researchinspection of cables, pipelines, ships and artificial underwater structuresmilitary
problems with maritime law
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Conclusion conclusion
conclusions
revolutionary propulsion systems
distributed networks and artificial intelligence
interesting for research:
biology researchclimatic researchengineering and computer technology researchinspection of cables, pipelines, ships and artificial underwater structuresmilitary
problems with maritime law
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Conclusion conclusion
conclusions
revolutionary propulsion systems
distributed networks and artificial intelligence
interesting for research:
biology researchclimatic researchengineering and computer technology researchinspection of cables, pipelines, ships and artificial underwater structuresmilitary
problems with maritime law
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Conclusion conclusion
conclusions
revolutionary propulsion systems
distributed networks and artificial intelligence
interesting for research:
biology researchclimatic researchengineering and computer technology researchinspection of cables, pipelines, ships and artificial underwater structuresmilitary
problems with maritime law
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Conclusion conclusion
conclusions
revolutionary propulsion systems
distributed networks and artificial intelligence
interesting for research:
biology researchclimatic researchengineering and computer technology researchinspection of cables, pipelines, ships and artificial underwater structuresmilitary
problems with maritime law
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Conclusion conclusion
conclusions
revolutionary propulsion systems
distributed networks and artificial intelligence
interesting for research:
biology researchclimatic researchengineering and computer technology researchinspection of cables, pipelines, ships and artificial underwater structuresmilitary
problems with maritime law
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Conclusion conclusion
conclusions
revolutionary propulsion systems
distributed networks and artificial intelligence
interesting for research:
biology researchclimatic researchengineering and computer technology researchinspection of cables, pipelines, ships and artificial underwater structuresmilitary
problems with maritime law
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