Anna Friebe Florian Haug Editors Robotic Sailing 2015 Proceedings of the 8th International Robotic Sailing Conference 123 Robotic Sailing 2015 ⋅ Anna Friebe Florian Haug Editors Robotic Sailing 2015 Proceedings of the 8th International Robotic Sailing Conference 123 Editors Anna Friebe Florian Haug ÅlandUniversity of AppliedSciences ÅlandUniversity of AppliedSciences Mariehamn Mariehamn Finland Finland ISBN978-3-319-23334-5 ISBN978-3-319-23335-2 (eBook) DOI 10.1007/978-3-319-23335-2 LibraryofCongressControlNumber:2015946769 SpringerChamHeidelbergNewYorkDordrechtLondon ©SpringerInternationalPublishingSwitzerland2016 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor foranyerrorsoromissionsthatmayhavebeenmade. Printedonacid-freepaper SpringerInternationalPublishingAGSwitzerlandispartofSpringerScience+BusinessMedia (www.springer.com) Preface Within living memory, mankind has been taking advantage of wind and water for power generation. Sailing ships and boats have used the wind as propelling force for centuries and contributed crucially to the discovery of new lands and to global trade. Maneuvering a sailing boat from a given starting point to a defined desti- nationunderchangingwind,weather,andseaconditionsisahighlynontrivialtask; the skipper needs to adapt to changing parameters and optimize the boat’s course during the entire journey. Moreover, sailors often have to sail through narrow passages or within areas with obstacles and dense traffic, simultaneously being aware of and following collision preventing regulations. While a human being masters many of these complicated steering- and regula- tionproblemsthroughexperienceandintuition,itturnsouttobeachallengingtask for an autonomous, unmanned sailing device. To maneuver a sailboat safely through changing wind and sea conditions without any remote control or human assistance is a complex and multidisciplinary mission, which involves boat designers, naval architects, electrical engineers, and computer scientists. Many ofthechallengesinbuildingatrulyautonomoussailboatarestillunsolvedandhave stimulated a variety of groups all over the world. Intensive research and develop- ment is done within platform optimization, route and stability planning, collision avoidance, power management, and boat control. Reliable autonomous robotic sailing devices have a huge potential and can be used for a broad variety of practical applications. Self-powered sailing devices are perfectly suitable for monitoring or collecting oceanographic, environmental, meteorological, or hydrographic data. Robotic sailboats can even contribute to traffic monitoring, boarder surveillance and security, assistance and rescue, harbor safety, and carbon neutral transportation. These proceedings present the cutting edge developments within a broad field related to robotic sailing. The contributions were presented during the 8th Inter- national Robotic Sailing Conference organized by Åland University of Applied Sciences and took place in Mariehamn, Finland. In conjunction with the IRSC the World Robotic Sailing Championship 2015 (WRSC 2015) was held. The WRSC 2015 consists of a series of short-distance races, navigation, and autonomy v vi Preface challenges. The competition proposes tasks such as station keeping, speed in different conditions, accuracy, area scanning, and data collection. The IRSC/WRSC 2015 is the 8th edition of the event. Previous IRSC/WRSC events have taken place in Ireland (2014), France (2013), Wales (2012), Germany (2011), Canada (2010), Portugal (2009), and Austria (2008). Theproceedingsaredividedintothreeparts.Thefirstpartisdevotedtodifferent hardware solutions for autonomous sailing platforms, including design, construc- tion, test sailing, and applications of different devices. The following part presents ideas related to mission planning, localization, and obstacle avoidance. The third partisdedicatedtothedesign,modeling,andevaluationofsensorsandcontrollers. The allocation of the papers to the different parts might seem somewhat arbitrary, sincesomeofthepaperstreatseveraloftheabove-mentionedaspects.Thesepapers were placed in the category where they seemed to fit best. The editors would like to thank all of the authors, the Program Committee, all the sponsors, partners, and other people who made it possible to host the IRSC/ WRSC 2015 in Mariehamn, Åland. Mariehamn Anna Friebe July 2015 Florian Haug Organization Committee General Chair Anna Friebe, Åland University of Applied Sciences, Finland Proceedings Florian Haug, Åland University of Applied Sciences, Finland Anna Friebe, Åland University of Applied Sciences, Finland Co-organizers Emmy Karlsson, Åland University of Applied Sciences, Finland Sven Schauman, Åland University of Applied Sciences, Finland Ronny Eriksson, Åland University of Applied Sciences, Finland Therese Sjöblom, Åland University of Applied Sciences, Finland Lena Nyman-Wiklund, Åland University of Applied Sciences, Finland Program Committee José Carlos Alves, INESC TEC (formerly INESC Porto) and Faculty of Engineering, University of Porto, Portugal Taylor Barton, Sea Scope, USA Ole Blaurock, Fachhochschule Lübeck, Germany Jorge Cabrera-Gámez, Universidad de Las Palmas de Gran Canaria, Spain vii viii OrganizationCommittee Benoit Clement, École nationale supérieure de techniques avancées (ENSTA) Bretagne, France Vincent Creuze, LIRMM, University Montpellier 2—CNRS, France Nuno A. Cruz, Universidade do Porto, Portugal Kjell Dahl, Åland University of Applied Sciences, Finland Anna Friebe, Åland University of Applied Sciences, Finland Oren Gal, Technion, Israel Florian Haug, Åland University of Applied Sciences, Finland Luc Jaulin,Écolenationale supérieure detechniquesavancées (ENSTA)Bretagne, France Fabrice Le Bars, École nationale supérieure de techniques avancées (ENSTA) Bretagne, France Erik Maehle, University of Lübeck, Germany Benedita Malheiro, Instituto Superior de Engenharia do Porto, Portugal Paul Miller, US Naval Academy, USA Fearghal Morgan, National University of Ireland, Galway, Ireland Cedric Pradalier, GeorgiaTech Lorraine, France Kostia Roncin, École nationale supérieure de techniques avancées (ENSTA) Bretagne, France Colin Sauze, Aberystwyth University, Wales, UK Alexander Schlaefer, Hamburg University of Technology, Germany Michael Schukat, National University of Ireland, Galway, Ireland Roland Stelzer, Happylab GmbH, Austria Dermot Tynan, Hewlett Packard, Ireland Diedrich Wolter, University of Bremen, Germany Contents Part I Sailboat Platforms and Applications A-TIRMA G2: An Oceanic Autonomous Sailboat. . . . . . . . . . . . . . . . 3 Antonio C. Domínguez-Brito, Bernardino Valle-Fernández, Jorge Cabrera-Gámez, Angel Ramos-de-Miguel and Juan C. García Integration of Wind Propulsion in an Electric ASV. . . . . . . . . . . . . . . 15 Nuno A. Cruz, José C. Alves, Tiago Guedes, Rômulo Rodrigues, Vitor Pinto, Daniel Campos and Duarte Silva Mobile Autonomous Platforms for Passive-Acoustic Monitoring of High-frequency Cetaceans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Holger Klinck, Selene Fregosi, Haru Matsumoto, Alex Turpin, David K. Mellinger, Anatoli Erofeev, John A. Barth, R. Kipp Shearman, Karim Jafarmadar and Roland Stelzer Design and Development of a Self-Stabilizing, Autonomous Sailboat with Zero-Net Stored-Energy Use . . . . . . . . . . . . . . . . . . . . . 39 Robert Baker, Laura Kambourian, Sohrab Hajarian, Thomas Augenstein, Stephen Harnett, Gyu-Min Lee, Mukund Sudarshan, Cole Richter, Colette Trouillot, Philippe Williamson and Andy Ruina Kite Sailing Platform Mathematical Model and Stabilization. . . . . . . . 59 Konstantin Aprosin, Aleksander Tavlintcev, Sergey Semenenko and Maria Shorikova ix x Contents Part II Mission Planning, Localization and Obstacle Avoidance AIS-Enabled Collision Avoidance Strategies for Autonomous Sailboats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 José C. Alves and Nuno A. Cruz Consideration of State Representation for Semi-autonomous Reinforcement Learning of Sailing Within a Navigable Area. . . . . . . . 89 Hideaki Manabe and Kanta Tachibana AEOLUS, the ETH Autonomous Model Sailboat . . . . . . . . . . . . . . . . 103 Jonas Wirz, Marco Tranzatto, Alex Liniger, Marcello Colombino, Henrik Hesse and Sergio Grammatico SWARMON—Real-Time Localization System. . . . . . . . . . . . . . . . . . . 113 Benoit Bourdon, Jean-Jacques Boye, Quentin Descours, Bastien Drouot, Olivier Reynet and Thibault Viravau Part III Controllers and Sensors Autonomous Sailboat Track Following Control. . . . . . . . . . . . . . . . . . 125 Qian Wang, Mengqi Kang, Jinsong Xu and Jianyun Xu Modeling and Control for an Autonomous Sailboat: A Case Study . . . 137 Jon Melin, Kjell Dahl and Matias Waller Quantitative Analysis of Various Sail Luffing Sensing Methods. . . . . . 151 Halie Murray-Davis and Andrew Bennett Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163