Vessel-Platform Automation: Integrating self-assembly with configuration dependent control strategies

Vessel platform automation developed notably categorizable in two behaviors: reconfiguration and collaborative motion control. This work explores integration of both behaviors in a single system. Fundamental system characteristics of both behaviors are analyzed to create understanding of the varying design approaches. A multi-vessel platform model approximation is proposed that expresses all module models in one generalized platform coordinate while retaining directional dependent effects. Automated reconfiguration and collaborative, coordinated dynamic positioning are implemented within a single framework. The multi-robot control stucture consists of guidance, navigation & control layers, rather than single systems, where topology changes with platform configuration.Mechanical Engineering | Transport Engineering and Logistic

Trickle-down strategies:integrating simulations with control loops of autonomous vessels on lab scale

This study integrates strategic decisions and operational control systems in autonomous shipping. By providing ships with situational information and adding a virtual operator, we show that vessels can make informed choices regarding their route and engine settings. To demonstrate this integration, we developed new components and put these to the test in three lab experiments. The green routing capability experiment showed the bridge between the control system of the autonomous vessel, operated via Robot Operating System (ROS), to the simulation environment of OpenCLSim. We developed a real-time variant of OpenCLSim and a communication component that could expose the state of the OpenCLSim simulation with the ROS system. This experiment showed that an autonomous vessel could follow a path provided by the simulation. The green steaming capability experiment showed that the ship could also adapt its speed based on information from the simulations. We developed an additional communication component capable of advising the vessel about its velocity. Together with the green-routing capability, this forms the basis for more complex experiments. The port layout experiment showed a potential use case of the green-routing and green-steaming capabilities. We created a waypoint layout similar to the port. While a ship is sailing, twelve simulations are computed every five seconds. The scenarios vary in engine order, route choices, resulting in varying emissions, fuel, and cost. We evaluated the impact of different tactics such as green-routing, green-steaming, and full-speed sailing on operational behavior like steering and engine order. Our approach, using a real-time version of a Vessel in the OpenCLSim simulation software, enabled predictive simulations to facilitate the chosen tactic based on a given strategy. Integrating simulations to evaluate the options with the control systems can develop into a valuable tool for optimizing vessel performance and reducing environmental impact in autonomous shipping operations.</p

Trickle-down strategies:integrating simulations with control loops of autonomous vessels on lab scale

This study integrates strategic decisions and operational control systems in autonomous shipping. By providing ships with situational information and adding a virtual operator, we show that vessels can make informed choices regarding their route and engine settings. To demonstrate this integration, we developed new components and put these to the test in three lab experiments. The green routing capability experiment showed the bridge between the control system of the autonomous vessel, operated via Robot Operating System (ROS), to the simulation environment of OpenCLSim. We developed a real-time variant of OpenCLSim and a communication component that could expose the state of the OpenCLSim simulation with the ROS system. This experiment showed that an autonomous vessel could follow a path provided by the simulation. The green steaming capability experiment showed that the ship could also adapt its speed based on information from the simulations. We developed an additional communication component capable of advising the vessel about its velocity. Together with the green-routing capability, this forms the basis for more complex experiments. The port layout experiment showed a potential use case of the green-routing and green-steaming capabilities. We created a waypoint layout similar to the port. While a ship is sailing, twelve simulations are computed every five seconds. The scenarios vary in engine order, route choices, resulting in varying emissions, fuel, and cost. We evaluated the impact of different tactics such as green-routing, green-steaming, and full-speed sailing on operational behavior like steering and engine order. Our approach, using a real-time version of a Vessel in the OpenCLSim simulation software, enabled predictive simulations to facilitate the chosen tactic based on a given strategy. Integrating simulations to evaluate the options with the control systems can develop into a valuable tool for optimizing vessel performance and reducing environmental impact in autonomous shipping operations.</p

DigiPACT: Green Steaming and Green Routing Experiments

README DigiPACT This document provides supporting information for the data files of the DigiPACT project. 3d.zip 3D visualizations including the lab-scale vessel apr 12 2023 max guidance in the loop &amp; working.zip Data recordings of the Port Call expriment conducted on April 12 (successful). jan 23 2023.zip Data recordings of the initial attempt at the Green Routing experiment conducted on January 23 (unsuccessful). jan 25 2023.zip Data recordings of the second attempt at the Green Routing experiment conducted on January 25 (unsuccessful). jan 30 2023.zip Data recordings of the third attempt at the Green Routing experiment conducted on January 30 (successful). mar 1 2023 velocity controller working first iteration.zip Data recordings of the Green Steaming experiment conducted on March 1 (successful). videos.zip Collection of videos made during the experiments