Current research activities in marine robotics at the Italian interuniversity center ISME

Current research activities in marine robotics
at the Italian interuniversity center ISME
Gianluca Antonelli
Universit`a di Cassino & ISME
antonelli@unicas.it
http://webuser.unicas.it/lai/robotica
http://www.isme.unige.it
http://www.eng.docente.unicas.it/gianluca antonelli
Gianluca Antonelli Castell´on, 4 May 2017

Outline
ISME in brief
Two projects without intervention
SUNRISE/BRUCE
WiMUST
Underwater manipulation projects
MARIS
DexROV
ROBUST

ISME in brief
Italian Joint Research Unit established in 1999
Sites:
Ancona
Bologna
Cassino
Cosenza
Firenze
Genova
Lecce
Pisa
Roma

ISME in brief
SEA Lab
Joint Italian Navy/ISME located in La Spezia
No need of advance area clearance
Availability of Navy support personnel
Some restrictions (activities/personnel to be listed in advance, no working at nights. . . )

ISME in brief
no institutional funding
research funded by EC, industries, third parties
resources shared among the members
emphasis given to applied research and ﬁeld activities
average budget per year: 550 ke (last 5 years average)

ISME in brief: some hardware

ISME in brief
A selected map of projects logos. . .

SUNRISE/BRUCE
FP7
Bridging Robots for Underwater Communication Enrichment
Investigation on the potential, strength, weakness, and security threats
related to the use of a team of AUVs, and associated data routing
needs, including a mobile gateway
Possible scenarios:
“Conference” including JANUS-compliant nodes and agreement on
a time slot to be allocated for vendor-specific communication among
two or more homogeneous mobile and/or fixed nodes
Fast bridging among heterogeneous nodes interlaced by a buffer
onboard an AUV
Optimization of the dynamic positioning of a mobile gateway
among the communication network

SUNRISE/BRUCE
FP7
MARTA MArine Robotic Tool for Archaeology
Torpedo-shaped
Hovering capability
Maximum depth: 150 m
Maximum speed: 4 knots
Outer diameter: 177 mm
Length: depending on conﬁguration
Energy: 1300 Wh
Modularity: Ethernet, CAN Bus + power supply
Linux + ROS
Devices: MEMS IMU + single axis FOG, DVL, Depth sensor,
Altimeter, GPS, Radio modem, WiFi, Acoustic modems

ISME node of Firenze
AUV MARTA in front of Ponte Vecchio
the luck to work in Florence. . .

WIMUST
H2020
Widely scalable Mobile Underwater Sonar Technology
Enabling distributed acoustic array technologies for geophysical and
geotechnical surveying

WIMUST
(www.wimust.eu)

WIMUST
Challenges
Acoustic distributed sensor array
Communications (short and long range)
Geotechnical surveying and geophysical characterization
Clock synchronization (below 50 µs)
Cooperative navigation and formation control
HW integration of the acoustic acquisition and navigation systems

WIMUST
Hydrophones localization
0 200 400 600 800 1000 1200 1400 1600
time[s]
0
5
10
15
20
25
30
35
40
45
50
ranges[m]
Ranges in [m] from moving source
trace1
trace2
trace3
trace4
trace5
trace6
trace7
trace8

WIMUST
Sines (PT) tests, nov 2016

Common objective to some of the projects
Autonomously (as much as possible. . . ) achieve complex operations
avoid obstacles
avoid self-hits
avoid singularities
auto altitude
auto heading
e.e. configuration
field of fiew
avoid
obstacles
field of view
avoid
self-hits
avoid
singularities
auto
altitude
auto
heading
e.e.
configuration
Recently extended to set-based tasks, transitions

Common objective to some of the projects

Kinematic control scheme
second. tasks
ηd, qd τ η, q
IK
main task
Control
Output of IK (Inverse Kinematics) is the position/velocity to be
controlled by the actuators (vehicle thrusters and joints’ torques)
In most of the HW torque level not available
⇒ forcedly kinematic controller

Dynamic control
second. tasks
ηd, qd τ η, q
IK
main task
Control
Despite what just claimed . . .
Adaptive & recursive schemes numerically tested

Numerical simulation on MARIS model:
underwater 6-DOF vehicle + 7-DOF manipulator
Reach a pre-grasp configuration in terms of end-effector position and
orientation
priority-1 task: e.e. configuration (m = 6)
priority-2 task: vehicle roll+pitch (m = 2)
priority-3 task: position of joint 2 (m = 1)
only e.e. ⇒
complete solution ⇒

underwater 6-DOF vehicle + 7-DOF manipulator
Cameraman action: keep the object in the ﬁeld of view
priority-1 task: ﬁeld of view (m = 2)
priority-2 task: vehicle roll+pitch (m = 2)
priority-3 task: arm manipulability (m = 1)
priority-4 task: mechanical joint limits (m = 7)
animation ⇒

Interaction
Impedance or admittance, issues:
Model knowledge
bandwidth of the dynamic controller

interaction within the task-priority approach
An impedance external loop is designed to push a button
Σ0
ΣI
Σee
Numerical simulation with full dynamic model and elastic
environmental interaction

interaction within the task-priority approach
An impedance external loop is designed to turn a valve
Σ0
ΣI
Σee
outstanding experiments made by Pedro Sanz, Pere Ridao and
colleagues within TRIDENT

Cooperative control
All together: task priority, dynamic control, interaction, cooperation

MARIS
PRIN2010-2011
Marine Autonomous Robotics for InterventionS

Marine Autonomous Robotics for InterventionS
PRIN2010-2011

MARIS: a focus on the hand
Integrated wrist force/torque sensor
6-axes ﬁngertip force/torque sensor (both based on optoelectronics)
Integrated in-hand camera and LED lights
Reduced gripper dimension and weight
Modular actuation

MARIS: a focus on the hand
4.5 kg in air, ≈ 1 kg in water
8 dofs coupled, cable-based transmission moved by 3 actuators
Max ﬁngertip force in worst conditions ≈ 150 N
Object size: 10–220 mm cilinder
Max object weight: 20 kg with power grasp
Both power and precision grasps can be executed

Cooperative control
1 Forward propagation until the object
2 Object control forces for the movement+internal
3 Forces projected to the link n of the two robots
4 Backward propagation
hc,o
hc,n+1 hc,n+1
simulation: move the object in a speciﬁc position with 45o

DexROV
H2020-BG-2014
Eﬀective Dexterous ROV Operations
in Presence of Communications Latencies

DexROV
H2020-BG-2014
(www.dexrov.eu)

Underwater mining
Bloomberg.com 14-august-2016

ROBUST
H2020-SC5-2014
Robotic subsea exploration technologies
Laser Induced Breakdown Spectroscopy
(www.eu-robust.eu)

ROBUST
H2020-BG-2014
(www.eu-robust.eu)

CRASAR
Testing Emily in Genova with the Italian Coast Guard crasar.org

Thanks to all of you for the patience, the ISME colleagues, the
European Institutions partners in the H2020 projects

Gracias por su atenci ´on
For your luck we didn’t have the time to discuss
surface & underwater monitoring, sampling, patrolling,
acoustic & optic communication, . . .

Current research activities in marine robotics at the Italian interuniversity center ISME

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