underwater robotics activities at mdm lab - dief - university of florence
DESCRIPTION
Underwater robotics activities at MDM Lab - DIEF - University of Florence up to 2013. THESAURUS project, ARROWS project, NEMO ROV, FeelHippoTRANSCRIPT
The ARROWS Project: Underwater Robotic Systems for Archaeology
Benedetto Allotta
DIEF - Dept. of Industrial Engineering Florence MDM Lab – Laboratory of Mechatronics and Dynamic Modelling
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Underwater robotics
THESAURUS Project duration 30 months 2011/03/01 – 2013/08/31
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• to develop/adapt methods and technologies devoted to detect, explore, classify, and documen<ng underwater human ar<facts of archaeological and/or ethno-‐anthropological interest
• the project tries to integrate robo<cs and ICT technologies with scien<fic methodologies which are typical of History and Archaeology
THESAURUS Goals
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• University of Pisa: Co-‐ordina<on, Ocean Engineering, Communica<ons, Vehicle Coopera<on, Acous<c Imaging
• University of Florence: Vehicle Design, Naviga<on, and Control, Computa<onal Vision
• ISTI-‐CNR, Pisa: Data Collec<on and Integra<on
• Scuola Normale Superiore, Pisa: Inves<ga<on about Routes and Sites, Data Interpreta<on
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• Endorsement: Nucleo Opera<vo Subacqueo (N.O.S.), Soprintendenza per i Beni Archeologici della Toscana
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Robot system made of AUVs for underwater archaeology
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• A number of people of MDM Lab and CVG have worked at vehicle design with the collabora<on of UNIPI: – Thrusters, Rear Propellers and Electrical Drives – Mechanical Design – Electrical Design and Ba\ery Management – Naviga<on Sensors – Naviga<on Techniques and Vehicle Control – “Vital” and “payload” Computers and OS – Computa<onal Vision Systems (visible light and Laser structured light)
– Structure and Mo<on – 3D Reconstruc<on
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Typhoon One • Weight: about 180 kg • Hull Material: Fiberglass • Maximum depth: 300 m (tested in
pressure chamber, not yet at sea) • Maximum speed: 5 knots • Size: 3700 X 330Ø mm (a BIG TOY!) • Power Supply: 48V DC X 4kWh • Vital computer (for GNC) • Linux + MOOS • Compass + IMU • Depth sensor + Altimeter • Front echo-sounder • DVL • GPS • Radio modem • Acoustic modem
Payload:
• 2 cameras + illuminators • Laser illuminator (blade) • Side-Scan-Sonar • i7 payload pc • Some terabytes of mass
storage
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Typhoon Two • Weight: about 150 kg • Hull Material: Fiberglass • Maximum depth: 300 m (tested in
pressure chamber, not yet at sea) • Maximum speed: 5 knots • Sizes: 3700 X 330Ø mm • Power Supply: 48V DC X 4kWh • Vital computer (for GNC) • Linux + MOOS • Compass + IMU (NO DVL) • Depth sensor + Altimeter • Front echo-sounder • GPS • Radio modem • USBL Acoustic modem
Payload:
• NO payload (USBL Acoustic Modem)
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Tes<ng Pool Propeller Tes<ng
Pressure Chamber
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Test site @Lake Roffia (San Miniato), Length: 2km, Max depth: 15m
Tests with Typhoon 1, February 2013
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VIDEO: h\p://www.rai.tv/dl/RaiTV/programmi/media/ContentItem-‐c617031a-‐b1f0-‐411a-‐9edf-‐
cd39bb52a893-‐tg2.html?iframe
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VIDEO: h\p://www.youtube.com/watch?v=ctZoL0VcjXg
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Communication experiment with three Typhoons (just in time: 31st of August…)
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CommsNet13 Experiment Devoted to Acoustic Networking
• Several fixed nodes • Several navigating (and moored)
vehicles, including AUVs and gliders • A mixed team from Universities of
Florence and Pisa invited to join • Two Typhoons boarded NRV Alliance • Typhoon Two (USBL) actively involved in
the experiment
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VIDEO: h\p://www.youtube.com/watch?v=IiNn68K1Q50&feature=youtu.be
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CommsNet13 Experiment
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VIDEO: h\p://www.youtube.com/watch?v=Ti7KU8dVLEU
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Our helmsman (Maurizio)
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Student Autonomous Underwater Challenge-‐
Europe 2012
Turtle Team: “rookie of the year” award
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FeelHippo!!!
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VIDEO: h\p://www.youtube.com/watch?v=ake8N56su6c&feature=youtu.be
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Nemo ROV
VIDEO: h\p://www.youtube.com/watch?v=umK_H5iaYHE
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Work in progress: ARROWS - ARchaeological RObot systems for the World’s Seas
Call: FP7-ENV-2012-one-stage, topic ENV.2012.6.2-6 Development of advanced technologies and tools for mapping, diagnosing, excavating, and securing underwater and coastal archaeological sites Starting date: September 1st, 2012 Duration: 36 months Number of partners: 10 EU Funding: about 3M€
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• Fast horizontal surveys of large areas using customized AUVs with multimodal sensing
• Fast semi-automated data analysis tools for site and object relocation
• High quality maps thanks to localization abilities of AUVs • Modern shipwreck/submerged site penetration and
internal mapping using small low cost vehicles localised using fixed pingers
• Soft cleaning tool • Mixed reality environments for virtual exploration of
archaeological sites • Monitoring of changes via back-to-the-site missions
Goals
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Methodology • Identification of the archaeologists’ requirements – an
Archaeological Advisory Group has been created. S. Tusa, U. Dresen, I. Radic, H.G. Martin, A. Zarattini, P.
Gambogi. (Some invited to join never answered emails L )
• Identification of the technological problems
• Proposal and demonstration of solutions with technological readiness levels that predict their maturation for exploitation within 3-5 years
• Definition, validation and dissemination guidelines for the use of robotics technologies in underwater archaeology
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New vehicles – MARTA (UNIFI)
• Torpedo–shaped • Hovering capability • On board ballast adjustment • Weight: less than 50 kg • Material: Al - Anticorodal • Maximum depth: 150 m • Maximum speed: 4 knots • Size: 2000 X 177Ø mm • Power Supply: 24V DC X 650 or
1300 Wh • Modularity: modules connected by
Ethernet, CAN Bus + power supply • Linux + ROS
• 2 cameras • Laser + 4 leds • IMU • Depth sensor • Altimeter • Front MBES sonar • DVL • GPS • Radio modem • Acoustic modem (2)
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New vehicles – MARTA (UNIFI)
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New vehicles – MARTA (UNIFI)
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New vehicles – MARTA (UNIFI)
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New vehicles – Biomimetic Robot (TUT)
• Weight: less than 20 kg • Material: Al - Anticorodal • Maximum depth: 100 m • Maximum speed: fins propulsion to
be tested • Size: 600 X 219Ø mm • Power Supply: 29.6V DC X 620 Wh • Linux + ROS
• 1 camera • 2 LED illuminators • IMU • Depth sensor • Custom made echo-
sounders • GPS • Wi-Fi • Acoustic modem
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Biomimetic Robot
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Biomimetic Robot
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“Old” vehicles – Nessie 2012
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“Old” vehicles – Typhoon Two
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“Old” vehicles – FeelHippo
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Demonstration site 1
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Demonstration site 2
Baltic Sea
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Next steps • Spring-Summer 2013: tests on single vehicles
• Fall 2014: tests with heterogeneous, communicating vehicles
• Summer 2014: joint workshop in Rome: Engineers of 4 European Projects in Underwater Robotics meet end-users: Archaeologists, Biologists and other Scientists
• End 2014: thematic workshop in Florence: Engineers, Archaeologists, and other Scientists are invited to join
• Winter-Spring 2015: final demo in test site 1 (Egadi Archipelago, Sicily)
• Summer 2015: final demo in test site 2 (Baltic Sea)
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Thank you for your attention! Benedetto Allotta [email protected]
http://www.arrowsproject.eu
http://www.youtube.com/user/ARROWSProject
https://www.youtube.com/channel/UCRbj_eoGO7ULncVbqpTAZJA