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2015 SIDRA School on Underwater Robotics. Introduction

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Gianluca Antonelli University of Cassino and Southern Lazio http://www.eng.docente.unicas.it/gianluca_antonelli PhD school in underwater robotics organized by SIDRA - Società Italiana Docenti e Ricercatori in Automatica http://www.automatica.it Bertinoro, 16-18 July 2015 Introduction
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  • Gianluca AntonelliUniversity of Cassino and Southern Laziohttp://www.eng.docente.unicas.it/gianluca_antonelli

    PhD school in underwater robotics organized bySIDRA - Societ Italiana Docenti e Ricercatori in Automatica http://www.automatica.it

    Bertinoro, 16-18 July 2015

    Introduction

  • 2

    Gianluca Antonelli Bertinoro 16.07.2015

    Summary

    What are we going to see in this introduction

    School overview

    Why?

    What?

    Research topics

    The files and the videos can be found at:https://drive.google.com/drive/folders/0B_PAdvkNp8BaeUgxQkVtSmV0X1E

    Applications.The fauna.

    A survey of currently running projects

  • 3

    Gianluca Antonelli Bertinoro 16.07.2015

    9.00-10.30 Introduction Antonelli11.00-12.30 Modeling part I Casalino

    15.00-16.30 Modeling part II Casalino

    17.00-18.30 Industrial experience Turetta

    9.00-10.30 Sensing & communication Caiti11.00-12.30 Navigation Caiti

    15.00-16.30 Guidance Aguiar

    17.00-18.30 Control Aguiar

    9.00-10.30 Multiple vehicles Arrichiello11.00-12.30 Photogrammetry Scaradozzi

    Day

    1TH

    U 1

    6.07

    .15

    Day

    2FR

    I 17.

    07.1

    5D

    ay 3

    SAT

    18.0

    7.15

    Agenda

  • 4

    Gianluca Antonelli Bertinoro 16.07.2015

    The speakers

    Modeling

    Pino Casalino

  • 5

    Gianluca Antonelli Bertinoro 16.07.2015

    The speakers

    GraalTechAlessio Turetta

  • 6

    Gianluca Antonelli Bertinoro 16.07.2015

    The speakers

    Sensing & CommunicationNavigation Andrea Caiti

  • 7

    Gianluca Antonelli Bertinoro 16.07.2015

    The speakers

    GuidanceControl Pedro Aguiar

  • 8

    Gianluca Antonelli Bertinoro 16.07.2015

    The speakers

    Multiple vehiclesFilippo Arrichiello

  • 9

    Gianluca Antonelli Bertinoro 16.07.2015

    The speakers

    Photogrammetry

    David Scaradozzi

  • 10

    Gianluca Antonelli Bertinoro 16.07.2015

    A recent case: blackbox recovery

  • 11

    Gianluca Antonelli Bertinoro 16.07.2015

    Blackbox recovery

    Air France 447 crash from Rio to Paris. June, the 1st, 2009

    Countries involved: Origin Destination Airspace at accident location Airline company Engines manufacturer Insurance companies Passengers citizenship

  • 12

    Gianluca Antonelli Bertinoro 16.07.2015

    Blackbox recovery

    Recovery operations: 13 aircrafts (brasilian, french, us, spanish) 2 helicopters 8 vessels (brasilian, french, us) 2 6,000-m manned submarines 1 french nuclear submarine 3 AUVs (Autonomous Underwater Vehicles) 1 ROV (Remotely Operated Vehicle) 1 million km2 ocean surface scanned 30 M

    recovery achieved 2 years after crash

  • 13

    Gianluca Antonelli Bertinoro 16.07.2015

    Why going uw? the applications

    Oil & gas industry structured environment

    vehicle localized via acoustic baseline

  • 14

    Gianluca Antonelli Bertinoro 16.07.2015

    Why going uw?

    How difficult is to operate a ROV:

    aged approachoff-shore operator acts on the vehicleoff-shore operator acts on the arm motors (!)voice coordination between the twomanned visual feedback

  • 15

    Gianluca Antonelli Bertinoro 16.07.2015

    Why going uw?

    How difficult is to operate a ROV:

    Recent approach in structured environmentvehicle in automatic station keepingoff-shore operator with a master/slave architecture

  • 16

    Gianluca Antonelli Bertinoro 16.07.2015

    Why going uw?

    How difficult is to operate a ROV:

    13 peoples on 24 hours8 Pilot-Techs (12 hours shift)4 Supervisors (12 hours shift)1 Superintendent (on call)

    How long onboard?4 to 6 weeksROV crew work 12 hours a day - 7/7

  • 17

    Gianluca Antonelli Bertinoro 16.07.2015

    Why going uw?

    Renewable energy

    video from Alstom

    high current/tides (up to 3m/s) infeasible for current generation of ROV (station keeping at max 1 m/s)

  • 18

    Gianluca Antonelli Bertinoro 16.07.2015

    Why going uw?

    Power/communication cables

    example of burial from MD3

  • 19

    Gianluca Antonelli Bertinoro 16.07.2015

    Why going uw?

    Fisheries & Aquaculture

  • 20

    Gianluca Antonelli Bertinoro 16.07.2015

    Why going uw?

    Archaelogy

    amphora Cala Minnolacourtesy of B. Allotta, UNIFI

    courtesy of D. Scaradozzi, UNIVPMand Adriano Perico

    relitto La Scola Pianosa

  • 21

    Gianluca Antonelli Bertinoro 16.07.2015

    Why going uw?

    Security

  • 22

    Gianluca Antonelli Bertinoro 16.07.2015

    Why going uw?

    Natural science

    geophysical survey

  • 23

    Gianluca Antonelli Bertinoro 16.07.2015

    Why going uw?

    video extracted from the American Petroleum Institute

  • 24

    Gianluca Antonelli Bertinoro 16.07.2015

    Why going uw?

    Decommissioning

  • 25

    Gianluca Antonelli Bertinoro 16.07.2015

    Common operations

    Diver assistance

  • 26

    Gianluca Antonelli Bertinoro 16.07.2015

    Common operations

    Diver assistance

  • 27

    Gianluca Antonelli Bertinoro 16.07.2015

    Common operations

    Inspection, survey, monitoring

  • 28

    Gianluca Antonelli Bertinoro 16.07.2015

    Common operations

    Pipeline inspection and trenching

    from C&C Technologies

  • 29

    Gianluca Antonelli Bertinoro 16.07.2015

    Common operations

    All kind of manipulation tasks

    Canadian Scientific Submersile Facility

  • 30

    Gianluca Antonelli Bertinoro 16.07.2015

    Teleoperation?

    T = 0.55 s

    fiber optic

    uw speed of sound 1500 m/s

    b = 12 Mbps

  • 31

    Gianluca Antonelli Bertinoro 16.07.2015

    Teleoperation?

    Distance measured between two modems

    f < 1 Hz shallow water Tritech Micron modems Lisbon, nov 2010 GNSS as ground truth

    (blue crosses)

    (red line)

  • 32

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw fauna

  • 33

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw fauna

    ROV - eyeball classmicro < 3kgmini < 15kg

  • 34

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw fauna

    ROVlight to heavy work classintervention capability

    approx 1100 ROVs currently in operation

  • 35

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw fauna

    ROV - a gymn test

  • 36

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw fauna

    Trenchers, plough

  • 37

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw fauna

    ROV tangles...

    a good operator has a mental map of the cable during the whole operation

  • 38

    Gianluca Antonelli Bertinoro 16.07.2015

    Tether Management System

  • 39

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw fauna

    Autonomous Underwater Vehicles

  • 40

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw fauna

  • 41

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw fauna

    Gliders energetic-efficient zig zag movement

    by adjusting resorting forces

    missions duration up to months

  • 42

    Gianluca Antonelli Bertinoro 16.07.2015

    Wave glider it exploits gravity vs wave-

    buoyancy to advance

    The uw fauna

  • 43

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw fauna

    UnderwaterVehicleManipulatorSystems

  • 44

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw fauna

  • 45

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw faunaTRID

    ENT projec t

  • 46

    Gianluca Antonelli Bertinoro 16.07.2015

    The uw fauna

  • 47

    Gianluca Antonelli Bertinoro 16.07.2015

    Bio-inspired robotics

    K. Pettersen, NTNU

  • 48

    Gianluca Antonelli Bertinoro 16.07.2015

    Bio-inspired robotics

    Snake robot

    K. Pettersen, NTNU

  • 49

    Gianluca Antonelli Bertinoro 16.07.2015

    Bio-inspired robotics

    Fish-like propulsion systems

    various types dependingmainly on the size

  • 50

    Gianluca Antonelli Bertinoro 16.07.2015

    Bio-inspired robotics

    Center for Biorobotics, TUT

    Festo

    OCTOPUS project

  • 51

    Gianluca Antonelli Bertinoro 16.07.2015

    Dimension of the vehicle affects seriously implicit costs a small-size ROV small AUV

    Launch & recovery

  • 52

    Gianluca Antonelli Bertinoro 16.07.2015

    Launch & recovery

  • 53

    Gianluca Antonelli Bertinoro 16.07.2015

    Talking about money

    1 day of operations with a working class ROV :

    1 day of geophysical survey :

    Air France black blox recovery :

    vessel for geophysical survey (from design to launch):

    100300 k

    200 M

    30 M

    13 M

    Schilling Titan arm : 400 k

    1 day of operations with a research vessel : 15 k

  • 54

    Gianluca Antonelli Bertinoro 16.07.2015

    AUV

    ROV

    850 M$

    200 M$

    Market share ROV vs AUV

  • 55

    Gianluca Antonelli Bertinoro 16.07.2015

    commercial

    military + research

    96%

    4%

    AUVs use

  • 56

    Gianluca Antonelli Bertinoro 16.07.2015

    Current projects

    An overview of current National and European projects

  • Gianluca Antonelli Bertinoro 16.07.2015

    DexROV

    H2020 - BG call 1

    2015-2018

    Demo at 1000 m depth

    Effective Dexterous ROV Operations in Presence of Communications Latencies

    contact: [email protected]

    www.dexrov.eu

  • Gianluca Antonelli Bertinoro 16.07.2015

    DexROV

  • Gianluca Antonelli Bertinoro 16.07.2015

    CADDY

    FP7 - Cognitive Systems & Robotics

    2014-2016

    Cognitive Autonomous Diving Buddy

    contact: [email protected]

  • Gianluca Antonelli Bertinoro 16.07.2015

    WiMUST

    H2020-ICR-2014-1

    2015-2018

    www.wimust.eu

    contact: [email protected]

  • Gianluca Antonelli Bertinoro 16.07.2015

    MORPH

    FP7-ICT-2011-7

    2012-2016

    Marine robotic system of self-organizing, logically linked physical nodes

    contact: [email protected]

    www.morph-project.eu

  • Gianluca Antonelli Bertinoro 16.07.2015

    MarineUAS

    contact: [email protected]

    www.marineuas.edu

  • Gianluca Antonelli Bertinoro 16.07.2015

    NOPTILUS

    FP7-ICT-2009.6

    2011-2015

    final demo few weeks ago

    autoNomous, self-Learning, OPTImal and compLete Underwater Systems

    contact: [email protected]

    http://www.noptilus-fp7.eu

  • Gianluca Antonelli Bertinoro 16.07.2015

    NOPTILUS

    multi-vehicle mapping

    server-based challenge

    2 test maps

    1 unknown validation map

    end 2015 the top-score user will be invited for experiments in porto

    http://www.noptilus-fp7.eu

  • Gianluca Antonelli Bertinoro 16.07.2015

    ARROWS

    FP7-ENV-2012

    2012-2015

    Development of advanced technologies and tools for mapping, diagnosing, excavating, and securing underwater and coastal archaeological sites

    contact: [email protected]

    http://www.arrowsproject.eu

  • Gianluca Antonelli Bertinoro 16.07.2015

    2012-2015

    MARIS

    Marine Autonomous Robotics for InterventionS

  • Gianluca Antonelli Bertinoro 16.07.2015

    ROAD

    RObotics for Assisted Diving

    contact: [email protected]

    http://www.roadproject.it

  • Gianluca Antonelli Bertinoro 16.07.2015

    SUONO

    Smart Cities

    2014-2017

    Safe underwater operations in oceans

    contact: [email protected]

  • Gianluca Antonelli Bertinoro 16.07.2015

    AMOS

    2013-2022

    9 projects

    100 PhD

    85M in 10 years

    Centre for autonomous marine operations and systems

    (but 1PhD costs 100k/y)

  • ROV of the future ?next two slides by C.Canale (Total consultant) at the DexROV KoM meeting

  • Autonomy and advanced control The ROVs of the future will have increased intelligent autonomous behavior and will

    use logic driven circuitry for routine tasks like turning valves, pulling and installing flying leads, inspecting assets for integrity, installing nodes. They will also posses better sensors, more dexterous manipulators and tooling along with thin fiber optic umbillicals, that decrease the systems overall weight

    The challenge here is for the non-umbilical ROV system to allow for the functions that the umbilical controlled ROV systems have. Deepwater docking systems for autonomous Hybrid ROVs are also in the works, as these would allow charging batteries, uploads of data and downloads of new command parameters without bringing the HROVs to the surface

  • 72

    Gianluca Antonelli Bertinoro 16.07.2015

    A final video...

    Woods Hole Oceanographic Institute www.whoi.edu

  • 73

    Gianluca Antonelli Bertinoro 16.07.2015

    Thank for the attention and enjoy the school

    www.whoi.edu/sharkcam

    Slide 1Slide 2Slide 3Slide 4Slide 5Slide 6Slide 7Slide 8Slide 9Slide 10Slide 11Slide 12Slide 13Slide 14Slide 15Slide 16Slide 17Slide 18Slide 19Slide 20Slide 21Slide 22Slide 23Slide 24Slide 25Slide 26Slide 27Slide 28Slide 29Slide 30Slide 31Slide 32Slide 33Slide 34Slide 35Slide 36Slide 37Slide 38Slide 39Slide 40Slide 41Slide 42Slide 43Slide 44Slide 45Slide 46Slide 47Slide 48Slide 49Slide 50Slide 51Slide 52Slide 53Slide 54Slide 55Slide 56Slide 57Slide 58Slide 59Slide 60Slide 61Slide 62Slide 63Slide 64Slide 65Slide 66Slide 67Slide 68Slide 69ROV of the future ?Autonomy and advanced controlSlide 72Slide 73


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