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Ahmed CHEMORI Laboratory of Informatics, Robotics and Microelectronics of Montpellier

LIRMM, CNRS/University of Montpellier 2161, rue Ada 34095 Montpellier, France

SEMINAR

School of Naval Architecture & Ocean Engineering

17th of November 2016

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Speaker : Ahmed CHEMORI

Montpellier city in France

Montpellier

• Montpellier is a city in the south of France • The capital of Languedoc Roussillon’s region as well as Hérault’s department • The 8th city in the country

LIR

MM

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Laboratory of Informatics, Robotics and Microelectronics of Montpellier (LIRMM) is aresearch laboratory supervised by both University of Montpellier and the French NationalCenter for Scientific Research (CNRS)

204 permanents and 155 PhD students, working together in 3 research units :

Department of

Computer scienceDepartment of

RoboticsDepartment of

Microelectronics

LIRMM Laboratory at Montpellier - France

LIR

MM

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Robotics Department

DEXTER

IDH

ICARDEMAR

EXPLORE

ROB / INFO

5 Research Teams :

Image and interaction for manipulation of visual data Human sensory motor system (modelling, control, neuroprosthesis)

Robotics department at LIRMM

LIR

MM

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E. DOMBRE(DR CNRS Emeritus)

P. POIGNET(PR UM2)

N. ZEMITI(MCF UM2)

C. LIU(CR CNRS)

F. PIERROT(DR CNRS)

O. COMPANY(MCF UM2)

S. KRUT(CR CNRS)

A. CHEMORI(CR CNRS)

M. GOUTTEFARDE(CR CNRS)

Medical robotics (Design & control)

Parallel robotics (design & control)

S. ABDELAZIZ(MCF UM2)

DEXTER Research team Within the Robotics department

LIR

MM

Y. HEDABE(PR UM2)

+ Master & PhD students5


Facilities at the Robotics Department

LIR

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My research activities

LIR

MM

Control of Robotic Systems

Underwater Vehicles

Humanoids/ Exoskeletons

Parallel Kinematic

Manipulators

Underactuated Mechanical

Systems

http://www.lirmm.fr/~chemori 7


Outline of the presentation

o Introduction o Bioinspired roboticso Context of the project of U-CAT o U-CAT turtle-like AUVo Some control solutions o Real-time experimentso Conclusion

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Introduction

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

9


Some applications of underwater robots

Many applications (within the offshore, onshore, and inshore environments) such as :Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

10


Main related research topics

Research Topics

Sensing

SLAM

Software

Communication

Swarm/Flotilla

Control

DSA for cooperation

SLAM(Simultaneous

Localization And Mapping)

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Classification of main marine vehicles

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

Marine Vehicles

ROVs

Crawlers

AUVs

Gliders

Bio-inspired

ASVs

ROV : Remotely Operated Vehicle

LBC, Seabotix

Slocum Glider, Teledyne

SeaLion 2, JW Fishers

ASV : AutonomousSurface Vehicle

REMUS 6000, WHOI

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Bioinspired Robotics

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

13


Bioinspired robotics

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

14


Some examples of bioinspired robots

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Some examples of biomimetic underwater robots

Robotuna, MIT

AQUA, MCGill

RHex, Boston Dynamics

Galatea, TUdelft

Madeleine, Stanford University

Fish Robot, University of Beijin RoboFish, SHOAL

U-CAT, TUT

Sepios, ETH

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Some examples of biomimetic underwater robots

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

17


Context of the project

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

18


Origin of U-CAT biomimetic AUV

Daily practices of an archeologistIntroduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Two projects for archeology service

Underwater archeology

Archeology inspection Archeology manipulation

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Underwater archeology manipulation

Designing the robotic toolset for deep sea archaeology,from the surface to 2000 meters deep

Scientific coordinator : V. CREUZE

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

21


U-CAT Turtle-like AUV

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

22


ARROWS Project

For archeological applications (shipwreck inspection)

Origin of U-CAT biomimetic AUV

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

23


Some features of U-CAT

Designed for : Archeology inspectionVideo : identify objects of interestSmall and highly maneuverableNo propellers : Restrict visibility near bottomSilent motion : Not disturb bottom sedimentsUntethered : Cable constrains vehicle motionsActuators: 4 finsActuated dof: Fully

Some technical features

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Main generalized coordinates

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

25


Fin’s actuation of U-CAT

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

Surge SwayHeave

PitchRollYaw

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Why Fin’s actuation?

Propellers Fins

F5 Robotics

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

Thruster based propulsion Video

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Preliminary design : Mini U-CAT

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

Video

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Two control modes : Hover & Cruise

Hover Control Cruise ControlIntroduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Surge control in Cruise mode Sway control in Cruise mode Heave control in Cruise Control

Pitch control in Cruise modeRoll control in Cruise mode Yaw control in Cruise mode

Fins configuration in Hover mode

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Fins configuration in Cruise mode

Surge control in Cruise mode Sway control in Cruise mode Heave control in Cruise Control

Pitch control in Cruise mode Roll control in Cruise mode Yaw control in Cruise mode

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Some control solutions

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

32


Overview of the proposed control solutions

PID control

Nonlinear RISE control

Inverse dynamics

Adaptive inverse dynamics

Nonlinear PID

… etc

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Control with priority scheduler (human in the loop)

Desired depth

Human action

Reference trajectories generator

DepthIMU

Joystick

Desired yaw

X

Membership weighting functions

Control Priorities

Z & yaw

X

Computer onboard

X Control

Fins

Sensors

(3dof : 2dof controlled automatically, 1dof controlled with a joystick)Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Desired depth

Human action

Reference trajectories generator

X Control

DepthIMU

Joystick

X, Yaw

Yaw Control

Membership weighting functions

Control Priorities

Depth

X & yaw

Computer onboard

Fins

Sensors

Control with priority scheduler (human in the loop)

(3dof : 1dof controlled automatically, 2dof controlled with a joystick)Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Controller implementation with priority scheduler

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Real-time experiments

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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First experiments (open-loop control)

During WMSM 2015 at Canary islands – Feb 2015

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

Video

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First experiments of closed-loop control

In a swimming pool at Tallinn, Estonia – June 2015

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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External disturbance rejection in depth control

In Rummu Lake near Tallinn, Estonia, June 2015

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Depth control in presence of disturbances

At SCC, Sareema, Estonia – November 2015

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Experiments for Archeology applications

In Rummu Lake near Tallinn, Estonia

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

Video

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Pinger-based control : Diver following

In Rummu lake near Tallinn, Estonia – August 2016

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

Video

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Report on Euronews TV

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Report on Estonian TV

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Conclusion

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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Conclusion

Addressed problem : Control of biomimetic underwater robotic vehicles

General context : Underwater archeology Inspection & Manipulation

Challenges : Nonlinear dynamics, unknown /variable parameters,

uncertainties, external disturbances, unmeasurable states, …etc

Proposed solutions : Different advanced control techniques

Validation : Real-time experiments in the lab / in the sea (real conditions)

Introduction

BIO Robotics

Context

U-CAT AUV

Control

Experiments

Conclusion

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48Mexico, December 2013 …

www.lirmm.fr/~chemori/

See experiments videos on:

Papers are available on :

Find more videos on Ahmed CHEMORI’s YouTube channel:

Robot Control

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