Underwater robotics activities at MDM Lab - DIEF - University of Florence

The ARROWS Project: Underwater Robotic Systems for Archaeology

Benedetto Allotta

[email protected]

DIEF - Dept. of Industrial Engineering Florence MDM Lab – Laboratory of Mechatronics and Dynamic Modelling

Laboratorio di Modellazione Dinamica e Meccatronica 2

Underwater robotics

THESAURUS Project duration 30 months 2011/03/01 – 2013/08/31


•  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


•  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


•  Endorsement: Nucleo Opera<vo Subacqueo (N.O.S.), Soprintendenza per i Beni Archeologici della Toscana


Robot system made of AUVs for underwater archaeology

Laboratorio di Modellazione Dinamica e Meccatronica 7 7

•  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

Laboratorio di Modellazione Dinamica e Meccatronica 8 8







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

14


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)

15


Tes<ng Pool Propeller Tes<ng

Pressure Chamber




Test site @Lake Roffia (San Miniato), Length: 2km, Max depth: 15m

Tests with Typhoon 1, February 2013



VIDEO: h\p://www.rai.tv/dl/RaiTV/programmi/media/ContentItem-‐c617031a-‐b1f0-‐411a-‐9edf-‐

cd39bb52a893-‐tg2.html?iframe




VIDEO: h\p://www.youtube.com/watch?v=ctZoL0VcjXg





Communication experiment with three Typhoons (just in time: 31st of August…)


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



VIDEO: h\p://www.youtube.com/watch?v=IiNn68K1Q50&feature=youtu.be


CommsNet13 Experiment


VIDEO: h\p://www.youtube.com/watch?v=Ti7KU8dVLEU





Our helmsman (Maurizio)


Student Autonomous Underwater Challenge-‐

Europe 2012

Turtle Team: “rookie of the year” award


FeelHippo!!!


VIDEO: h\p://www.youtube.com/watch?v=ake8N56su6c&feature=youtu.be


Nemo ROV

VIDEO: h\p://www.youtube.com/watch?v=umK_H5iaYHE


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€



•  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


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


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)








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


Biomimetic Robot


Biomimetic Robot


“Old” vehicles – Nessie 2012


“Old” vehicles – Typhoon Two


“Old” vehicles – FeelHippo


Demonstration site 1


Demonstration site 2

Baltic Sea


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)


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

Date post:	18-Dec-2014
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Underwater robotics activities at MDM Lab - DIEF - University of Florence

Technology