Underwater robotics activities at MDM Lab - DIEF - University of Florence up to 2013. THESAURUS project, ARROWS project, NEMO ROV, FeelHippo

1. The ARROWS Project:
Underwater Robotic Systems for Archaeology
Benedetto Allotta
benedetto.allotta@unifi.it
DIEF - Dept. of Industrial Engineering Florence
MDM Lab – Laboratory of Mechatronics and Dynamic Modelling

2. Underwater robotics
THESAURUS
Project duration 30 months
2011/03/01 – 2013/08/31
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3. THESAURUS
Goals
• 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
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4. • 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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5. • Endorsement:
Nucleo
Opera<vo
Subacqueo
(N.O.S.),
Soprintendenza
per
i
Beni
Archeologici
della
Toscana
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6. Robot system made of AUVs for
underwater archaeology
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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
Baery
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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14. 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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15. 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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16. Tes<ng
Pool
Propeller
Tes<ng
Pressure
Chamber
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19. Test site @Lake Roffia (San Miniato),
Length: 2km, Max depth: 15m
Tests with Typhoon 1,
February 2013
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21. VIDEO:
hp://www.rai.tv/dl/RaiTV/programmi/media/ContentItem-­‐c617031a-­‐b1f0-­‐411a-­‐9edf-­‐
cd39bb52a893-­‐tg2.html?iframe
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24. VIDEO:
hp://www.youtube.com/watch?v=ctZoL0VcjXg
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27. Laboratorio
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28. Communication experiment with three Typhoons
(just in time: 31st of August…)
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29. 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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30. Laboratorio
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31. VIDEO:
hp://www.youtube.com/watch?v=IiNn68K1Q50&feature=youtu.be
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32. CommsNet13 Experiment
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33. VIDEO:
hp://www.youtube.com/watch?v=Ti7KU8dVLEU
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37. Our helmsman (Maurizio)
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38. Turtle Team: “rookie of the year” award
Student
Autonomous
Underwater
Challenge-­‐
Europe
2012
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39. FeelHippo!!!
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40. VIDEO:
hp://www.youtube.com/watch?v=ake8N56su6c&feature=youtu.be
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41. Nemo
ROV
VIDEO:
hp://www.youtube.com/watch?v=umK_H5iaYHE
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42. 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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43. Laboratorio
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44. Goals
• 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
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45. 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 ininamica
e
Meccatronica
archaeology
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46. 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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47. New vehicles – MARTA (UNIFI)
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48. New vehicles – MARTA (UNIFI)
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49. New vehicles – MARTA (UNIFI)
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50. 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 echosounders
• GPS
• Wi-Fi
• Acoustic modem
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51. Biomimetic Robot
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52. Biomimetic Robot
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53. “Old” vehicles – Nessie 2012
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54. “Old” vehicles – Typhoon Two
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55. “Old” vehicles – FeelHippo
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56. Demonstration site 1
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57. Demonstration site 2
Baltic Sea
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58. 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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59. http://www.arrowsproject.eu
http://www.youtube.com/user/ARROWSProject
https://www.youtube.com/channel/
UCRbj_eoGO7ULncVbqpTAZJA
Benedetto Allotta
Thank you for your attention!
benedetto.allotta@unifi.it
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