IFREMER, Department of Underwater Systems, Toulon, France. L u c i e Somaglino, P a t r i c k J a u s s a u d, R o main P i a s co, E w e n Raugel

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F i r s t s e a t r i a l s w i t h E M 2 0 4 0 m u l t i b e a m s o u n d

n e IFREMER, Department of Underwater Systems, Toulon, France L u c i e

1 F i r s t s e a t r i a l s w i t h E M m u l t i b e a m s o u n d e r i n n o v a t i v e i n t e g r a t i o n o n H y b r i d R O V A r i a n e IFREMER, Department of Underwater Systems, Toulon, France L u c i e Somaglino, P a t r i c k J a u s s a u d, R o main P i a s co, E w e n Raugel

2 Outline The Hybrid ROV Ariane EM2040 integration and operation First surveys with Ariane Feedbacks on EM2040 use on Ariane Perspectives 2

tasks on all seabed morphology, Optimized for dives on hilly seabed : canyons, cliffs and steep inclines Weight

3 Hybrid ROV Ariane (2016) Small ROV with onboard battery and light tether (fiber optic link) : Costal operation from non Dynamic positioning capable light vessel Reduced operational cost, Easy access to ship time Perform tasks on all seabed morphology, Optimized for dives on hilly seabed : canyons, cliffs and steep inclines Weight Features 1,8 tons with payload ~220kg Size 2800*1850*2130 mm 3 Depth Speed Autonomy Up to 2500m 0-2 knot 4 8h 22/11/2018 3

4 Hybrid ROV Ariane Winch Load bearing cable (0-2500m) Traction tether (~30m) Depressor weight Float Light tether (0-400m) «Clever» tether management for ROV operation (inspection, intervention) 22/11/2018 4

5 Hybrid ROV Ariane Winch Load bearing cable (0-2500m) Depressor weight Traction tether (~30m) Handling tether rupture: Onboard battery Onboard computational power Float Light tether (0-400m) 5

6 Two operational configurations 1. Exploring and Sampling configuration (nov. 2016) 7 function electric manipulator 5 function electric manipulator Sampling tools bay (105 litres) Faunal specimen sampler / sediment sampler Digital cameras (Video HD, Still 24 Mp) 6

7 Two operational configurations 2. Mapping configuration (nov st tests) EM MBES (Single Rx) Nikon D5500 digital Camera (24 MP) HD Camera (pan & tilt) 200 J Metz Flash: 3-10 m (LED:1-3m) HD Camera, zoom*30 Housing with dome port & optical correction Flash EM2040 Tilting digital camera Classic shooting 2D or 3D optical mapping

8 Two operational configurations 2. Mapping configuration (nov st tests) HD Camera EM MBES (Single Rx) Nikon D5500 digital Camera (24 MP) Front DVL Housing with dome port & optical correction Flash EM J Metz Flash: 3-10 m (LED:1-3m) HD Camera, zoom*30 Classic shooting 2D or 3D optical mapping

9 EM2040 innovative integration Tilt of Tx and Rx transducers: adjustable angle 0 /45 /90 before dive

EM2040 surveys conditions with Ariane Typical 0.

Ariane Altitude 50 m 30 m Mode CW CW Sectors 3 3 (1 to be tested) Angular opening 140 120 Beam width 1 0,7 Swath width

10 EM2040 surveys conditions with Ariane Typical knot (0-2 knots) Typical 5 m to 50 m altitude (1-100s m) EM (single Rx) Operating Frequency 300 khz 400 khz Ariane Altitude 50 m 30 m Mode CW CW Sectors 3 3 (1 to be tested) Angular opening Beam width 1 0,7 Swath width ~250 m at alt. 50 m ~ 15 m at alt. 5 m ~ 35 m at alt.10 m Nb of soundings per ping 400 (HD) 400 (HD) Water column log Synchronization with DVLs emissions Immersion data filtered by inertial unit 10

11 3D Real time visualization (raw data) Cloud of dots: Bathymetry / Imagery & Water column First analysis and adaptation of the survey during dive 11

12 Acoustical and Optical surveys with Ariane EM2040 Altitude : 50m coverage ~ 1.5 km² (decimetric accuracy) Altitude : 5m coverage ~ 0.1 km² (centimetric accuracy) Optical survey (up to 10 m depending on turbidity) Altitude : 8 m coverage ~ 0.04 to 0.06 km² (1 pixel ~ 1,2mm) Altitude : 5 m coverage ~ 0.01 to 0.02 km² (1 pixel ~ 0,7mm) Altitude : 3 m coverage ~ to km² (1 pixel ~ 0,4mm) ~ 1 football stadium (0.007 km²) 12

13 CARTOHROV Campaign: Example of a dive on a wreck (MBES at 0 ) Seabed Bathymetry Altitude 40m (300 khz) Altitude 20m (400 khz) Altitude 5m (400 khz) 22/11/ Courtesy of Hervé Bisquay, IFREMER

14 CARTOHROV Campaign: Example of a dive on a wreck (MBES at 0 ) Seabed Bathymetry (5m) Courtesy of Hervé Bisquay, IFREMER

15 CARTOHROV Campaign: Example of a dive on a wreck (MBES at 0 ) Seabed Imagery (5 m altitude) Courtesy of Arnaud Gaillot, IFREMER

16 CARTOHROV Campaign: Example of a dive on a wreck (MBES at 0 ) Photogrammetry (5 m) Courtesy of Aurélien Arnaubec, IFREMER

17 CARTOHROV Campaign: MBES at 45 Raw data on viewer First 3D maps made using freeware (non georeferenced) Need to adapt IFREMER post-treatment softwares

18 Feedbacks on EM2040 use on Ariane Troubles with simultaneous PU logging & real time data visualization : Communication losses with Tx and missing pings Only when WC Log is ON Happens only on new slim PU Temporary solution: make our own logger on Ariane embedded computer.kmall file: be able to use k-controller on linux? PU logging (not using SIS): No new.all file when stop/start survey 18

Automatically adapt the MBES configuration, AUV trajectory, AUV tasks (Autonomus mission controller)

19 Perspectives Real time interactive survey on ROVs: 3D survey visualization, warnings to operator (data quality, object of interest ) Smart surveys on AUVs using real time data processing: Automatically adapt the MBES configuration, AUV trajectory, AUV tasks (Autonomus mission controller) Detection Resume suspended tasks Multibeam bathymetric survey and onboard data processing Close range optical survey

20 Thanks for your attention! joierj 22/11/

Department. «Ships and on-board Equipment» lfremer. (Head : Marc Nokin)

Department. «Ships and on-board Equipment» lfremer. (Head : Marc Nokin) Department «Ships and on-board Equipment» (Head : Marc Nokin) 1 Structuration and activities of NSE department Scope Construction and modernisation of Ifremer oceanographic ships Development of softwares