Robotic Sailing 2014: Proceedings of the 7th International Robotic Sailing Conference

98 Pages·2015·10.215 MB·English

by  Fearghal Morgan, Dermot Tynan (eds.)

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