Advances in Synoptic Observations with Robotic Vehicles

Transcription

1 Advances in Synoptic Observations with Robotic Vehicles Kanna Rajan (NTNU & UPorto, Norway) Tor Arne Johansen (NTNU, Norway) Joao Sousa (UPorto, Portugal) Javier Gilabert (UPCT, Spain)

2 Air surface space underwater Joao Tasso Javier Gilabert Biological Oceanography Multi-vehicle control Artificial Intelligence Control Theory Phys. Oceanograph Tor Arne Johansen Kanna Rajan Sampling Ocean OperationsModeling

3 Advances in Synoptic Observations Kanna Rajan ReCamp 2016 Unmanned Aerial Vehicle(s) Small-satellite constellation Low cost ground station big picture Drifter Autonomous Surface Vehicle Autonomous Underwater Vehicle Data Mgmt Shore-side decision-support Coordinated co-temporal observations from diverse platforms Glider

4 Advances in Synoptic Observations Kanna Rajan ReCamp 2016 why coordinated measurements Oceanographic/security domains require multi-platform synoptic observation Observing with multiple platforms provides varying scales of resolution De-conflicting time and space is critical for studying dynamic oceanographic processes (fronts, anoxic zones, plumes, blooms ) Study of a range of such bio-geochemical processes critical for making a dent in studying climate change Increases in ship-traffic in northern waters requires sustained observation/ surveillance Fiscal pressures can (and should) be mitigated with the use of more affordable robotic platforms Fundamental and ongoing change in ocean science research is ongoing we need to grab the brass ring and now

5 Advances in Synoptic Observations Kanna Rajan ReCamp 2016 overarching research theme Providing cost-effective open source tools/techniques/process to sustainably study the changing climate

6 Advances in Synoptic Observations Kanna Rajan ReCamp 2016 key ingredient: networked operations Data loggers, Comms and Drifters In-house fish tags Advanced Ground tools for planning/visualization/analysis

7 big picture elements: the challenges Unmanned Aerial Vehicle(s) Persistent Beyond-line-of-sight (BLOS) command/control Multi-UAV operations including sense & avoid operations Long duration navigation in GPS denied environments Diagnosis and failure recovery of a single agent Ensemble re-configuration and control Online object recognition and Machine Learning for Oceanographic and security applications Advances in Synoptic Observations Kanna Rajan ReCamp 2016

8 BVLOS: field experimental capabilities Current VLOS, EVLOS and BVLOS ops: Breivika Airfield/Agdenes Eggemoen and Ørland Airfields Other Multi-rotor «cage» at NTNU R/V Gunnerus, Mobile operations center Advances in Synoptic Observations Kanna Rajan ReCamp 2016

9 big picture elements: the challenges Autonomous Surface Vehicle Drifter Autonomous Underwater Vehicle Advances in Synoptic Observations Kanna Rajan ReCamp 2016 Planning/Scheduling and execution for Multi-AUV coordinated observations Validating under ice operational constraints Symbolic Fault Diagnosis Isolation & Repair for persistent long-duration missions Statistical Sampling methods for the dynamic coastal ocean Decision support planning/visualizing for AUV missions Incorporating in-line Machine Learning from sensor streams Exploring diverse inferential techniques for onboard autonomy

10 field experiments (july 2013, Sesimbra Portugal Coordinating UAVs and AUVs for Oceanographic Field Experiments: Challenges and Lessons Learned M. Faria, J. Pinto, F. Py, J. Fortuna, H. Dias, R. Martins, J. Sousa, K. Rajan, ICRA 2014 Advances in Synoptic Observations Kanna Rajan ReCamp 2016

11 Advances in Synoptic Observations Kanna Rajan ReCamp 2016 large scale oil-spill response simulation

12 big picture elements: the challenges Small-satellite constellation Low cost ground station Viability of Small-sats (Cubesats, Nanosats) for remote sensing and ocean observation Communication infrastructure for remote ops Small sensor development with appropriate resource footprint & form-factor Intelligent compression methods to mitigate comm costs Coordination/control of spacecraft sensor fleet Coordinated control with AUVs/ASVs insitu and UAVs and immobile robots (e.g. buoys) Advances in Synoptic Observations Kanna Rajan ReCamp 2016

13 Advances in Synoptic Observations Kanna Rajan ReCamp 2016 big picture elements: the challenges Satellite Observations Commands Synthetic Ocean Models Data Mgmt Shore-side decision-support Ecological Transport Models Statistical Advection Models Human-in-the-loop Decision-Support System Temporal Planner Spatial-temporal databases for rapid oceanographic query processing Mixed-initiative Planning & Execution of complex coordinated missions Mining sensor streams in near realtime Statistical Machine Learning of model generation and prediction of natural phenomenon Information provision Analysis of information fitting imposed constraints Presentation of viable options Coupling synthetic oceanographic models with AUV Sampling augmenting NPZ nutrient models to observe bio-geo-chemical processes in-situ

14 Advances in Synoptic Observations Kanna Rajan ReCamp 2016 MEDSLIK - II oil spill modeling

15 Advances in Synoptic Observations Kanna Rajan ReCamp 2016 uav comms relay Agdenes tests with FFI, Radionor, Seatex, MR and NTNU planned 2016 Networked Ocean (EEA Project with University Porto 2016) Autonomous area surveillance Comm relay for data and command Autonomous tasking Intelligent sensing Weather-based planning and exec. UAV deployment and recovery of acoustic gateway

16 Composite of all vehicle activity CANON/BloomEx Sept 29th to Oct 29th 2010 > 50 Sq Km

17 Advances in Synoptic Observations Kanna Rajan ReCamp 2016 PERSISTS: 2014

18 Advancing Exploration: FEUP Kanna Rajan Berkeley 2015

19 NTNU s ship-based operations offshore the Azores, summer 2015, jointly with Portuguese Navy, University Porto, and others. DOP Azores NUWC, US Navy NORUT, Tromso FEUP CMRE/ NATO NTNU, Trondheim Marinha NASA IH Lisboa Faial/Pico channel & Ponte da Espalamaca S. Mateaus bank Ilhéus das Formigas REP-2015 Azores

20 Advances in Synoptic Observations Kanna Rajan ReCamp 2016 lessons & conclusions Ocean science at a cusp but tools, techniques, processes are outdated Robotics revolution driven by miniaturization of sensors Networked robotics are critical to deal with varying spatio-temporal scales scale up/down with lighter weight, cost-effective robotic systems software elements are where the impact needs to be also harder to build and sustain Bulk phenomenon in complex coastal and near-coastal areas are prime for study Coordination is critical for sustained observations Information theoretic approaches will be key Information Theoretic Decision Theoretic Control Theoretic