networked systems for situational awareness and ... · • air and sea going robotic vehicles...
TRANSCRIPT
Networked systems for situational
awareness and intervention in
maritime incidents NETMAR
Paulo Sousa Dias
Faculdade de Engenharia da Universidade do Porto
2007-2013 Atlantic Area Programme INTERREG IIIB Project 212
Outline
LSTS overview
Project overview
Tools and technologies
Cathach IRL demonstration
Pobra de Caraminal SP demonstration
Porto PT demonstration
Conclusions
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PITVANT
PITVANT
PITVANT
Vision
Moored sensors
Surface buoy
Navigation beacon
Oceanographic sensors
Moored sensors
Drifters
AUVAUV
UAVUAV
AUV
Localization links
Coms. links
Sensing links
UAV
Vehicles come and go
Control station
Control station
Control station
Operators come and go
AUV
Data mules/DTN
Mixed-initiative
System properties = f(vehicles,comunication networks, interactions)
Autonomous surface vehicle
Distributed computations
UAV
UAV
Scalability
Ocean vehicles
Low cost vehiclesCommon software/hardware platforms
Inter-operability frameworks
Autonomous ≠ Automated
Light AUV (LAUV)
Designed for interactions – networked behavior
LAUV operations
Gateways coms, data loggers, drifters, fish tags
Communications gateway High performance data logger Light data logger
Drifters
Drifters
Fish tags
Air vehicles
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PROJECT OVERVIEW
Objectives Demonstrate, evaluate and disseminate new robotic systems, sensors and
networking technologies in maritime incidents
• Air and sea going robotic vehicles provide new capabilities.
• Networking technologies enable orchestration of existing assets.
• C4I provide new capabilities for coordination of existing assets, vehicles and operators
• Environmental assessments with unprecedented resolution provide reality checks for social
networks and motivate public participation.
Project organized around demos led by operational partners
• Harbor in the proximity of a metropolitan area.
• Estuary.
• Open sea.
Universities & RD institutions demonstrate new tools/technologies.
RETEX workshops to transition tools and technologies to operational practice
Consortium Partners
• FEUP – Faculty of Engineering, Porto University (PT)
• APDL – Administração dos Portos do Douro e Leixões, SA (PT)
• FUAC – Fundación Universidade da Coruña (SP)
• PG - Portos de Galicia (SP)
• TECNALIA – Fundacion Tecnalia Research & Innovation (SP)
• ENSTA, Britain – Ecole Nationale Supérieure des Techniques Avancées (FR)
• UL – University of Limerick (IRL)
• NMCI - National Maritime College of Ireland (IRL)
• UKSpill – UK Spill Association (UK)
Associate partners
• CINAV - Portuguese Navy (PT),
• Portuguese Ports Association (PT),
• Shanon-Foynes Port Company, Lda (IRL),
• University of Southampton (UK)
• UK Maritime Coastguard Agency (UK).12
Approximate budget: 2.800.000 Euros
(Duration: 30 months)
Workplan
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• Duration: 30 months
• Current status in the project: month 3
WP1 Managment
WP8 Communication
WP2
Stake holders
& Users
Networking
WP3
EmergentSystems
&Technologies
WP5Estuarine
DemoWP6
At SeaDemo
WP7 Returns of Experience
WP4HarborDemo
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TOOLS AND TECHNOLOGIES
Equipment
LSTS/FEUP• Mapping AUVS
• Upper water column AUVs
• X8 based UAVs
• Drifters
• Communication gateways
University of Limerick• LATIS ROV
• Small ROV
Tecnalia• Fulmar UAV
• X8 based UAV
ENSTA• Radar
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LSTS software tool chain
Off-board command, control and communications
Communication protocols for command and control ofheterogeneous systems
Onboard software (vehicles, buoys, data loggers)
J. Pinto, P. Sousa Dias, R. Martins, J. Fortuna, E. R. B. Marques, and J. Borges de Sousa, “The LSTS tool chain for networked vehicle
systems”, Proceedings of the IEEE/MTS OCEANS’13, Bergen, June, 2013.
User group: PT, US, NL, NOR, SWE, SP, FR, UK, DE, GR, IN, QT
On-board deliberation (TREX-EUROPA)
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Neptus
TREX plugin
IMC
TrexToken
DUNE
TREX
monitor
TREXPlatform
Reactor
UDP
Transport
Deliberative
Reactor
Message busTimelines
Deliberative
Reactors
IMC (local)
TrexCommand
Deliberative
Reactors
M. Faria, J. Pinto, F. Py, J. Fortuna, H. Dias, R. Martins, F. Leira, T. Arne Johansen, J. Borges de Sousa, and K. Rajan, “Coordinating UAVs and AUVs for oceanographic field experiments: challenges and lessons learned”, Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong-Kong, May 31 – June 7, 2014.
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Inter-operated comms networks
Disruptive tolerant networking
Coms protocol for inter-operability
On-board deliberation
Uniform command and control framework
Addressing challenges in maritime incident response
Networked vehicle systems in action
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EXERCISE “CATHACH”
WP5 – ESTUARINE DEMO
Shannon’s estuary
Ireland
17th-18th April 2013
Key players
NETMAR
Irish Coast Guard
Sea-Pt
Irish Naval Service
Shannon Foynes Port Company
Commissioner of Irish Lights
Clare, Limerick, Galway and Kerry Council Councils
SHANNON AIRPORTAFSCINVER RESOURCESNORATOPAZSSEESB MONEYPOINTVALERO
RUSAL AUGHINISH
Links to other projects- MARICE- DARIUS
Shannon estuary
Scenario
Ship in bad weather requests refuge in Shannon Estuary
IRCG enact MARICE procedures to establish cargo and associated dangers
Directed to anchoring position H
En-route steering fails and ship ends up on five fathoms rock
On falling tide, ship lists and looses some deck cargo. Heavy fuel oil also begins to leak from bunker.
IRCG helicopter airlifts personnel
Shannon Estuary oil pollution response and NHS response enacted.
Shannon Estuary oil spill tracking model used to predict where oil is most likely to come ashore
IAA permit segregated airspace for UAV’s, 17th – UAV deployed to survey scene at first light and also identify oil dispersion (ground truthing re-input into tracking model)
INS ship LE Orla arrives on scene and establishes a waterborne exclusion zone.
NETMAR systems in action for the first time
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EXERCISE “A POBRA DO CARAMINAL”
WP6 – HARBOUR DEMO
Pobra do Caraminal
Spain
October 1st 2014
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Pobra do Caraminal
Organized by Puertos de Galicia in cooperation with Spanish Authorities• Multiple ships• Oil-pollution teams
Storyline
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Operations
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Coordinated air and ocean operations
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Data products
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Small ROV offshore (U Limerick)
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ROV LATIS too large to transport system.
Smaller ROV can perform inspection operations.
Real time transmission of video
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Stream 1: Onboard Camera (Pro 4) Stream 2: Onboard Camera (Pro 3)
• Resolution: 4CIF (704x576)• Quality: Middle• Frame Rate: 25 fps
• Resolution: 4CIF (704x576)• Quality: Middle• Frame Rate: 25 fps
Network Speed: 0.5 Mbps
Access:• Internet Explorer only
Video transmission using Ubiquiti antenna
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Advanced gas sensors for detection based on nanofibers
Lower detection limits
Faster response time
Faster recovery time
Low cost
0
50
100
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200
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350
80 90 100 110 120 130 140
time (seconds)
Tem
pera
ture
(º
C)
0
5000
10000
15000
20000
25000
30000
35000
40000
45000
Resis
tan
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(Ohm
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Resistance
Temperature
14 seconds
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10
100
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10000
100000
0 20 40 60 80 100 120 140 160 180 200
time (segundos)
Resis
tan
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ohm
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109 seconds
commercial sensor.
DEVELOPED By TECNALIA
Situational awareness (Tecnalia)
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Legal issues
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PORTO EXERCISE
WP4 – AT SEA DEMO
Porto de Leixões
Portugal
May 2015
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The Largest Seaport in the North of Portugal
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Sea Line
Pipeline
Pipeline
OIL SPILL
Offshore
Terminal
CEPSA
Monobóia
SPM
Operation Impacts / Risks
Operations
Search for containers at sea at sea
NETMAR systems in action Porto 2015
Unmanned vehicle systems provide measurements with
unprecedented spatial and temporal resolution in 3D
environments and also support communications
We are ready
Conclusions
Achievements
Unique field-proven operational capabilities
State-of-the-art open source software tool chain with support for inter-operability and cross-domain communications
New concepts of operation for maritime incident response
Informal Atlantic-wide transnational network
Reproducible cooperation/development model
Contributions to programs/policies
Doing more with less through network effects and piggy back on incident response exercises
Establishing a reputation in network vehicle systems
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