Robotic Sailing 2014: Proceedings of the 7th International Robotic Sailing Conference PDF
Preview Robotic Sailing 2014: Proceedings of the 7th International Robotic Sailing Conference
Fearghal Morgan Dermot Tynan Editors Robotic Sailing 2014 Proceedings of the 7th International Robotic Sailing Conference 123 Robotic Sailing 2014 · Fearghal Morgan Dermot Tynan Editors Robotic Sailing 2014 Proceedings of the 7th International Robotic Sailing Conference ABC Editors FearghalMorgan DermotTynan Bio-InspiredElectronics&Reconfigurable HewlettPackardHPCloud ComputingResearchGroup Galway Electrical&ElectronicEngineering Ireland NationalUniversityofIreland Galway Ireland ISBN978-3-319-10075-3 ISBN978-3-319-10076-0 (eBook) DOI10.1007/978-3-319-10076-0 LibraryofCongressControlNumber:2014945762 SpringerChamHeidelbergNewYorkDordrechtLondon (cid:2)c SpringerInternationalPublishingSwitzerland2015 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerptsinconnection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’slocation,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer. PermissionsforusemaybeobtainedthroughRightsLinkattheCopyrightClearanceCenter.Violations areliabletoprosecutionundertherespectiveCopyrightLaw. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Whiletheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpub- lication,neithertheauthorsnortheeditorsnorthepublishercanacceptanylegalresponsibilityforany errorsoromissionsthatmaybemade.Thepublishermakesnowarranty,expressorimplied,withrespect tothematerialcontainedherein. Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface These proceedings contain the papers presented at the IRSC 2014 (International RoboticSailingConference)thathastakenplaceintheNationalUniversityofIre- land, Galway, in conjunctions with the WRSC (World Robotic Sailing Champi- onship) from the 8th until the 12th of September 2014. This is the 7th edition in aseriesofIRSCproceedings. Roboticsailingoffersthepotentialoflongrangeandlongtermautonomouswind propelled, solar or wave-powered carbon neutral devices. Robotic sailing devices could contribute to monitoring of environmental, ecological, meteorological, hy- drographicandoceanographicdata.Thesedevicescanalsobeusedintrafficmoni- toring,security,assistanceandrescue. The dependencyon changingwindsand sea conditionspresentsa considerable challengeforshortandlongtermrouteandstabilityplanning,collisionavoidance andboatcontrol.Buildingarobustandseaworthysailingrobotpresentsatrulycom- plexandmulti-disciplinarychallengeforboatdesigners,navalarchitects,electronic andembeddedsystemsengineersandcomputerscientists.Since2004,eventssuch asSailbot,Microtransat,WorldRoboticSailingChampionshipandtheInternational Robotic Sailing Conference have sparked an explosion in the number of groups working on autonomous sailing robots. Despite this interest the longest distance sailedautonomouslyremainsonlyafewhundredmiles.Manyofthechallengesin buildingtrulyautonomoussailingrobotsstillremainunsolved. TheInternationalRoboticSailingConference(IRSC)providesresearcherswith the opportunity to present and exchange ideas on their work on a wide range of topicsrelatedtoautonomoussurfacemarinerobotics(especiallysailingrobots). WRSC2014(organisedinconjunctionwithIRSC2014)includesaseriesofshort distance racing, navigation and autonomy challenges. The competition proposes tasks such as station, speed in different conditions, accuracy, obstacle avoidance, target tracking, endurance and cooperation. The competition, originally designed forsailboatsalsoincludesamotorboatscategory,inordertobringtogetherthesci- entificcommunitiesthatworkondifferenttypesofautonomousmarinevehicles. PreviousIRSC/WRSCeventshavebeenhostedinFrance(2013),Wales(2012), Germany(2011),Canada(2010),Portugal(09)andAustria(08). VI Preface Theproceedingsisdividedintothreesectionsasfollows: PartI:SailboatPlatformsandApplications • Design,constructionandtestsailingofahigh-performanceSailBotSeaQuester (andalowercostvariant)builtusingbasictoolsandinexpensivematerials. • Thedesignanddevelopmentofa versatile,small, lowcostandefficientsailing robotplatform(MaxiMOOP). • The use of a sailboat to tow large objects, with simulated demonstration and practicalsuggestions. PartII:PowerManagementandMissionPlanning • Powermanagementandenergysavingstrategyforaroboticsailboat. • Aninteractivetool(METASail)forassistingtheplanning,supervisionandanal- ysisofmissionsperformedbytheautonomoussailboatFASt. PartIII:ControllersandSensors • Theconceptofactivecoursemarkersrelayingenvironmentalconditionstosup- portautonomoussailboats. • Anopensource,lowcost,Arduino-compatiblesailboatcontroller,incorporating asmallandagilerealtimeoperatingsystem. • Apiezoelectricsailtrim/luffingsensor The Editors thank all of the authors, the Programme Committee members, all sponsors of IRSC2014 and WRSC2014, and all who have made WRSC2014/ IRSC2014possibleinGalway,Ireland. July2014 FearghalMorgan DermotTynan Organisation IRSC2014/WRSC2014General Chair DermotTynan HewlettPackard,Galway FearghalMorgan NationalUniversityofIreland,Galway Proceedings FearghalMorgan NationalUniversityofIreland,Galway DermotTynan HewlettPackard,Galway IRSC Co-Organisers SeanRoberts IRSCExpoOrganiser PatriciaWalsh NationalUniversityofIreland,GalwayConference Office MarkGantly HewlettPackard,Galway ThomasDitzinger AppliedSciencesandEngineering,SpringerDE WRSC Co-Organisers DavidVinnell WRSC2014PrincipalRaceOfficer,GalwayBay SailingClub BrendanSmith SchoolsOutreachCo-Ordinator OliverLeahy BottleBoatcompetition VIII Organisation IRSC2014ProgrammeCommittee JoséCarlosAlves UniversidadedoPorto,Portugal TaylorBarton MassachusettsInstituteofTechnology(MIT), USA BradE.Bishop USNavalAcademy(USNA),USA OleBlaurock LübeckUniversityofAppliedSciences, Germany BenoitClement Écolenationalesupérieuredetechniques avancées(ENSTA)Bretagne,France VincentCreuze Laboratoired’Informatique,deRobotiqueetde MicroélectroniquedeMontpellier (LIRMM),France NunoA.Cruz UniversidadedoPorto,Portugal KjellDahl ÅlandUniversityofAppliedSciences,Finland MaeveDuffy NationalUniversityofIreland,Galway,Ireland FabriceLeBars Écolenationalesupérieuredetechniques avancées(ENSTA)Bretagne,France OrenGal UniversityofHaifi,Israel LucJaulin Écolenationalesupérieuredetechniques avancées(ENSTA)Bretagne,France EdwardJones NationalUniversityofIreland,Galway,Ireland ErikMaehle UniversityofLübeck,Germany BeneditaMalheiro InstitutoSuperiordeEngenhariadoPorto (ISEP–IPP),Portugal PaulH.Miller USNavalAcademy(USNA),USA FearghalMorgan NationalUniversityofIreland,Galway,Ireland MarkJ.Neal AberystwythUniversity,Wales,UK CedricPradalier GeorgiaTech-Lorraine,Metz,France OlivierReynet Écolenationalesupérieuredetechniques avancées(ENSTA)Bretagne,France KostiaRoncin Écolenationalesupérieuredetechniques avancées(ENSTA)Bretagne,France ColinSauze AberystwythUniversity,Wales,UK AlexanderSchlaefer HamburgUniversityofTechnology,Germany MichaelSchukat NationalUniversityofIreland,Galway,Ireland RolandStelzer AustrianSocietyforInnovativeComputer Sciences(Innoc),Austria DanielToal UniversityofLimerick,Ireland DermotTynan HewlettPackard,Galway,Ireland DiedrichWolter UniversityofBamberg,Germany Organisation IX Sponsoring Organisations HewlettPackardGalway NationalUniversityofIreland,Galway/OllscoilanhÉireann,Gaillimh PortofGalway/CalafortnaGaillimhe GalwayBaySailingClub IntelIreland Contents PartI:SailboatPlatformsand Applications AnEasy-To-Build,Low-Cost,High-PerformanceSailBot ............. 3 Paul Miller, Andrew Beeler, Beatrice Cayaban, Matthew Dalton, CassandraFach,Christian Link, JoelMacArthur,JerichoUrmenita, RobertYerkesMedina MaxiMOOP: A Multi-Role, Low Cost and Small Sailing Robot Platform...................................................... 17 PaulMiller,MatthewHamlet,ColinSauzé,MarkNeal,DavidCapper, DanielClark,AshleyIles,LouisTaylor TowingwithSailboatRobots ..................................... 31 LucJaulin,FabriceLeBars PartII:PowerManagementand MissionPlanning PowerManagementStrategiesforanAutonomousRoboticSailboat.... 47 KjellDahl,AntonBengsén,MatiasWaller METASail–AToolforPlanning,SupervisionandAnalysisofRobotic SailboatMissions............................................... 57 JoséCarlosAlves,NunoAlexanderCruz PartIII:Controllers and Sensors TowardsActiveCourseMarksforAutonomousSailingCompetitions... 67 PauloFerreira,BeneditaMalheiro,PedroGuedes,ManuelSilva AReal-TimeSailboatControllerBasedonChibiOS ................. 77 Jorge Cabrera-Gámez, Angel Ramos de Miguel, Antonio C. Domínguez-Brito, Jose D. Hernández-Sosa, JoseIsern-González,LeonhardAdler PiezoelectricVibrationalSensor for Sail Luffing Detetectionon RoboticSailboats............................................... 87 HalieMurray-Davis,DavidBarrett AuthorIndex ..................................................... 95
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