We bring the control of your vessel at a fingertip.

Propulsion control

Hull Simulation & training

& auxiliaries Power
management

Damage
control
Condition based
maintenance

Dynamic positioning

Automation

Energy
management

www.seastema.it

L’evoluzione dell’automazione navale dal controllo

automatico al controllo autonomo
Luca Sebastiani (SEASTEMA), Aldo Zini (CETENA)

Workshop ATENA su “L’automazione e le prospettive delle navi unmanned”

La Spezia, 16 Maggio 2019
Il progresso tecnologico dell’automazione navale dal controllo manuale all’automazione integrata

• Manual Control. Manning levels are based on

Before continuous watch requirements
1970

• Analogue Control. Manning levels reduced for US flag

1970- vessels from 45 to 21
1985

• Digital Control. 8 bit EEPROM chips with 16K of

assembly code. Single motherboards that are very
1980- difficult to troubleshoot in operation
1995
• Distributed Control. Serial fieldbuses and plug in
modules allowed automation of more ship processes
1990- and less disruptive troubleshooting
2005
• Networked Closed Loop Control. Real-Time Ethernet
reduces control and IT network integration efforts.
2000-
onwards Unmanned machinery spaces are the norm

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 2

however it is expected that following completion of this RSE, they will be reviewed also taking into
consideration different levels of automation, etc.
Il trend evolutivo dell’automazione navale dal controllo automatico al controllo autonomo
The degrees of autonomy which were agreed by MSC 99 and revised at MSC 100 following the discussion of
the working group on MASS are as follows:

Livelli di autonomia secondo MSC100

Table 1 - Degrees of autonomy agreed at MSC 100

Autonomy level Description

Stato attuale delle navi mercantili e

1 Ship with automated processes
and decision support
Seafarers are on board to operate and control shipboard
systems and functions. Some operations may be automated
militari più moderne
and at times be unsupervised but with seafarers on board
ready to take control.

2 Remotely controlled ship with The ship is controlled and operated from another location.
seafarers on board Seafarers are available on board to take control and to
operate the shipboard systems and functions.
4 See e.g. http://www.abb.com/cawp/seitp202/cb99bdc1a0fe4de9c12581df002e46ca.aspx , https://www.rolls-royce.com/media/press-
releases/2018/17-04-2018-rr-to-supply-innovative-autocrossing-system-and-propellers-to-13-new-ferries.aspx ,
3 Remotely controlled ship without The ship is controlled and operated from another location.
https://www.wartsila.com/twentyfour7/innovation/look-ma-no-hands-auto-docking-ferry-successfully-tested-in-norway
seafarers on board There are no seafarers on board.
5 AAWA, Remote and Autonomous Ships the next steps (2016).

4 Fully autonomous ship The operating system of the ship is able to make decisions
and determine actions by itself.

Page 4 of 19 Obiettivo finale

As an indication to the different opinions that have been expressed during the MSC 99 and MSC 100
Normative relative all’incremento dell’automazione nelle operazioni navali
meetings, Finland submitted a paper6 at MSC 99 where it was argued that different options and solutions
combining manning, automation, remote control and autonomy need to be considered. Furthermore, it was
q Navigazione Integrata: Rules for One Man Bridge Operated (OMBO) Ships
noted that two factors should be considered; first, a ship has a wide range of systems on board, and the levels
of autonomy should be applicable to all of those systems. It is also quite possible that some of the ship
q Automazione
systems are on a higher levelIntegrata:
of autonomy Rules for Hence,
than others. Periodically Unattended
some modularity Machinery
in the analysis should be Spaces (UMS)
considered to permit looking at autonomous functions as a single system or a combination of systems
included on a ship. Second, dynamic moving between levels of automation and autonomy is possible for the
same ship; therefore transfer of responsibility and decision-making entity should be clear in all the potential
operational scenarios.

At the same time, autonomy is often mixed with manning, although the two might not be related at all. There is
also the matter whether decision making is local or connected, which adds another dimension to the problem.
Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 3
In a similar line, in a submission by Australia, Denmark, Finland, France and Turkey to MSC 100 regarding
Stato dell’arte internazionale delle navi unmanned ad uso mercantile
Maritime Autonomous Surface Ships (MASS)
q La “Yara Birkeland”, una piccola portacontenitori specificamente progettata da Kongsberg Maritime per operazioni autonome, sarà
varata nel 2020 ed eseguirà una serie di prove in mare con equipaggio a bordo e controllo remoto da centro di terra.
q Wartsila ha recentemente dimostrato il controllo remoto di un piccolo supply vessel tramite link satellitare e ha provato in Norvegia su
di un traghetto la propria suite di navigazione autonoma.
q RR condotto test di navigazione autonoma (comprese le operazioni di doking/undocking) su di un traghetto in Finlandia con pilotaggio
remoto durante il viaggio di ritorno.

q ABB ha recentemente dimostrato il controllo remoto di un piccolo traghetto urbano.

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 4

Stato dell’arte internazionale degli Unmanned Surface Vessels (USV) ad uso militare
Unmanned Patrol Vessels (UPV) e Naval Autonomous Surface Ships (NASS)
q Il drone navale “Protector” prodotto dall’industria della difesa Israeliana, con 11m di lunghezza e 40 nodi di velocità massima, è già
operativo presso le marine di diverse nazioni: offre parziale autonomia con controllo remoto da centro di controllo di terra dei sistemi
di piattaforma / navigazione / combattimento.
q La classe “Vigilant” in forza presso la Marina di Singapore è al momento il drone navale operativo di maggiori dimensioni, con 17m di
lunghezza e 30 nodi di velocità massima: offre parziale autonomia con controllo remoto da centro di controllo di terra dei sistemi di
piattaforma / navigazione (non sono previsti sistemi d’arma).
q La US Navy sta conducendo una sperimentazione in mare sul “SEA HUNTER” che, con 40m di lunghezza, è più grande mezzo navale
unmanned al mondo: offre parziale autonomia con controllo remoto da centro di controllo di terra.

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 5

Stato dell’arte nazionale degli USV
q Progetto di ricerca SWAD a guida Oto Melara in
ambito DLTM per realizzazione prototipo di
pattugliatore veloce (oltre 50 nodi) da 12m di
lunghezza unmanned con possibile armamento
leggero.
q Progettto di ricerca SAND in partnership tra
EffeBi, Meccano e IDS in ambito Regione Toscana
per realizzazione prototipo di pattugliatore
veloce da 16m di lunghezza unmanned con
possibile armamento leggero.
q Progetto di ricerca MARIN a guida
Seastema in ambito Regione Puglia per
realizzazione del Dimostratore
Tecnologico di un veicolo unmanned per
il monitoraggio ambientale capace di
agire come piattaforma per droni aerei
e sottomarini.
q Progetto di ricerca UPV in partnership tra
Fincantieri, Seastema e Cetena per studio
fattibilità di pattugliatore a controllo remoto
da 90m

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 6

Stato degli USV già operativi e degli attuali dimostratori tecnologici MASS/NASS

SHORE/MOTHER SHIP CONTROL CENTER UNMANNED VESSEL

Weapons RWS

Shore-to-Ship Communication System

Ship-to-Shore Communication System

Control
Remote Control

Coastal: 4G \ 5G \ UHF Link

Advanced

Autonomous Controller &

SA Control Sensors

Fail-to-Safe Manager
Offshore: SAT link
Decision Bridge Control
Support

Bridge Partial Autonomy

Supervisory
Engineering
Engineering Control
Supervisory

Safety Officers On Safety Control

Supervisory the Watch

SHORE USMS SHIP USMS

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 7

Trend evolutivo degli USV
u NASS evolution trend NASS
RR Multi-role Unmanned Naval Ship design – Size 60m
ü Pay-load Semi-autonomous
Fully autonomous
ü Range
ü Sea State Semi-autonomous

Fast UPV
Singapore – Unmanned Patrol Boat design – Size 17m
Remote RR UPV Concept
ISRAELI – KATANA Unmanned Patrol Boat – Size 12m
Remote PNRM UPV Concept
Sea Hunter (USN) < 30kts
30kts < 30kts
Semi-autonomous
USN MUSV Concept
Vigilant (Singapore)
30kts
USN LUSV Concept
Katana(Israeli) Semi-autonomous
60kts
STATE-OF-THE ART: UNMANNED NAVAL VESSELS UP TO 20m

Remote

ISRAELI – PROTECTOR Unmanned Patrol Boat – Size 11m

Dimensioni classe

‘Corvetta’
Protector (Israeli)

30kts
10m 20m GAP 40m 60m 90m
Length

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 8

Il trend tecnologico dalla nave automatizzata alla nave autonoma

Sensing and Monitoring

Automated
Health and Performance Monitoring

Performance Optimization Smart

Software Integrity

Semi-
Cybersecurity
Autonomous

Machine Learning and Decision Making

Autonomy Autonomy

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 9

 The below list intends to identify such key functions. The list is not exhaustive and may be e
depending on
Le ‘key-functions’ dele.g. vessel
controllo type and the intended level of autonomy and remote operation.
auto-remoto
Key functions of the autoremote infrastructure:
— remote control and supervision funzioni proprie del controllo auto-remoto
— communication ancora in fase di sviluppo su cui si sta
focalizzando l’attenzione degli attuali
— navigation and maneuvering
Dimostratori Tecnologici
— propulsion
— steering funzioni essenziali dell’automazione
navale che posseggono già una notevole
— electrical power supply maturità tecnologica e non sono quindi
— control and monitoring state indirizzate dagli attuali Dimostratori
— watertight integrity Tecnologici
— fire safety
— ballasting funzioni finora trascurate dagli attuali
— drainage and bilge pumping Dimostratori Tecnologici ma
comunque necessarie ai fini della
— anchoring gestione operativa delle navi
— cargo handling unmanned
— maintenance.
The functions listed above are on a high abstraction level, and it is often desirable to make o
these functions remote-controlled or autonomous. A further analysis of the function is then
the different parts that should be automatic, autonomous, remote-controlled or manual.
Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 10
Tecnologie abilitanti del controllo auto-remoto
TRL
Tecnologie comuni a MASS/NASS crescente
q Centro di Controllo Remoto
q Comunicazioni dirette con il Centro di Controllo Remoto
q Controllo autonomo dei Sistemi di Piattaforma
q Sistemi di Navigazione Autonoma & Collision Avoidance
q Situational Awareness System & Collision Detection System
q Comunicazioni con altre entità manned

Tecnologie specifiche per NASS

q Controllo auto-remoto dei sistemi d’arma

q Operazioni RAS underway
q L&R di droni marini / aerei

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 11

Centro di Controllo Remoto: le competenze d’integrazione di SEASTEMA

q IBS di imbarcazioni militari q IBS di imbarcazioni mercantili

q HMI evolute

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 12

 Typical advantages of troposcatter systems relative to other transmission media are summarized
Comunicazioni dirette con il Centro di Controllo Remoto below in Table 1.

Table 1. Advantages of Troposcatter Links Compared to Other Media

Transmission
Main Advantage Main Disadvantage
Media

High capacity, high reliability,

Equipment cost is higher than microwave and VSAT, but
Troposcatter no delay, IP based system,
lower than fiber optic
no recurring monthly costs
Microwave Low cost, high capacity, Requires line of sight, limiting distances to approximately
line of sight high reliability 30 km
Low equipment cost, most
Absolute delay (latency), availability degradation
Satellite economical for low capacity
(outages), monthly transponder lease cost
(512 kb/sec or less)
Highest installation and restoral cost of all media.
Il monitoraggio
qUndersea fiber Highestreal-time
capacity of allda remoto
media richiede
Installation cost is una comunicazione
typically estimated at more than US$10
robusta a banda larga in download million per 100 km, plus restoral service costs
q Le tecnologie troposcatter sono mature in ambito terrestre ma
richiedono ulteriore sviluppo per il navale
qComtech Systems, Inc.
Inaffidabilità dei link satellitari 2
commerciali per il telecomando remoto
ØFigure 40 – Communications
Possibile Bandwidth vs. USV
utilizzo delle comunicazioni Autonomy
4G/5G in ambito
order costiero
to reduce communications, increased autonomy is required to push signal
cessing and decision-making to the lowest level at which it can be successfully
q Il range
omplished. Levels LOS delle comunicazioni
of autonomy can be measured 4G/5G può
in terms of essere
both frequency of
erator interaction and complexity of operator interaction as seen in the chart, Figure 40,
ove.
esteso fino a 100 MN utilizzando droni ’tethered’
(passivi/attivi) come bridge
eas requiring additional development in order to meet JCA mission requirements cover
spectrum of USV operations. Data from USV sensors must be collected, evaluated
d sorted for importance, both as a mission product and as it may impact vehicle
eration for the remainder of the sortie. The USV must autonomously recognize data
resenting a threat or calling for a change in its initial sortie plan and then respond
Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 13
Controllo autonomo dei Sistemi di Piattaforma: lo IPMS di SEASTEMA

q Propulsione q Ausiliari q Condition Based Monitoring

q Centrale Elettrica q Damage Control q Stability

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 14

Controllo Autonomo dei Sistemi di Navigazione

CONTROL
Desired Control
Dividing the control of a function into the above elements is in general suitable for any function, but is in

Section 4
Waypoint Signal Control
particular relevant for the navigation function as illustrated in Figure 1. Controller
Management Allocators

Reference
Trajectories Actuator
Commands
GUIDANCE
Mission Planning
1) Tasks; Actuators
Trajectory Path 2) Environment; (Rudders,
Generation Planning 3) Operators; Propellers)
4) Other vehicles
5) Power available, etc.

USV USV & Environment Forces &

States Information Moments
NAVIGATION

Sensing
Figure 1 Control of a function Environment Motion
GPS/IMU
Situation Perception
Each of the elements can be performed by either a human or machine (system), or the combination of the Awareness
two. This is illustrated in Figure 2. Other Sensors
State (camera, radar,
Estimation sonar, laser etc.)
Environmental Disturbances
(wind, wave, current, etc.)

Figure 1: Fundamental architecture of a typical USV.

Figure 2: General structure of USV guidance, navigation, and control systems.

4. Communication systems: Communication systems include

not only wireless communication with ground control sta- 2. Navigation system concentrates on identifying the USV’s
tions and other vehicles Intellectual
to perform cooperative control,
Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 15 current and future states (such as position, orientation, ve-
Navigazione Autonoma & Collision Avoidance: le competenze di SEASTEMA

q Tecnologia Abilitante: AP Evoluto q Tecnologia Abilitante: DP q Tecnologia Abilitante: Docking

System
Inviluppo ( ogni10 s) - SAT 20150211 - Muggiano

DP technology to use
Inviluppo ( ogni10 s) - SAT 20150211 - Muggiano 60

40
50

30 40

20 30

the actuators as a
20

Harbor
10
10

0
0 F1
F2
F3 OFF
F4 ON
OFF
ON
F3
F1
F2
F4 OFF
ON
-10 -10

Unmanned Ship
-20 -20

virtual system of
-30
-30
-40
-40
-60 -40 -20 0 20 40 60 80 100

-60 -40 -20 0 20 40 60

Virtual
STATION-KEEPING Fenders /
Mooring Lines mooring lines /
fenders / winches
Virtual Winch

Obstacle
RELAXED POSITIONING

PATENTED
FOLLOW TARGET
Inviluppo ( ogni10 s) - SAT 20150211 - Muggiano Inviluppo ( ogni10 s) - SAT 20150211 - Muggiano
160

Constant
150

140

100
120
speed
100

F9 ON
F3 OFF
F3 OFF
F6 ON
80
50

F1
F2 OFF
ON 60

DOCKING QUAY
40
F6 ON
0
20

0 F3
F9 OFF
ON
-50
-20

-40
-200 -150 -100 -50 0 50 100 150 200
-150 -100 -50 0 50 100 150

Certificazone DNV in completamento

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 16

Navigazione Autonoma & Collision Avoidance: la collaborazione con DITEN in E-Navigation

Collision Detection Pilotaggio automatico tramite

Logic for Navigation PIM track

Collision
Avoidance
Maneuvers at
close range

Model-tests to
calibrate / validate
the system.

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 17

 USVs, niques (as shown in Fig. 4).
Situational Awareness System & Collision Detection System
obsta-
work on
(2011); Sensing
Noise & accumulative errors elimination
mounted IMU/GPS Dealing with model uncertainties
estimation Accommodating sensor faults
derwa- Multi-sensor fusion
State
inverse estimation Estimation based
Image stabilization
Navigation on other sensors
eported system Monocular vision Image defogging
optimal Passive
Environment estimation Stereo vision
Wave information perception
perception Multiple-camera perception
Infrared vision
LIDAR-based perception
Active Radar-based perception
Situation estimation
awareness Sonar-based perception
f coast
, 2008; Figure 4: Classification of USV navigation systems with respect to functions
and methods.
maneu-
USVs, Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 18
Situational Awareness System & Collision Detection System: le competenze di SEASTEMA
Sensori di prossimità LIDAR di derivazione automobilistica

Sensori di prossimità Radar per DP

Riproduzione
‘bird-view’
dell’ambiente
circostante tramite
UAV ’tethered’

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 19

Nuove prospettive: retrofit package per il controllo auto-remote di imbarcazioni manned

q Le future unità unmanned saranno comunque una piccola frazione della flotta in servizio per cui il mercato più
ampio per le soluzioni unmanned è la possibilità di intervenire in retrofit, tramite un package tecnologico
standardizzato, su di un’imbarcazione ‘manned’ esistente al fine di consentirne il controllo auto-remoto con il
minimo impatto installativo.
q A questo riguardo SEASTEMA ha concepito la seguente proposta tecnologica:

PORTABLE CONTROL STATION WITH

CUSTOM-MADE HMI

Tethered drone for

optic/IR 360° coverage
from above &
communications bridge

SITUATIONAL AWARENESS SYSTEM

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 20

Il ruolo dei sistemi di Virtualy Reality nel progetto e nelle operazioni unmanned: l’esperienza di CETENA

Design Phase

Virtual Test Bed

Operation Phase
Real implementation of Training system for Tactical Decision
the remote control operators Support System
station

Il Virtual Test Bed fornisce

• Un ambiente configurabile
• L’interfaccia tra l’ambiente e i sensori/attuatori
• La dinamica dei parametri fisici dell’ambiente che interagiscono col comportamento del veicolo virtuale
• Il movimento e l’interferenza con le altre entità dello scenario (collisioni, onde indotte…)
• L'interoperabilità con altri simulatori/simulazioni nello stesso scenario condiviso

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 21

Il ruolo dei sistemi di Virtualy Reality nel progetto e nelle operazioni unmanned: l’esperienza di CETENA

Componenti
virtuali e/o reali
Sensors
Communications

Automation
Actuators ….

Physical behavior
A.I. SW Propulsion

Veicolo in progetto

Virtual Test Bed

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 22

Il ruolo dei sistemi di Virtualy Reality nel progetto e nelle operazioni unmanned: l’esperienza di CETENA

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 23

Il ruolo dell’Intelligenza Artificiale nelle operazioni autoremote

Crew embarked

Unintended event Human support no Interaction

Crew embarked solved longer required possibility restored

Autonomous
Manned Autonomous Remote
problem Fail to safe
operation operation operation
solving

Crew disembarked Unintended event Human support Interaction possibility

detected required lost

Critical situation waiting for response or

interaction possibility lost

3 Emergency crew embarked

MUNIN‘s operational modes MUNIN‘s short-term outlook

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 24
Il ruolo dell’Intelligenza Artificiale nelle operazioni teleremote

Applicazioni duali
q Riprogrammazione autonoma delle operazioni / missioni: capacità di reagire agli imprevisti
q Il Chief Engineer ‘Virtuale’: capcità di gestire autonomanente le failure degli impianti di bordo
q Il Damage Officer ‘Virtuale’: capacità di gestire autonomamente le situazioni di emergenza
q Il Comandante ‘Virtuale’ : coordinamento autonomo dei Sistemi di Piattaforma / Navigazione
q Gestione delle comunicazioni con altre entità manned: interpretare i messaggi radio esterni e reagire propriamente

Applicazioni ‘naval’
q Controllo auto-remoto dei sistemi d’arma
q Operazioni RAS underway
q Interoperabilità di droni aerei e marini su piafforme manned/unmanned

Intellectual Property of SEASTEMA SpA. All Rights Reserved. CONFIDENTIAL Slide 25