kostia roncin - autonomous sailing boat

Autonomous Sailing Boat Kostia Roncin

23/01/2012 Natural Propulsion Seminar 2

Contents

• Presentation

• Overview. Scientific community & events

• Student project : Micro Transat Challenge

• Results

• Research program & platform

23/01/2012 Natural Propulsion Seminar 3

Ensta Bretagne

Multidisciplinary school

Naval Architecture

Embedded system

Located in Brest

Sailor paradise

France western extremity

Ideal for Micro Transat challenge

23/01/2012 Natural Propulsion Seminar 4

Previous Works & Objectives

• MSN (Mechanic of Naval Structure department)

Experimental impact test platform

Naval structure durability

• Relevant modelling of hydrodynamic forces for

structural scantling

DFMS

23/01/2012 Natural Propulsion Seminar 5

Previous Works: simulator

Dynamic simulation

6DOF

Quick robust and precise

hydrodynamic model

(experimental design

method, towing tank)

aerodynamic interaction

Influence of waves

23/01/2012 Natural Propulsion Seminar 6

Previous Works: sea trials

Inertial unit

(Cadden)

Antenne DG16

(Thalès)

CPU

Measure onshore

Camera CCD

(ENV)

Helm angle sensor(ECN)

4 wind vane(ENV)

(IUT de Nantes)

23/01/2012 Natural Propulsion Seminar 7

Autonomous Sailing Boat Definition

• Definition by Steltzer et al.(INNOC)

Wind is the only source of propulsion

Not remotely controlled; entire control

system is on board

Energy self-sufficient

Roland Stelzer et al., History and Recent Developments in Robotic Sailing, Part I, 3-23, IRSC 2011, Lübeck

23/01/2012 Natural Propulsion Seminar 8

Potentials applications

Intelligent sensor buoys

CO2 neutral transportation of goods

Reconnaissance and surveillance

Supply vessel

Unmanned ferrying

Minefield mapping Gorgues et al. (2011) J. Sci. Hal. Aquat., 4: 105-109

23/01/2012 Natural Propulsion Seminar 9

ASB main strengths

Long mission ranges

Negligible operation costs

Potential for towing sensors

Real-time data transmission

Real-time localisation

Very low noise generation

Nuno A. Cruz, Jose C. Alvez. Ocean sampling and surveillance using autonomous sailboats. International Robotic Sailing Conference, 23-24 May, 2008. Breitenbrunn, Austria

23/01/2012 Natural Propulsion Seminar 10

Forerunners

1968 SKAMP project

1995 Relationship

1997 Fuzzy logic controlled sailing boat

by Abril et al.

2001 Atlantis, Stanford university

23/01/2012 Natural Propulsion Seminar 11

Scientific events & competitions

Micro Transat

World Robot Sailing Championship / IRSC

Sailbot

23/01/2012 Natural Propulsion Seminar 12

Scientific community

Royal Mil. College

Memorial Univ.

Aberystwyth Univ.

ENSTA Bretagne

INNOC

Lübeck Univ.

Israël Inst. of Tech.

Queens Univ.

USNA

British Columbia univ.

ETH Zürich

FEUP

Stralsund Univ.

ISAE

23/01/2012 Natural Propulsion Seminar 13

Breizh Spirit Projects

BS1, the first

prototype

BS2, an experimental

research platform for

model validation

BS3, a boat for the

Atlantic crossing

23/01/2012 Natural Propulsion Seminar 14

Current team

Gabriel Bouvart, Henry De Malet, Nicolas

Douale, Richard Leloup, Frédéric Le Pivert,

Sébastien Thomas, Laurent Vienney,

Pierre Cambon, Yvon Gallou, Michel Jaffres,

Bruno Mecucci, Frederic Montel…

23/01/2012 Natural Propulsion Seminar 15

Boats characteristics

unit Breizh

Spirit 1 Breizh

Spirit 2 Breizh

Spirit 3

LOA m 1.5 2.3 1.7

LWL m 1.3 2 1.4

BWL m 0.35 0.8 0.45

T m 0.8 0.8 0.8

SA m2 0.86 2 0.75

Disp. kg 13 55 13

23/01/2012 Natural Propulsion Seminar 16

BS3 components

Classical sloop rig

Solar panels

Ultra sonic wind vane

Flash light

Wood bumper

Embedded system & actuators

23/01/2012 Natural Propulsion Seminar 17

Anatomy of BS3

PIC 18F2550

• Communication system

Modified spot messenger

(awake every 8h)

23/01/2012 Natural Propulsion Seminar 18

Energy balance of BS3

• Critical point for small boat (<2m)

Average consumption ~150 mA

Solar panels up to 500 mA

Test under real conditions shows a margin of 26%

Battery 12V 12 Ah . Autonomy ~3 days

Switch off – awake system

23/01/2012 Natural Propulsion Seminar 19

• Powerless embedded system

• Sufficient for good boat

Stable in heading

Equilibrated. Required little helm movements

Efficient in any weather condition

Performance is mandatory

Simple algorithm

23/01/2012 Natural Propulsion Seminar 20

Simple algorithm

• Sail trimming

Linear relation between AWA (Apparent

Wind Angle) and sail actuator position

• Helm control

A simple proportional corrector (for good

boat)

Heading

Order Corrector

+ -

Error Helm angle AWA

AWA

23/01/2012 Natural Propulsion Seminar 21

Tests and results

Open sea Harbour Lake

23/01/2012 Natural Propulsion Seminar 22

Tests and results

The crossing of the Brest

Harbour

Distance : 6.5 NM

Average speed : 3 kts

Maximum speed 5.6 kts.

Brest Harbour crossing. The yellow points correspond to the waypoints

Natural Propulsion Seminar 23

Micro Transat, First attempt

approach

Launch point

49°N 6°47’W

Start line

7°30’W

Waypoint n°1

Best distance in

strait line (54 NM)

Best distance over

24h (37NM)

38h under control

23/01/2012 Natural Propulsion Seminar 24

ASB performance evolution

23/01/2012 Natural Propulsion Seminar 25

Obstacles, future improvements

Collisions (ship, fishnet, container, dolphins,

seagull …)

Water tightness

Endurance, energy balance for small boats

Routing avoiding bad weather

23/01/2012 Natural Propulsion Seminar 26

Anti collision solutions

• Development of algorithm and detection system

Under development

Virtually efficient

Works rarely in the real world (Schlaefer IRSC2011)

• Small boat

Not dangerous for anyone

Energy balance problem (powerless system)

23/01/2012 Natural Propulsion Seminar 27

Research program and platform

• Global mean of validation

No crew

Simple & Cheap to set up (little logistic)

Parameters under control (helm, sail

trimming, weight position, …)

Small compared to the usual waves height

23/01/2012 Natural Propulsion Seminar 28

BS2, embedded system

• Powerful for data acquisition Electronics

Anemometer (CV7) GP-04S SiRF Star III

Compass

Central Unit, Sb rio

Wind Speed &

direction

Heading

position

Sensors, deformation gage, … Inertial unit (MTI Xsens)

Attitude

23/01/2012 Natural Propulsion Seminar 29

Questions?