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MINISTÈRE DE LA DÉFENSE GESMA PRESENTATION. GESMA/COMM29-May-14Diapositive N°2 The systems evaluation and test directorate Main sites GESMA.

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Presentation on theme: "MINISTÈRE DE LA DÉFENSE GESMA PRESENTATION. GESMA/COMM29-May-14Diapositive N°2 The systems evaluation and test directorate Main sites GESMA."— Presentation transcript:

1 MINISTÈRE DE LA DÉFENSE GESMA PRESENTATION

2 GESMA/COMM29-May-14Diapositive N°2 The systems evaluation and test directorate Main sites GESMA

3 GESMA/COMM29-May-14Diapositive N°3 Groupe dEtudes Sous-Marines de lAtlantique FACILITIES LOCATION LANVEOC

4 GESMA/COMM29-May-14Diapositive N°4 GOVERNMENTAL EXPERT STUDIES TRIALS SIMULATIONS Prospective Threat assesment Education Studies International exchanges Performances evaluation Risk management Expertise P I A R T C E C

5 GESMA/COMM29-May-14Diapositive N°5 Mine Warfare Underwater Operations Ranges Silencing Mine and Mine Warfare Underwater Warfare SKILLS

6 GESMA/COMM29-May-14Diapositive N°6 n Acoustic tanks n Trialling vessels (Aventurière, Thétis, Langevin) n ROV and experimental AUV (Sea-Twinn, Redermor, Klein 5400) FACILITIES

7 GESMA/COMM29-May-14Diapositive N°7 n Sonar MMI & sonar performance prediction system n Magnetic environment simulator n In situ sonar tests equipment n Combined magnetic, electric & acoustic data acquisition (AMI) FACILITIES n Acoustic tanks n Trialling vessels (Aventurière, Thétis, Langevin) n ROV and experimental AUV (Sea-Twinn, Redermor, Klein 5400)

8 GESMA/COMM29-May-14Diapositive N°8 STAFF 28 workers and secretaries 42 PhDs or equivalent 34 Technicians Total : 104 employees

9 MINISTÈRE DE LA DÉFENSE Capabilities of The REDERMOR Unmanned Underwater Vehicle

10 GESMA/COMM29-May-14Diapositive N°10 Previous Versions

11 GESMA/COMM29-May-14Diapositive N°11 REDERMOR II Actuators 4 main thrusters 3 vertical thrusters 1 transverse thruster 2 pairs of horizontal fins 1 rudder 1 canard

12 GESMA/COMM29-May-14Diapositive N°12 REDERMOR II Intern Elements Battery Processors Sonar processors CAN Network

13 GESMA/COMM29-May-14Diapositive N°13 Navigation Navigation Sensors Inertial Navigation System Doppler Velocity Log Vertical Echosounder Pressure transducer EM log GPS CTD Pingers Relative position Nautronix or TrackPointII Absolute position Gib Safety Gib

14 GESMA/COMM29-May-14Diapositive N°14 Navigation

15 GESMA/COMM29-May-14Diapositive N°15 REDERMOR II Front Looking Sonar Obstacle detection Movement estimation: matching between echoes in the different images (CML) Side Scan Sonar Position estimation: matching with the Feature Map Database Perception sensors Echosounder Network Obstacle detection

16 GESMA/COMM29-May-14Diapositive N°16 Communication Acoustic Low rate Emergency stop Mission modification High rate Images from sonars Radio link Low rate Move the AUV High rate Collecting data Mission modification Fiber optic test collecting data Workshop link Serial link Ethernet Bus Can link

17 GESMA/COMM29-May-14Diapositive N°17 REDERMOR II At Sea Trial Agenda October december 2003: Integration and tests of the software modules Global verification Tests in ROV configuration January - february 2004 Autonomous mission

18 MINISTÈRE DE LA DÉFENSE Non Traditional Navigation UUV Guidance and Control Research Project

19 GESMA/COMM29-May-14Diapositive N°19 Main Goal Main objectives : –Precise navigation (for drift limitation) by sonar and inertial data fusion ; –Development of high level functions : image processing, mapping and localization, mission planning and control ; –Hardware and software Integration for at sea demonstration. Final Demonstration : To rally different mission areas for operation achievement To use sonars for mapping and localization Development of Generic Tools for underwater mobile robots

20 GESMA/COMM29-May-14Diapositive N°20 General System Architecture Perception environment, internal Decision Action planning, guidance, control / command Functionalities: - are activated by messages (requests) - send back messages (events) - exchange data through shared memory Execution Monitoring send requests when events occur according with Behaviors specifications.

21 GESMA/COMM29-May-14Diapositive N°21 ProCoSA = programming and execution monitoring of autonomous systems (® ONERA) -EdiPet : graphic user interface for Petri nets generation (places for behavioral state, transitions for actions, events for messages) -JdP : Petri player automata (LISP) to run the system -VisuPet: possible display of the behavior states during mission execution added value : integration of independent sub-systems, behavior specification identical to execution monitoring event + information actions = request for computation towards servers (sockets) Petri nets : description of behavior event + results Mission Control with Petri Nets

22 GESMA/COMM29-May-14Diapositive N°22 mission start point mission end point forbidden area high density landmark area (localization) depth constraints area no use of active sensors operation Mission Definition execution of operations at specific mission areas partially known environment and mission constraints ability to adapt the mission plan with unexpected events

23 GESMA/COMM29-May-14Diapositive N°23 Area survey: one-direction scan Object research: spiral scan Pipe following Object inspection with SSS Operations Planning : Results

24 GESMA/COMM29-May-14Diapositive N°24 FMP - SSS CML - FLS GPS Pression CTD INS Loch EM Kalman Filter State Estimator State Gene rator CTD Doppler S. latéral S. frontal CML & Navigation Recalage par sonar latéral Recalage par sonar frontal

25 MINISTÈRE DE LA DÉFENSE Simulation in Underwater Robotics

26 GESMA/COMM29-May-14Diapositive N°26 Propulseur modélisé par simulink Side-Scan Sonar & Forward Looking Sonar simulation 3-D interface Simulation workshop

27 GESMA/COMM29-May-14Diapositive N°27 Vehicle simulation –Strains: actuators, vehicle hydrodynamics, static strains, external interactions –Sensors (Loch Doppler, pressure sensor, Motion Reference Unit, Ultra-Short Base Line...) –Other components: battery, acoustic communication... Example of component simulation : Robot Simulation Server Calcul de la vitesse de rotation Speed Output I model 1 rad_over_s first order filter 1/R efficiancy W Cv Torke Bias Pc Pv P_a_vide P Wo Offset Cons_to_rad_over_s C |u|Abs 1/u 1_over_U 3 Hydrodynamic Torke 2 Tension 1 Cons 2 current I Propeller (simulink module ) Strains sensors I III II M *F

28 GESMA/COMM29-May-14Diapositive N°28 Platform simulators RMHS / REDERMOR VAMA Remora

29 GESMA/COMM29-May-14Diapositive N°29 Simulation using Raytracing method with noise Sonar Simulation Server

30 GESMA/COMM29-May-14Diapositive N°30 Environment Server : –global or local data –2-D maps (currents, isobathymetry, sound speed, temperature, textures) –3-D maps (bottom, objects) –bathymetry server Environment Server

31 GESMA/COMM29-May-14Diapositive N°31 Access to settings and 2-D situation, 3-D view MMI : Viewing and Results

32 GESMA/COMM29-May-14Diapositive N°32 Conclusion and Prospects

33 MINISTÈRE DE LA DÉFENSE Covert REA evaluation studies

34 GESMA/COMM29-May-14Diapositive N°34 Covert REA project Main goal Testbed AUV for covert REA evaluation Multi sensors fusion Final products from REA Navigation adaptability Now contracting for the AUV

35 MINISTÈRE DE LA DÉFENSE Groupe d Études Sous-Marines de l Atlantique Brest FRANCE Gérard LAPIERRE Interest of real-time acoustic communication for mine and antisubmarine warfare The TRIDENT acoustic system Interest of real-time acoustic communication for mine and antisubmarine warfare. Ecole Nationale Supérieure des Télécommunications de Bretagne Brest FRANCE Joël TRUBUIL Joël LABAT Thierry LE GALL

36 GESMA/COMM29-May-14Diapositive N°36 The TRIDENT system

37 GESMA/COMM29-May-14Diapositive N°37 Array 500, 1000 & 2000 m 1 mWater depth ~22m Battery Modem Acoustic downlink 20cm ~ 5 High data rate up-link Camera

38 GESMA/COMM29-May-14Diapositive N°38 A potential application... Investigation of a mine by a diver: October 2002 Bay of Brest 1000m range Video transmission Bit rate: 10 kbps

39 GESMA/COMM29-May-14Diapositive N°39 Array ~ 1000 m Water depth ~22m Acoustic downlink 20cm ~ 5 High data rate up-link Sea-twin

40 GESMA/COMM29-May-14Diapositive N°40 A potential application... Investigation of a mine by an AUV : June 2003 Bay of Brest 1000m range Video transmission Bit rate: 10 kbps

41 MINISTÈRE DE LA DÉFENSE Futur

42 GESMA/COMM29-May-14Diapositive N°42 Axes de progrès Portage des développements sur la plate- forme Redermor Homing et docking Détection et évitement d obstacles Intelligence embarquée Optimisation de navigation Méthode et outils d essais Simulation Évaluation technico-opérationnelle

43 GESMA/COMM29-May-14Diapositive N°43 Simulation - Schéma directeur Pérenniser et industrialiser les développements déjà réalisés S interfacer avec les architectures de plus haut niveau (Wargame, ITCS) Développer les briques « fonctions » (sonar, interférences, communication, signature, environnement,...) Développer l approche méthodologique utilisée dans la simulation pour l acquisition (Prototypage rapide, Identification des paramètres d un modèle)


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