A-TIRMA G2: An Oceanic Autonomous Sailboat

Abstract

This paper describes a new design of a 2 meter LOA (Length Over All) autonomous sailboat conceived for sailing in an ample set of weather conditions. The design has been focused on robustness and on achieving some degree of redundancy on critical components like sails and rudder. Accordingly, it is equipped with two light-weight carbon ber wing sails and two slanted rudders protected by skegs. Its stability curve is fully positive, so she is capable of recovering autonomously from capsizing.

Acoustic Detection of Tagged Angelsharks from an Autonomous Sailboat

“…An acoustic tags receiver (Fig. 1b) have been integrated in A-Tirma G2 (A-Tirma, for short), a two-meter length autonomous sailboat provided with two wing sails (a more detailed description can be found in [1]). The boat is shown in Fig.…”

Development of automatic control system of motion of an unmanned surface ships with a sailing installation

“…As it is known, traditional sails are poorly integrated into marine unmanned technologies, and above all with autonomous surface ships. Rigid wings with aerodynamic profiles can be used as alternative sails [6,7]. It should be noted that the problems of using sails of a rigid structure are given a lot of attention [8,9].…”

A Component-Based C++ Communication Middleware for an Autonomous Robotic Sailboat

“…We have designed and developed ISE for supporting the software communication infrastructure of an oceanic autonomous sailboat [4], developed at our laboratory, called A-Tirma (shown in Figures 6 and 7). Fig.…”

“…Mind that the middleware has been not used on the sailboat, as the microcontroller platforms on-board are not computationally powerful enough, specially for their lack of memory. Indeed, we have selected them mainly for their low power consumption requirements ([21] [4]). In fact, neither the main controller nor the communication controller have support for the C++ Standard Library, or the C++ Boost Libraries, which are necessary for running the middleware.…”

“…Moreover, it is possible to dynamically reconfigure a whole system, as ISE provides support for on-demand dynamic component instantiation, and dynamic runtime type information about a system and its components. As case application in a real scenario, we have implemented using ISE first operative version of a distributed software infrastructure for remote control and monitoring of the autonomous sail vessel A-Tirma [4] developed at our laboratory. In the rest of the document we describe in more detail the middleware, how we have applied it so far to our projet A-Tirma, and the conclusions drawn from the work underdone.…”