SMaRC SWEDISH MARITIME ROBOTICS CENTRE Ivan Stenius Centre Director SMaRC stenius@kth.se
2019-05-17 SMaRC - Swedish Maritime Robotics Centre 2
What’s SMaRC? • National industrial research center for maritime robotics • IRC: designated target of financiers to focus on industry needs • Triple-Helix • Sweden's currently largest academic initiative for maritime robotics research with a focus on underwater technology • 2017-2024, budget over 200Msek, 15 research projects with just over 30 people involved (about 20 full-time) 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 3
KTH-AVE KTH-AE KTH-IE KTH-RPL Prof. J. Kutten-keuler Assoc. Prof. Prof. Who are we? J. Folkesson C. Lagergren Ass. Prof. Prof. P. Jensfelt Assoc. Prof. Stockholm I. Stenius F. Gröndahl University KTH – Aeronautical & Vehicle Engineering Prof. D. Kragic Jensfelt Assoc. Prof. (AVE) N. Kirchner KTH – Robotics Perception & Learning (RPL) Assoc. Prof. Saab Kockums & P. Ögren Saab Dynamics KTH – Applied Electro Chemistry (AE) KTH – Industrial Ecology (IE) PhD. University of R. Berg Gothenburg University of Gothenburg (GU) Stockholm University (SU) Prof. K. Abrahamsson B. Rydell Swedish Defence Research Agency (FOI) Swedish Defence Material Administration MMT (FMV) FMV, Swedish Defence PhD. M. Klages Saab / Kockums Material Administration FOI, Swedish Defence Research Agency Saab Dynamics Prof. Prof. O. Oskarsson Marin Mätteknik AB (MMT) A. Wåhlin P. Sigray M. Andersson 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 4
… and even more 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 5
The ocean is the 7 th largest It provides us 50 % of the O 2 70 % of the world’s Yet, we have only and directly feeds economy in the world. surface is ocean. explored 5 % of it. over 2 Billion people. "The expert group recommends that the G7 science ministers support the development of a sustained sea and ocean observing system“ (G7 expert workshop on future of the oceans and seas, May 2016)
EXPLORE IMPACT UNDERSTAND Scenarios • Impact areas • Scenarios OCEAN ENVIRONMENTAL SAFEGUARDING PRODUCTION • Capabilities SOCIETY SENSING 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 7
C38 Capabilities Ability to detect pollutants on molecular level in the water column (Advanced sensor suite to detect pollutants) Perception C41 Autonomous in real – time accurate C39 Ability to accurately: - feature identification (mooring - localise surrounding objects for collision line, base fundament, algae, etc.) avoidance in murky waters at high speed (10kn). - identify, classify and geo-tag (primarily) mane-made objects - localise ice front in relation to vehicle and (secondarily) natural objects position. at high speed (10kn) - operate in dynamic oceanic conditions such as: low salinity; low visibility, turbidity; shallow waters; various bottoms: sand, C42 mud, rock, flat, corrugated; presence of ice Autonomously in real – time identify a on the surface; no GPS; depth up to 300m; deviation from a “normal state”: sea currents up to 3kn Monitor and detect variations from a “normal - state” in the underwater domain 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 8
Capabilities C2 C12 Navigate safely in totally Ability to safely unknown and dynamically Autonomy without entanglement changing environments precision manoeuvre without access to surface C13 Ability to, beyond what already exists today, in real time adapt and re- C10 plan a mission Swarm intelligence to Localize the source of pollutants Map the extension of a polluted area Autonomously handle decentralized C8 versus centralized control Deploy (and preferably retrieve) Create perimeter (of fixed and moving payloads to well defined positions assets) around an object of interest and in typical ambient conditions from "Mother AUV" (e.g. acoustic nodes for communication and positioning). 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 9
Capabilities Under Water Communication C23 Ability to perform optimised underwater communication and data transfer with: - nodes deployed at the seafloor, - between “Mother - AUV” and micro AUV swarm, - networks of other moving or not moving nodes/vehicles/submarines/ships, - control central and sensors. 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 10
Capabilities Endurance C29 Endurance to map and monitor a glacier front (extending 20km) in one sweep as fast as possible (preferably at speeds > 5kn) without re-charging. C30 Increased range of AUV to > 1000 km or 30 days @ optimal speed and >400km @ 5kn C32 Ability to perform long-term continuous operations in a predefined area (perform multiple missions: dock, transfer data, recharge and repeat mission) 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 11
Scenarios Most capabilities from the EXPLORE IMPACT UNDERSTAND IMPACT different scenarios converge into common interests ! OCEAN SAFEGUARDING ENVIRONMENTAL SAFEGUARDING PRODUCTION SOCIETY SENSING SOCIETY 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 12
Research Plan Benefit areas Challenges Demonstrator program Main goals Research areas and capabilities Small-size & affordable maritime robots Autonomy B1. Ocean C1. Reducing Production the need for operator interaction Endurance Long-range maritime robots Next C2. Enabling B2. Safeguarding generation long-term Society of maritime presence robots Perception C3. Enabling operations in unknown B3. Environmental waters Monitoring Communication Feedback to research Yearly joint workshops and demonstrator periods 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 13
Research Area Alignment results Bathymetric SLAM Perception • Capabilities - Localize and classify objects and features in dynamic oceanic conditions - In real-time detect deviation from “normal - state” Classification of Sonar Data Place Recognition - Detect and classify substances on molecular level in the water column • Sub Projects - SP02 Deep Learning - SP05 Underwater Navigation - SP06 Underwater Perception - SP10 Sniffer sensor 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 14
Research Area Adding Neural Network Improving the Modularity of AUV Controllers to Behaviour Control Systems using Behavior Trees Autonomy Trees • Capabilities - Real time decisions based on sensor data and operational constraints - Swarm intelligence to e.g. localize and cage an intruder • Sub Projects Caging: 3D Pursuit-Evasion for AUVs - SP7 Robust Mission Planning - SP8 Multi-Agent Networks - (SP01 Docking & SP04 Hydrobatics) 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 15
Research Area Endurance • Capabilities - Long range in remote and unknown areas - Long time persistence in local known waters • Sub Projects - SP01 Docking - SP03 Performance Optimization - SP04 Hydrobatics - SP09 Air Independent Energy Storage 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 16
Research Area Endurance Fuel Cells in AUVs Hydrobatics & Docking Multivariable Performance Optimization 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 17
Research Area Before Now Underwater Communication • Capabilities - Optimized and robust underwater communication links and networks • Sub Projects Application Layer - SP11 Underwater Communication Presentation Application - SP12 Underwater Networks Session Transport Network Network Comm link Data Linkj Physical link 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 18
Research Area Underwater Communication Testing Lab Kit “5G” Underwater com. DEPLOYABLE UNWERWATER COMMUNICATIONS NODES 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 19
Focus right now DEMONSTRATOR AUTONOMY COMMUNICATION ENDURANCE PERCEPTION PROGRAM SP01 Docking SP11 Underwater SP03 System Performance SP02 Deep-Learning SP04 Hydrobatics Communication SP09 Energy Storage SP05 Underwater SP07 Robust Mission SP12 Underwater Perception Planning Networks SP06 Underwater SP08 Multi-Agent Navigation Networks SP10 Sniffer Sensor 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 20
SMaRC Demonstrator Platforms LONG RANGE LARGE AUV (LoLo) SMALL & AFFORDABLE AUVs (SAM) Dimensions: Depth rating: Power: Speed: Range: Dimensions: Depth rating: Power: Speed: Range: 3.8x1.05x0.6 1000m 2x Motors Xkn (cruise) xx-yy km L=1.3m, 50m 2x1kW motors 4kn (cruise) 50-100 m XX kWh battpack 7kn (max) D=0.126m 1.4kWh battpack >10kn (max) km Propulsion, Aft section: control surfaces, Mid section: Mid section: Contra rotating props, Fwd. section: and wings Energy storage, Energy storage and thrust vector steering Main frame and LCG & TCG trim, and buoyancy control control unit buoyancy control Fwd section: Large payload area Aft section: External rails: Main frame and emergency kit, control unit Nose section: Side-Scan Sonar, and UW-com, DVL, multi- drop weights DEPLOYABLE UNWERWATER beam, FLS, and water COMMUNICATIONS NODES quality sensors Multiple vehicles for Deploy sensor nodes collaboration tests 2019-05-17 SMaRC - Swedish Maritime Robotics Centre 21
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