2015 SIDRA School on Underwater Robotics. Introduction

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


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


The speakers

Modeling

Pino Casalino

5


The speakers

GraalTechAlessio Turetta

6


The speakers

Sensing & CommunicationNavigation Andrea Caiti

7


The speakers

GuidanceControl Pedro Aguiar

8


The speakers

Multiple vehiclesFilippo Arrichiello

9


The speakers

Photogrammetry

David Scaradozzi

10


A recent case: blackbox recovery

11


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


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


Why going uw? the applications

Oil & gas industry structured environment

vehicle localized via acoustic baseline

14


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


Why going uw?


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

16


Why going uw?


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


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


Why going uw?

Power/communication cables

example of burial from MD3

19


Why going uw?

Fisheries & Aquaculture

20


Why going uw?

Archaelogy

amphora Cala Minnolacourtesy of B. Allotta, UNIFI

courtesy of D. Scaradozzi, UNIVPMand Adriano Perico

relitto La Scola Pianosa

21


Why going uw?

Security

22


Why going uw?

Natural science

geophysical survey

23


Why going uw?

video extracted from the American Petroleum Institute

24


Why going uw?

Decommissioning

25


Common operations

Diver assistance

26


Common operations

Diver assistance

27


Common operations

Inspection, survey, monitoring

28


Common operations

Pipeline inspection and trenching

from C&C Technologies

29


Common operations

All kind of manipulation tasks

Canadian Scientific Submersile Facility

30


Teleoperation?

T = 0.55 s

fiber optic

uw speed of sound 1500 m/s

b = 12 Mbps

31


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


The uw fauna

33


The uw fauna

ROV - eyeball classmicro < 3kgmini < 15kg

34


The uw fauna

ROVlight to heavy work classintervention capability

approx 1100 ROVs currently in operation

35


The uw fauna

ROV - a gymn test

36


The uw fauna

Trenchers, plough

37


The uw fauna

ROV tangles...

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

38


Tether Management System

39


The uw fauna

Autonomous Underwater Vehicles

40


The uw fauna

41


The uw fauna

Gliders energetic-efficient zig zag movement

by adjusting resorting forces

missions duration up to months

42


Wave glider it exploits gravity vs wave-

buoyancy to advance

The uw fauna

43


The uw fauna

UnderwaterVehicleManipulatorSystems

44


The uw fauna

45


The uw faunaTRID

ENT projec t

46


The uw fauna

47


Bio-inspired robotics

K. Pettersen, NTNU

48



Snake robot

K. Pettersen, NTNU

49



Fish-like propulsion systems

various types dependingmainly on the size

50



Center for Biorobotics, TUT

Festo

OCTOPUS project

51


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

Launch & recovery

52


Launch & recovery

53


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


AUV

ROV

850 M$

200 M$

Market share ROV vs AUV

55


commercial

military + research

96%

4%

AUVs use

56


Current projects

An overview of current National and European projects


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


DexROV


CADDY

FP7 - Cognitive Systems & Robotics

2014-2016

Cognitive Autonomous Diving Buddy



WiMUST

H2020-ICR-2014-1

2015-2018

www.wimust.eu



MORPH

FP7-ICT-2011-7

2012-2016

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


www.morph-project.eu


MarineUAS


www.marineuas.edu


NOPTILUS

FP7-ICT-2009.6

2011-2015

final demo few weeks ago

autoNomous, self-Learning, OPTImal and compLete Underwater Systems


http://www.noptilus-fp7.eu


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


ARROWS

FP7-ENV-2012

2012-2015

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


http://www.arrowsproject.eu


2012-2015

MARIS

Marine Autonomous Robotics for InterventionS


ROAD

RObotics for Assisted Diving


http://www.roadproject.it


SUONO

Smart Cities

2014-2017

Safe underwater operations in oceans



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


A final video...

Woods Hole Oceanographic Institute www.whoi.edu

73


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

Date post:	13-Apr-2017
Category:	Technology
Author:	gianluca-antonelli
View:	1,323 times
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2015 SIDRA School on Underwater Robotics. Introduction

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