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Simulation Environment for UUVs operating in fish farms
Use of robotics such as Unmanned Underwater Vehicles (UUVs) has become essential for several fish farming companies to address current challenges [1]. In particular, Remotely Operated Vehicles (ROVs) have been used for several monitoring operations such as inspection of nets and mooring lines, as well as monitoring and inspection of water quality, the cage environment and fish population. A first step towards autonomous control of robot actions under such conditions is therefore to establish more realistic models and simulation environment of the dynamic cage environment that predict and incorporate structural deformations and the impacts from the surrounding environment, and interactions between these [2].
There are several simulators developed for demonstrations of autonomous functionalities of underwater vehicles (FhSim [3], UUV Simulator, HoloOcean [4], UWSim, DAVE, etc). In addition, realistic simulator featuring robotic systems operating in fish farms is considered of high relevance to test in advance methods for autonomous navigation and control. This thesis aims to develop models of UUVs including various underwater sensors and investigate control strategies for net-relative navigation of robotics systems in fish farms. In addition to the vehicle, the simulation environment needs to model flexible and deformable cages.
References:
[1] Kelasidi, E. and Svendsen, E. (2022). Robotics for Sea-Based Fish Farming, 1–20. Springer International Publishing, Cham. doi:10.1007/978-3-030-89123-7 202-1.
[2] B. Su, F.O. Bjørnson, A. Tsarau, P.C. Endresen, S. J. Ohrem, M. Føre, J. T. Fagertun, P. Klebert, E. Kelasidi, H.V. Bjelland, “Towards a holistic digital twin solution for real-time monitoring of aquaculture net cage systems”, Marine Structures, 2023.
[3] https://fhsim.smd.sintef.no/
[4] https://holoocean.readthedocs.io/en/master/index.html
There are several simulators developed for demonstrations of autonomous functionalities of underwater vehicles (FhSim [3], UUV Simulator, HoloOcean [4], UWSim, DAVE, etc). In addition, realistic simulator featuring robotic systems operating in fish farms is considered of high relevance to test in advance methods for autonomous navigation and control. This thesis aims to develop models of UUVs including various underwater sensors and investigate control strategies for net-relative navigation of robotics systems in fish farms. In addition to the vehicle, the simulation environment needs to model flexible and deformable cages.
References: [1] Kelasidi, E. and Svendsen, E. (2022). Robotics for Sea-Based Fish Farming, 1–20. Springer International Publishing, Cham. doi:10.1007/978-3-030-89123-7 202-1. [2] B. Su, F.O. Bjørnson, A. Tsarau, P.C. Endresen, S. J. Ohrem, M. Føre, J. T. Fagertun, P. Klebert, E. Kelasidi, H.V. Bjelland, “Towards a holistic digital twin solution for real-time monitoring of aquaculture net cage systems”, Marine Structures, 2023. [3] https://fhsim.smd.sintef.no/ [4] https://holoocean.readthedocs.io/en/master/index.html
- Literature review of relevant simulation environments for underwater domain
- Comparison of simulation environments and adaptation of most relevant
- Design of cage model with mooring lines and integration on the chosen simulation environment
- Implementation of robotic system (BlueROV2, Argus Mini, etc) with several relevant sensors
- Develop control strategy for autonomous net-relative navigation
- Demonstrate the autonomous capabilities for net-inspection purposes in simulation environment
- Literature review of relevant simulation environments for underwater domain - Comparison of simulation environments and adaptation of most relevant - Design of cage model with mooring lines and integration on the chosen simulation environment - Implementation of robotic system (BlueROV2, Argus Mini, etc) with several relevant sensors - Develop control strategy for autonomous net-relative navigation - Demonstrate the autonomous capabilities for net-inspection purposes in simulation environment
- Highly motivated student with experience in design
- Experience with C/C++ and/or Python programming
- Highly motivated student with experience in design - Experience with C/C++ and/or Python programming