kostia roncin - autonomous sailing boat
TRANSCRIPT
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
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Ensta Bretagne
Multidisciplinary school
Naval Architecture
Embedded system
Located in Brest
Sailor paradise
France western extremity
Ideal for Micro Transat challenge
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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
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Previous Works: simulator
Dynamic simulation
6DOF
Quick robust and precise
hydrodynamic model
(experimental design
method, towing tank)
aerodynamic interaction
Influence of waves
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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)
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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
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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
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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
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Forerunners
1968 SKAMP project
1995 Relationship
1997 Fuzzy logic controlled sailing boat
by Abril et al.
2001 Atlantis, Stanford university
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Scientific events & competitions
Micro Transat
World Robot Sailing Championship / IRSC
Sailbot
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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
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Breizh Spirit Projects
BS1, the first
prototype
BS2, an experimental
research platform for
model validation
BS3, a boat for the
Atlantic crossing
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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…
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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
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BS3 components
Classical sloop rig
Solar panels
Ultra sonic wind vane
Flash light
Wood bumper
Embedded system & actuators
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Anatomy of BS3
PIC 18F2550
• Communication system
Modified spot messenger
(awake every 8h)
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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
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• 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
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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
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Tests and results
Open sea Harbour Lake
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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
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ASB performance evolution
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Obstacles, future improvements
Collisions (ship, fishnet, container, dolphins,
seagull …)
Water tightness
Endurance, energy balance for small boats
Routing avoiding bad weather
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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)
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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
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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
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Questions?