James Bellingham. Marine Robotics

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1 James Bellingham Marine Robotics

3 Robotic systems are transforming the ocean sciences.

4 Marine Robotics - Teleoperation In the 1990s, WHOI was one of a few organizations with deep-diving Remotely Operated Vehicles (ROVs). Today 100s of deep ROVs are essential elements of deepwater oil and gas production.

Marine Robotics - Autonomous Oceanographic Systems Lab First small AUV

Kongsberg-Hydroid) REMUS 6000 found Air France Deep Submergence Lab

Surveyed Deepwater Horizon spill Developed JASON ROV (JASON II), ABE

5 Marine Robotics - Autonomous Oceanographic Systems Lab First small AUV (REMUS) deployed in large numbers Spinoff Hydroid (now Kongsberg-Hydroid) REMUS 6000 found Air France Deep Submergence Lab Discovered Titanic, Bismarck, ancient shipwrecks in Mediterranean Surveyed Deepwater Horizon spill Developed JASON ROV (JASON II), ABE AUV, Sentry AUV, Seabed AUV Gateway to the deep sea for US academic institutions (operates NDSF)

6 Communications and Unmanned Vehicles Acoustics Free-Space Optics Three Undersea Communications Modalities Micro-Fiber & Cable

7 Woods Hole Acoustic Communications Real-time data, AUV in Labrador Sea, s: 688 Class Submarines MIT Odyssey AUV, integrated comms in : MK18 Mod 1 Swordfish UUV In 1990 WHOI developed the technology that grew into the Teledyne modem. Now on 5ht generation high-speed modems. Woods Hole acoustic communications hardware and software is installed on more UUVs and submarines than any other technology.

8 Milestones receiver for long range omni directional 1Mbps receiver for long range omni directional 10Mbps 2009 Soft Docking System Full daylight operation 56Kbaud, 0-5 meters 2013 High Ambient Light (HAL) Hemispherical coverage LED/PD transceiver 6Mbps data rate 2015 High rate 500 to 1000 Mbps 0 to 10 meters range 2009 Video through water 2012 Remote vehicle control 2014 REMUS AUV integration 40 meter range 20Mbps throughput

Communications for Observatories National Science Foundation funded

Acoustics supporting operations under Arctic sea ice.

Acoustic communications connects remote instruments and AUVs to cabled

10 Communications for Observatories National Science Foundation funded WHOI network demonstration at MBARI MARS Observatory. Acoustics supporting operations under Arctic sea ice. Receive array REMUS 100 AUV ops, Barrow, Acoustic communications connects remote instruments and AUVs to cabled observatories,. Observatory base station: an underwater cell tower. Acoustic modem Recovery used acoustic homing, and a cargo net! <#>

11 New Classes of Undersea Vehicles Communication Technology Changes How we Solve Underwater Challenges

12 Neirid Under Ice

13 Building for Endurance

16 Rate of ocean change Smarter Robots on the Way Autonomous Mission Configuration - Ability of operator to configure vehicle to accomplish goals and handle faults and failures Supervised Frequency of communications Onboard Decision Making and Control - Use of information to achieve goals specified by operator (e.g. finding and imaging object) Perception - Processing of raw sensor input to generate actionable information (e.g. detection of mine)

18 Automatic Terrain Characterization [Girdhar et al. ICRA2016]

19 Context Aware Anomaly Detection t=116 t=452 t=1613 t=1349 t=997 surprising Interactive data exploration demo: Courtesy: Yogi Girdhar, WHOI [Girdhar et al. ICRA2016] t=1740 boring

20 Ecosystem of Robotics Enterprises The Northeast is a hotbed of robotics, with marine robotic companies clustering between WHOI and MIT

WHOI Center for Marine Robotics Industry membership structure Research program World class research and engineering staff Bespoke studies and research MIT/WHOI

21 WHOI Center for Marine Robotics Industry membership structure Research program World class research and engineering staff Bespoke studies and research MIT/WHOI Joint Program students and staff Community Building Members events Numerous robotics and robotic market conferences Joint Industry-Government-Academic Initiatives

23 Reliability UAV Experience Overall, MTBF goes up by 1 hour (at the most) for every 1000 hours flown For Predator to increase MTBF from 28 hours to 60 hours required 30,000 hours of operational flight time Conv w Tom Curtin Data from: Unmanned Aerial Vehilce Reliability Study, OSD, February 2003

24 MBARI Tethys - Redundant Control Elevator Mass-shift Buoyancy engine

25 MBARI Tethys - Severity of Failures Phone home Drop weight Bad things Vertical Control Elevator servo Thruster servo Vertical plane Mass servo Buoyancy server Keller/DVL/Depth _MSI_US Vertical Other % Vert Phone Drop Bad

26 MBARI Tethys Characterizing Anomalies

27 freq. freq. Bayesian Nonparametric scene modeling [Girdhar et al. IJRR2013] Dirichlet(α) topics... Yogi visual words observations... topics Courtesy: Yogi Girdhar, WHOI CRP(β) 2

28 Ben Yair Ranaan et al., MBARI 2013 Bottoming Incident

29 Ben Yair Ranaan et al., MBARI 2015 Bottoming Incident

30 Reducted DOF Simulator r Ben Yair Ranaan et al., MBARI

31 Reduced DOF Simulator (a) (c) (b) Ben Yair Ranaan et al., MBARI

32 Reverse Engineer Vehicle and Simulator Code Human input Simulator correlation analysis Historical data correlation analysis Both on shore and on vehicle Vehicle Description Anomaly Description State- Dependency Network Mission Dependency Network Vehicle Code and onboard simulation Anomaly Detection Root Cause Diagnosis Immediate Response Mission Refactoring

34 WHOI Center for Marine Robotics Contact: Jim Bellingham, Director

35 Enabling Ocean Industries Images courtesy Jonathan Trent, Algea:OMEGA

Free-Space Optical Coms The Environment Absorption and scatter vary hugely by region and time of year. Operation in shallow water during the day is feasible, but filtering is critical.

36 Free-Space Optical Coms The Environment Absorption and scatter vary hugely by region and time of year. Operation in shallow water during the day is feasible, but filtering is critical. Coefficient of Light Absorption* (2) 85 m, Pac. (3) 200 m, Pac. (4) 10 m, Pac. (6) Surf. Atl. *Wozniak, Bogdan, and Jerzy Dera. Light absorption in sea water. Vol. 33. New York: Springer, Fig. 1.3

Pipeline Inspection and Environmental Monitoring Using AUVs

Pipeline Inspection and Environmental Monitoring Using AUVs Bjørn Jalving, Bjørn Gjelstad, Kongsberg Maritime AUV Workshop, IRIS Biomiljø, 7 8 September 2011 WORLD CLASS through people, technology and