Vaimos : Brest-Douarnenez-Brest

The sailboat robot VAIMOS – « Voilier Autonome Instrumenté de Mesures

Océanographiques de Surface » has tried to perform a mission of more than 100 miles

between Brest and Douarnenez.

The departure date was Tuesday, January 17, 8am.

For more on Vaimos.

Ifremer bulletin related to this mission.

Planned mission

To see all logfiles of a mission, you should first download the Dashbord (for windows).

Movie presenting the Dashboard. The same with youtube.

During the mission, this site has been updated regularly.

- The logfile was regularly downloaded from Vaimos toward a PC located on the

boat we use for supervision (la Marloux). Note that since the mission has not started yet,

the only logfile available is that of the simulator.

- I also posted some jpg images that show the evolution of the trip.

Logfiles

All the following files should be renamed into data.txt and be inserted in the dashboard folder

to visualize all data with graphics.

Download a logfile generated by the simulator two days before the mission. Our simulator uses HIL concepts

(note that the simulator with the source C++ codes are available on request).

Tracks

Tuesday 10h. Track1.

Tuesday 11h. Track2. Logfile (to be used with the dashboard). Photo.

Tuesday 16h. Track3. Photo (with the submarine).

Tuesday 17h. Track4. Photo. Covered GPS distance 55km.

Tuesday 21h. Track5. Google Earth file. Covered distance 74km.

Tuesday 23h. Track6. Google Earth file. Covered distance 85km.

Wednesday 1h. Track7. Google Earth file.

Wednesday 3h. Track8. Google Earth file. Logfile. We stopped the mission.

Why we decided to stop

At around 3am, we had a problem with a strap inside the motor of la Marloux (supervision boat).

Moreover taking into account the fact that

1) the tuning of the sail is not as efficient as it used to be,

2) there exists some traffic in the Baie de Douarnenez and with the night, the survey of the mission is not easy,

3) and we have already done of 105km,

we decided to take no risk and to stop the mission.

To have a graphic of the logfiles with google-earth (thank you Jeremy) :

http://www.jeremy-nicola.info/robotics/vaimos/17-01-2012/

TBO TV-report

Simulator

Program C++ with QT creator (codes, exe and dll).

Publications

Vaimos project : An innovative approach of the surface layer sampling. Journal des Sciences Halieutique et Aquatique, 4 :105—109, 2011. pdf.

For the control law : Suivi de route pour un robot voilier, CIFA 2012, pdf.

For the model used by the simulator : Modélisation et commande d'un bateau à voile, CIFA2004, pdf

For checking the reliability of the control low. An interval approach for stability analysis; Application to sailboat robotics. Submitted to IEEE-TRO (February 2012). pdf.

Team. Involved in the Vaimos project:

IFREMER: Thierry Terre, Bertrand Forest, Olivier Menage, Patrick Rousseaux, Sébastien Prigent, Fabienne Gaillard, Thomas Gorgues, Yves Auffret, Loic Dussud, Laurent Delauney, Michel Repecaud.

ENSTA-Bretagne: Fabrice Le Bars, Benoit Clément, Yvon Gallou, Luc Jaulin, Olivier Reynet, Jan Sliwka , Benoit Zerr.

ENSTA Bretagne (OSM and mainly Fabrice Le Bars) develops control algorithms and the software architecture.

IFREMER (LPO+RDT) builds the mechanics, the embedded instrumentation, the electronics, etc.

For more on Vaimos