1 / 29

TAIPAN Autonomous Underwater Vehicle

TAIPAN Autonomous Underwater Vehicle. Bruno Jouvencel Professor University of Montpellier Underwater robotics. OUTLINE. First part : our experience in AUV Second part : new prototype of AUV for MEDITATE project Third part: WP3. LIRMM - CNRS. Laboratory Computing science Robotics

lapis
Download Presentation

TAIPAN Autonomous Underwater Vehicle

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. TAIPANAutonomous Underwater Vehicle Bruno Jouvencel Professor University of Montpellier Underwater robotics Meditate

  2. OUTLINE • First part : our experience in AUV • Second part : new prototype of AUV for MEDITATE project • Third part: WP3 Meditate

  3. LIRMM - CNRS • Laboratory • Computing science • Robotics • Micro-electronics systems Staff 260 persons • Researchers 110 • Technical staff about 30 • About 120 invited researchers, postdoc, PhD students Meditate

  4. Underwater Robotics TEAMfor MEDITATE • Bruno Jouvencel Professor • Olivier Strauss : Assistant Professor • Michel Benoit : Research Engineer • Jean Mathias Spiewak : PhD Student • Lionel Lapierre postdoc from september 2004 Meditate

  5. TAIPAN One Meditate

  6. Video of TAIPAN Meditate

  7. FIRST Scientific Mission • GOATS : Generic Oceanographic Array Technology System: (scientific program of NATO) • For TAIPAN: • First field deployment with a real scientific goal • Role : to provide the modelers with CTD data along trajectories in Biodola bay (Elba) Meditate

  8. Scientific Sensors CTD sensor Positioning Transponder for Trackpoint 2 Meditate

  9. Mission Interface Meditate

  10. Vehicle Control Meditate

  11. CTD Mapping with Taipan Meditate

  12. 3D Trajectory Meditate

  13. Thau Lagoon : Spring LA-VISE Bathymetric measurements Real trajectories Meditate

  14. Thau Lagoon LA-VISE Bathymetric measurements Real trajectories Meditate

  15. Presentation of a new Autonomous Underwater Vehicle TAIPAN 2 Jean Mathias Spiewak PhD Student Meditate

  16. Overview of AUV Taipan 2 Meditate

  17. Topsolid view of Taipan 2 Meditate

  18. Two onboard computers : navigation -- perception • Additional card dedicated to : A/D conversions, RS232 serial communications, logical I/Os and PWM signal generation Meditate

  19.  To compute displacement •  three-axis inclinometer, •  three-axis magnetometer, • yaw rate and pitch rate gyrometers and accelerometers •  two pressure sensors, •  loch doppler  For dead reckoning  Acoustical range meter  GPS receiver  For communication  UHF radio link  Wifi link Meditate

  20. Scientific sensor payload • CTD sensor • Acoustical Doppler Current Profiler • Side Scan Sonar • CCD Camera • Acoustical sensors (obstacle avoidance) Meditate

  21. CTD Sensor Meditate

  22. Side Scan Sonar picture • La Vise fresh underwater spring : 30 meter depth • starboard and port side pictures Meditate

  23. Meditate

  24. Work Package 3 Meditate

  25. WP3 • Task A.1. Define the pay-load of vehicle. • Selection of sensors (Conductivity Temperature Depth, loch, sonar, doppler, GPS…) • the determination of the best positioning of sensors according the desired precision on measurements. Meditate

  26. WP3 • Task A.2. Performances of the AUV. • Error on the trajectory of the vehicle, • The energy autonomy, • And so on. • Task A.3. Protocol to define for scientist missions: • The interface man machine has to be developed as well as the facility of using the files in a compatible format with the GIS that will be used in the WP1 and WP4. Meditate

  27. WP3 • Task A. 4.Development of vehicle and sensors integration • Task A. 5. Study of fusion data method to build a 3D representation of spring based on the lateral sonar data. • Task A. 6. Test of vehicle • Task A. 7. Submarine springs survey • Task A.8. Feasibility study concerning the use of the AUV in the Syrian test site, Meditate

  28. Deliverables • Vehicle’s specifications • Interface man machine • Data fusion méthod • Vehicle test Meditate

  29. Milestones expected results • Month 0 +7 : interface man machine • Month 0 +11 : demonstrator of data fusion • Month 0 + 10 start of submarine springs survey Meditate

More Related