1. May 7 2004Meditate1 TAIPAN Autonomous Underwater Vehicle Bruno Jouvencel Professor University of Montpellier Underwater robotics

2. May 7 2004Meditate2 OUTLINE First part : our experience in AUV Second part : new prototype of AUV for MEDITATE project Third part: WP3

3. May 7 2004Meditate3 LIRMM - CNRS Laboratory –Computing science –Robotics –Micro-electronics systems Staff 260 persons –Researchers 110 –Technical staff about 30 –About 120 invited researchers, postdoc, PhD students

4. May 7 2004Meditate4 Underwater Robotics TEAM for MEDITATE Bruno Jouvencel Professor Olivier Strauss : Assistant Professor Michel Benoit : Research Engineer Jean Mathias Spiewak : PhD Student Lionel Lapierre postdoc from september 2004

5. May 7 2004Meditate5 TAIPAN One

6. May 7 2004Meditate6 Video of TAIPAN

7. May 7 2004Meditate7 FIRST Scientific Mission GOATS : Generic Oceanographic Array Technology System: (scientific program of NATO) For TAIPAN: –First field deployment with a real scientific goal –Role : to provide the modelers with CTD data along trajectories in Biodola bay (Elba)

8. May 7 2004Meditate8 Scientific Sensors CTD sensor Positioning Transponder for Trackpoint 2

9. May 7 2004Meditate9 Mission Interface

10. May 7 2004Meditate10 Vehicle Control

11. May 7 2004Meditate11 CTD Mapping with Taipan

12. May 7 2004Meditate12 3D Trajectory

13. May 7 2004Meditate13 Thau Lagoon : Spring LA-VISE Real trajectories Bathymetric measurements

14. May 7 2004Meditate14 Thau Lagoon LA-VISE Real trajectories Bathymetric measurements

15. May 7 2004Meditate15 Presentation of a new Autonomous Underwater Vehicle TAIPAN 2 Jean Mathias Spiewak PhD Student

16. May 7 2004Meditate16 Overview of AUV Taipan 2

17. May 7 2004Meditate17 Topsolid view of Taipan 2

18. May 7 2004Meditate18 Two onboard computers : navigation -- perception Additional card dedicated to : A/D conversions, RS232 serial communications, logical I/Os and PWM signal generation

19. May 7 2004Meditate19  To compute displacement  three-axis inclinometer,  three-axis magnetometer,  yaw rate and pitch rate gyrometers and accelerometers  two pressure sensors,  loch doppler  For dead reckoning  Acoustical range meter  GPS receiver  For communication  UHF radio link  Wifi link

20. May 7 2004Meditate20 Scientific sensor payload CTD sensor Acoustical Doppler Current Profiler Side Scan Sonar CCD Camera Acoustical sensors (obstacle avoidance)

21. May 7 2004Meditate21 CTD Sensor

22. May 7 2004Meditate22 Side Scan Sonar picture La Vise fresh underwater spring : 30 meter depth starboard and port side pictures

23. May 7 2004Meditate23

24. May 7 2004Meditate24 Work Package 3

25. May 7 2004Meditate25 WP3 Task A.1. Define the pay-load of vehicle. –Selection of sensors (Conductivity Temperature Depth, loch, sonar, doppler, GPS…) –the determination of the best positioning of sensors according the desired precision on measurements.

26. May 7 2004Meditate26 WP3 –Task A.2. Performances of the AUV. –Error on the trajectory of the vehicle, –The energy autonomy, –And so on. –Task A.3. Protocol to define for scientist missions: The interface man machine has to be developed as well as the facility of using the files in a compatible format with the GIS that will be used in the WP1 and WP4.

27. May 7 2004Meditate27 WP3 –Task A. 4. Development of vehicle and sensors integration –Task A. 5. Study of fusion data method to build a 3D representation of spring based on the lateral sonar data. –Task A. 6. Test of vehicle –Task A. 7. Submarine springs survey –Task A.8. Feasibility study concerning the use of the AUV in the Syrian test site,

28. May 7 2004Meditate28 Deliverables Vehicle’s specifications Interface man machine Data fusion méthod Vehicle test

29. May 7 2004Meditate29 Milestones expected results Month 0 +7 : interface man machine Month 0 +11 : demonstrator of data fusion Month 0 + 10 start of submarine springs survey