EurOCEAN 2000 - Vlaams Instituut voor de Zee

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TITLE : ADVANCED SYSTEM INTEGRATION FOR MANAGING THE COORDINATED OPERATION OF ROBOTIC OCEAN VEHICLES - ASIMOV CONTRACT N° : MAS3-CT97-0092 COORDINATOR : Prof. António M. Pascoal Institute for Systems and Robotics (ISR) – Torre Norte Instituto Superior Técnico Av. Rovisco Pais 1049-001 Lisboa, Portugal Tel: (+351) 21 841 8051 Fax: (+351) 21 841 8291 E-mail: antonio@isr.ist.utl.pt PARTNERS : Mr. Gerard Ayela Dr. Ricardo Santos ORCA Instrumentation IMAR-Instituto do Mar 5, Rue Pierre Rivoallon Departamento de Oceanografia e Pescas ZI du Vernis Universidade dos Açores 29200 Brest, France Cais de Santa Cruz Tel. : (+33) 298 05 2905 9900 Horta, Açores, Portugal Fax : (+33) 298 05 5241 Tel. : (+351) 292 22988 E-mail : info@orca-inst.com Fax : (+351) 292 22659 E-mail : ricardo@horta.uac.pt Mr. Marcus Cardew Dr. Marc Brussieux System Technologies Groupes d’Études Sous Marines Lightburn Trading Estate de l’Atlantique Ulverston, LA12 7NE BP 42, 29240 Brest Naval, United Kingdom France Tel. : (+44) 12 2958 6672 Tel. : (+33) 298 22 6543 Fax : (+44) 12 2958 6696 Fax : (+33) 298 22 7213 E-mail : MarcusCardew@ SystemTechnologies.com E-mail : mbr@gesma.gesma.fr Prof. Nicolas Seube École Nationale Supérieur des Ingénieurs des Études et Techniques d’Armement 2, Rue Vérny 29806 Brest Cedex 9, France Tel. : (+33) 298 34 8888 Tel. : (+33) 298 34 8750 E-mail : Nicolas.Seube@ensieta.fr 649
650 ADVANCED SYSTEM INTEGRATION FOR MANAGING THE COORDINATED OPERATION OF ROBOTIC OCEAN VEHICLES (ASIMOV) António Pascoal 1 , Paulo Oliveira 1 , Carlos Silvestre 1 , Luis Sebastião 1 , Manuel Rufino 1 , Victor Barroso 1 , João Gomes 1 , Gerard Ayela 2 , Pascal Coince 2 , Marcus Cardew 3 , Anne Ryan 3 , Hugh Braithwaite 3 , Nicholas Cardew 3 , Jonathan Trepte 3 , Nicolas Seube 4 , J. Champeau 4 , P. Dhaussy 4 , V. Sauce 4 , R. Moitié 4 , Ricardo Santos 5 , Frederico Cardigos 5 , Marc Brussieux 6 , Paul Dando 7 1 Institute for Systems and Robotics (ISR) / Instituto Superior Técnico (IST), Lisbon, Portugal; 2 3 ORCA Instrumentation, Brest, France ; System Technologies, Ulverston, United Kingdom ; 4 ENSIETA - Ecole Nationale Supérieur des Ingénieurs des Études et Techniques d’Armement, Brest, France ; 5 IMAR / DOP - Instituto do Mar / Departamento de Oceanografia e Pescas, University of Azores, Horta, Portugal ; 6 GESMA - Groupe d’Études Sous-Marines de L’Atlantique, Brest, France; 7 School of Ocean Sciences, University of Wales Bangor, Anglesey, United Kingdom. SUMMARY The main thrust of the ASIMOV project is the development and integration of advanced technological systems to achieve coordinated operation of an Autonomous Surface Craft (ASC) and an Autonomous Underwater Vehicle (AUV) while ensuring a fast communication link between the two vehicles. The ASC / AUV ensemble is being used to study the extent of shallow water hydrothermalism and to determine the patterns of community diversity at the vents in the D. João de Castro bank in the Azores. 1. PROJECT DESCRIPTION This project puts forward the key concept of coordinated operation between an Autonomous Surface Craft (ASC) and Autonomous Underwater Vehicle (AUV) for marine data acquisition and transmission. By properly maneuvering the ASC to always remain in the vicinity of a vertical line directed along the AUV, a fast communication link can be established to transmit navigational data from the ASC to the AUV, as well as acoustic / vision data from the AUV to the ASC, and subsequently to an end-user located on board a support ship or on shore. Fast and reliable communications, as well as precise navigation, can thus be achieved by resorting to conventional systems. Figure 1 depicts the main systems required for vehicle navigation and control, as well as for acoustic communications between the two robotic vehicles. To give the work greater focus, the research and development efforts were aimed at performing realistic missions at sea, near the Azores islands, to determine the extent of shallow water hydrothermalism and the patterns of community diversity at the vents in the D. João de Castro Bank; see Figures 2.a and 2.b. In the missions of interest, the AUV is required to maneuver close to the seabed to detect the occurrence of bubble emissions from the vents, and to trigger the acquisition and transmission of time / position stamped sonar and video images to the support unit through the vertical acoustic channel, via the ASC. Obstacle avoidance and bubble detection rely heavily on the development of a space-stabilized sonar head with vertical and horizontal transducer elements and the associated signal processing algorithms. Programming, executing, and modifying on-line mission plans for joint ASC/AUV operation were made possible through the development of dedicated systems for joint mission and vehicle control, as well as appropriate human-machine interfaces.
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OFFICE FOR OFFICIAL PUBLICATIONS OF
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EurOCEAN 2000 The European Conferen
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TABLE OF CONTENTS (Volumes I - II)
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Integrated nitrogen model for europ
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II.1.2 Mehtods for monitoring, fore
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III.2.2 Oceanographic measurement a
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380
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382
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Jan van de Graaff Delft University
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dimensional near-field hydrodynamic
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ISVA, turbulence under spilling bre
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Most important results until now: W
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TITLE : PREDICTION OF COHESIVE SEDI
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394 PREDICTION OF COHESIVE SEDIMENT
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processes of CBS. This is particula
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liquefaction (e.g. induced by wave
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TITLE : COASTAL STUDY OF THREE-DIME
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COASTAL STUDY OF THREE-DIMENSIONAL
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morphological change. Their predict
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O’Connor B.A., and Nicholson J. (
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Professor F Seabra-Santos Universid
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The INDIA Project brings together m
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412 (CCMS-POL, USC) and bed sonar e
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Prof. D. Myrhaug (NTNU) Norwegian U
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project is focussed on relevant pra
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Modelling results for the flat bed
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engineering firms (coastal engineer
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422
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Luigi Alberotanza Inst. for the Stu
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All three sites are equipped with i
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2.3 Assessment of methods for the i
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TITLE : OPERATIONAL MODELLING FOR C
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‰ B. Model investigations on oper
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modelling strategies and sampling d
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TITLE: A USER-FRIENDLY TOOL FOR THE
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EUROWAVES OVERVIEW A quick illustra
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Figure 1 An example of the EUROWAVE
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Figure 4 Example output field for s
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444 EUROPEAN RADAR OCEAN SENSING He
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Figure1: WERA current field. Figure
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information in maps has proven to b
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Universidad Politecnica de Cataluny
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esources, such as in ship routing.
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Data Analysis The basic idea of adv
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implemented in system analyses and
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Dr. Claude Millot CNRS LOB/COM B.P.
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MEDITERRANEAN FORECASTING SYSTEM PI
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ADCP and line three mooring consist
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464 MeteoFrance ftp site Ocean forc
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TITLE: ASSESSMENT OF ANTIFOULING AG
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INTRODUCTION Antifouling paints are
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e.g. diuron was detected in Swedish
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esults suggest effects in the low n
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TITLE: SCOUR AROUND COASTAL STRUCTU
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Conference among others, and will b
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TOPIC 2.4. SEDIMENT TRANSPORT/SCOUR
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TITEL: VALIDATION OF LOW LEVEL ICE
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Ice compressive strength tests were
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subsequent inclined shear failure.
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486 Fig. 1 Fig. 2
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ir. M. Willems FC/FH - Flanders Hyd
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jetty and the armour layer. Out of
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Both the Zeebrugge and the Petten s
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alternative methods for the evaluat
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PORTUGAL Dr. César Andrade Centro
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Dr. Yolanda Foote Centre for Enviro
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cliff erosion and the life span of
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BIOLOGICAL PROCESSES ESPED recognis
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504
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506
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508
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510 AUTOMATIC IDENTIFICATION AND CH
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complexity of the data. Once traine
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INTEGRATING IDENTIFICATION AND CHAR
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TITLE: SEDIMENT IDENTIFICATION FOR
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518 SEDIMENT IDENTIFICATION FOR GEO
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The way to sense the marine environ
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6. Data processing and inversion (L
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TITLE: TRANSMISSION OF ELECTROMAGNE
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526 Attenuation dB/m 10 4 10 3 10 2
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Figure 2 Spectral response for wave
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TITLE: IMPROVED MICROSTRUCTURE MEAS
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IMPROVED MICROSTRUCTURE MEASUREMENT
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committee proposed the new establis
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of the profiler. Thus, the ACC98 se
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Figure 3b: Measurements of and diss
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TITLE: APPLICATIONS OF 3-DIMENSIONA
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2. OBJECTIVES The first objective o
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to demonstrate a capability for col
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546 ADIAC: DIATOMS GO DIGITAL M. Ba
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SLIDE SCANNING FOR DIATOM LOCALIZAT
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performance of normal PCs and the a
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TITLE : SUBSEA TOOLS APPLICATION RE
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554 SUBSEA TOOLS: A CRAFT PROJECT T
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RESULTS The deliverable is a multi-
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TITLE: DINOFLAGELLATE CATEGORISATIO
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1998) has simplified the developmen
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Fig. 3: Example specimen images 562
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REFERENCES Culverhouse PF, Ellis RE
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566
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INTRODUCTION 568 LOTUS Long Range T
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DESIGN OF EXPERIMENTAL EQUIPMENT Th
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Figure 2: Complex base-band impulse
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ACKNOWLEDGEMENTS This work is funde
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576 THE SEISCAN INITIATIVE: SEISMIC
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een fed through to the scanning cen
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Data scanned At the time of writing
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The digital transcription forms an
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584 SUMMARY OF SWAN PROJECT OBJECTI
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Apart from suffering from ISI, a mu
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TITLE : LONG-RANGE SHALLOW-WATER RO
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OBJECTIVES Present communication sy
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RESULTS OF THE DATA ANALYSIS Analys
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TITLE : UNDERWATER DIVING INTERPERS
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Orientation The electrical field ap
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Page 234 and 235: TITLE : ELECTROACOUSTIC PROTOTYPE F
Page 236 and 237: specimen of bottlenose dolphin capt
Page 238 and 239: REFERENCES Cameron, G. 1999. Report
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Page 242 and 243: 608 HIGH RESOLUTION IN SITU HOLOGRA
Page 244 and 245: due to thermal expansion. The power
Page 246 and 247: 612 200 mm stages with optics and C
Page 248 and 249: III.1.4 Submarine geotechnics 615
Page 250 and 251: TITLE : GROUTED OFFSHORE PILES FOR
Page 252 and 253: Solution One solution to this probl
Page 254 and 255: technology. Harbour works, wharves,
Page 256 and 257: • A major characterisation progra
Page 258 and 259: VERY HIGH RESOLUTION MARINE 3D SEIS
Page 260 and 261: Monaco harbour (France) A very comp
Page 262 and 263: End-users highlighted the current,
Page 264 and 265: C. Smith Institute of Marine Biolog
Page 266 and 267: package for Automatic Mobile Invest
Page 268 and 269: The operation of ARAMIS The typical
Page 270 and 271: • ROV landing on the sea bottom t
Page 272 and 273: EURODOCKER - A UNIVERSAL DOCKING -
Page 274 and 275: RESULTS: EURODOCKER SYSTEM DESCRIPT
Page 276 and 277: THE PROTOTYPE The Construction of t
Page 278 and 279: TITLE : LIGHTWEIGHT COMPOSITE PRESS
Page 280 and 281: OBJECTIVES: The aim of the project
Page 284 and 285: 651 Differential GPS - Reference St
Page 286 and 287: Figure 3.a The DELFIM ASC Figure 3.
Page 288 and 289: place vertically in the framework o
Page 290 and 291: [8] A. Pascoal, . P. Oliveira, C. S
Page 292 and 293: Eng. J.-M.Coudeville ORCA Instrumen
Page 294 and 295: THE GEOSTAR PROTOTYPE GEOSTAR proto
Page 296 and 297: CONCLUSIONS GEOSTAR 2 is a project
Page 298 and 299: goals of the project and results of
Page 300 and 301: III.2.2. Oceanographic measurement
Page 302 and 303: TITLE : GAS HYDRATE AUTOCLAVE CORIN
Page 304 and 305: initially most important parameters
Page 306 and 307: 3.4 Finalization of delayed tasks i
Page 308 and 309: Dr. Margaret Yelland Southampton Oc
Page 310 and 311: RESULTS FROM THE FIRST PROJECT PERI
Page 312 and 313: Taylor,P. K. and M. J. Yelland, 199
Page 314 and 315: TRACE METAL MONOTORING IN SURFACE M
Page 316 and 317: THE FLUORESCENCE SIGNAL OBTAINED WH
Page 318 and 319: The reaction of 6-mercaptopurine, l
Page 320 and 321: TITLE : OCEAN TOMOGRAPHY OPERATIONA
Page 322 and 323: The OCTOPUS project has been runnin
Page 324 and 325: Fig. 2: Typical TOMOLAB input: Tomo
Page 326 and 327: The establishment of a data bank fo
Page 328 and 329: TITLE: SPECTROSCOPY USING OPTICAL F
Page 330 and 331: The overall objective of the SOFIE
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devoted to investigate the behaviou
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TITLE : DEVELOPMENT AND TEST OF AN
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in-situ (Nitrate, Nitrite, Ammonia,
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Apart from the measurements made in
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MANUFACTURE OF CALIBRATION SOLUTION
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einz-Detlef Kronfeldt, Heinar Schmi
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