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LUST UNIVERSITY OF ZAGREB

Overview Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering
Laboratory for Underwater Systems and Technologies
Laboratory for Underwater Systems and Technologies

Research Activities in 
the Laboratory for Underwater 
Systems and Technologies

IUST ’10
IUST 10 
15TH APRIL 2010

Nikola Mišković dipl ing


Nikola Mišković, dipl. ing. 
LabUST Goals
R & D
• of underwater systems and  technologies 

Education
• in the domain of navigation, guidance and control of unmanned marine vessels (surface and underwater),

Interdisciplinary and multidisciplinary cooperation
• for the purpose of underwater systems and technologies,

Promotion of high technology
• in sustainable development and exploitation of the sea, sub‐sea, rivers, lakes, technical waters, water reservoirs as 
well as in maritime security.

Involving students, experts, researchers and scientists
• into  interdsciplinary domain of high technology sustainable development in underwater areas.

Environmental protection, 
• protection of cultural heritage (archaeology, etc.), preservation of fish and biological variety, protection and security of 
ports and waterways using high technology

Development of UUVs
Development of UUVs
• for specific applications

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Current Research Projects

CURE – Developing Croatian Underwater Robotics Research Potential


• FP7 REGPOT project for 2009
2009-2012,
2012 coordinator: Z
Z. Vukić
Vukić, UNIZG
UNIZG-FER
FER

Systems and technologies in sub-sea, coastal zone protection and maritime


security
• Program by Croatian MZOŠ Š 2007-2009, coordinator: Z. Vukić, UNIZG-FER
• RoboMarSec-Underwater Robotics in sub-sea protection and maritime security
(coordinator: Z. Vukić, UNIZG-FER)
• Development and application of nuclear analytical methods (coordinator: J. Obhođaš, IRB,
Zagreb)
• Development of methods for the control of threat material trafficking (coordinator: D.
Matika, IRB-IROS, Zagreb)
• Research of threatened marine habitats in the coastal submerged karst of Croatia
(coordinator: T. Bakran-Petricioli, UNIZG)
• Monitoring and ecology of benthic communities of the Croatian Adriatic (coordinator: S.
Schultz, UNIZAD)
Analysis of new potentialities in the synergic management of different
underwater robotic devices
• Italy – Croatia cooperative research project

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Research Topics at LabUST
Identification Autopilots
(course & track-keeping)
Enhanced reality

Command,
Communication Underwater
Guidance & Control technology

Underwater
navigation Design

Cooperative
Applied mathematical control
& physical modelling
Adaptive &
Robust control

Sonars & hydroacoustics Reconfigurable


Fault tolerant control control

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4
Automarine Module
• Diploma thesis by Marin Stipanov, dipl. ing.
http://lapost.fer.hr/nmiskovic/upravljanje
p // p / / p j j _autonom_sust/seminar.htm
/

Main idea • turn an ROV into an AUV

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BubbleBee UVs
BubbleBee 1  BubbleBee 2 
– FER student project
p j – FER & FSB students (project 
(p j
– Remotely operated manager: Nenad Trifunović)
– 6 thrusters – Autonomous UV
– http://lapost.fer.hr/fer2_projekt/
http //lapost fer hr/fer2 projekt/ – Azipod thrusters (complex 
Azipod thrusters (complex
control)
– http://bubblebeeii.fer.hr/

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Miniature UV
Project by Marin Bek
• Modular design
Modular design
• Li‐po batteries
• Self design propulsors (brushless)
lf d l (b hl )

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Laboratory platforms for dynamic positioning

Project task:
independent wireless
platform for DP onboard status
motion in all communication minimal autonomy:
with feedback data indicator (DP,
directions of with main 1h
from webcam travelling, idle)
horizontal plane computer

MC-4 “Ines”
• Radio comunication • Bluetooth communication
• 4 thrusters – bilge pumps • 4 bow thrusters

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Laboratory platforms for dynamic positioning

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BSc Theses in Progress
1. Use of hydrophones for pinger localization
2. Interface and calibration for an optical biological sensor 
3. Fault diagnosis in control systems
4. Identification of the laboratory marine platform model
5. p y p
An improved version of a laboratory marine platform 
6. Integration of the navigation module in the laboratory platform for 
dynamic positioning
7. Line following for a dynamic positioning laboratory platform
Line following for a dynamic positioning laboratory platform
8. CTD probe interface
9. Connecting the laboratory platform to the virtual world
10. Distributed control of marine vessels by using the MOOS database
10 Distributed control of marine vessels by using the MOOS database
11. Revitalization of the AutoMarine module
12. Design of the Web‐oriented, modular extensible data base containing 
information about UUVs 
f b

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MSc theses in Progress

1 D
1. Development and implementation of the software 
l di l i f h f
support for the Iver2 AUV in MOOS IvP infrastructure 
2 P
2. Positioning system for the UUV by use of the lighting 
iti i t f th UUV b f th li hti
bulbs
3 Tether management system for ROVs
3. Tether management system for ROVs
4. Design of the manipulator for ROV Seamor 300F
5. MOOS‐based simulator for marine vessels

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Vision‐‐based laser distance module
Vision
Hardware

• Two laser 
beams 
projected on 
a surface
re

• Image analysis (computationaly 
challenging)
Softwa

• Improved image processing
• calibration
S

• Distance keeping
Distance keeping
T k
Task • Object measurement
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Distance keeping

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Vision‐‐based data acquisition
Vision
Hardware
Softwa
S re

Taskk • Obtain data for mathematical  model identification

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Identification techniques
Example from mission: Finding sunken ship

m = 4kg

m = 7.5kg

Dynamics of the vessel change significantly!


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Applications of the IS‐
Applications of the IS‐O method
• Autopilots
• Depth controllers
p
• Distance keeping 
controllers
• Line following 
controllers

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Cooperative Control
• Virtual potential method

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Mine Countermeasures & Control

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Concluding comments
• Marine robotics are a challenging research area
• LabUST wants to:
LabUST wants to:
• Bring marine robotics closer to students
• Explore and develop new methods
p p
• Participate in industrial projects
• Create specialists in the field
• C
Cooperate with UST centres of excellence
t ith UST t f ll
• Be involved in FP7 projects
website: labust.fer.hr
website: labust.fer.hr

Thank you for your attention!

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Identification based on Self‐
Identification based on Self‐Oscillations (IS
Oscillations (IS‐‐O)
• A new method for identification:
• Quick and easily implementable, 
y p ,
• feasible in the field conditions
• Can be used on nonlinear models
• Applied for identifying Yaw, Heave, 
Surge DOF

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Interdisciplinarity

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