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 - Società Italiana Docenti e Ricercatori in Automatica http://www.automatica.it

Bertinoro, 16-18 July 2015

Introduction

Gianluca Antonelli Bertinoro 16.07.2015

Summary

What are we going to see in this introduction

School overview

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

9.00-10.30 Introduction Antonelli

11.00-12.30 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 Caiti

11.00-12.30 Navigation Caiti

15.00-16.30 Guidance Aguiar

17.00-18.30 Control Aguiar

9.00-10.30 Multiple vehicles Arrichiello

11.00-12.30 Photogrammetry Scaradozzi

Agenda

The speakers

Modeling

Pino Casalino

The speakers

GraalTechAlessio Turetta

The speakers

Sensing & CommunicationNavigation Andrea Caiti

The speakers

GuidanceControl Pedro Aguiar

The speakers

Multiple vehiclesFilippo Arrichiello

The speakers

Photogrammetry

David Scaradozzi

A recent case: blackbox recovery

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

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

Why going uw? the applications

Oil & gas industry structured environment

vehicle localized via acoustic baseline

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

Why going uw?

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

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

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)

Why going uw?

Power/communication cables

example of burial from MD3

Why going uw?

Fisheries & Aquaculture

Why going uw?

Archaelogy

amphora Cala Minnolacourtesy of B. Allotta, UNIFI

courtesy of D. Scaradozzi, UNIVPMand Adriano Perico

relitto La Scola Pianosa

Why going uw?

Security

Why going uw?

Natural science

geophysical survey

Why going uw?

video extracted from the American Petroleum Institute

Why going uw?

Decommissioning

Common operations

Diver assistance

Common operations

Diver assistance

Common operations

Inspection, survey, monitoring

Common operations

Pipeline inspection and trenching

from C&C Technologies

Common operations

All kind of manipulation tasks

Canadian Scientific Submersile Facility

Teleoperation?

T = 0.5÷5 s

fiber optic

uw speed of sound 1500 m/s

b = 1÷2 Mbps

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)

The uw fauna

ROV - eyeball classmicro < 3kgmini < 15kg

The uw fauna

ROVlight to heavy work classintervention capability

approx 1100 ROVs currently in operation

The uw fauna

ROV - a gymn test

The uw fauna

Trenchers, plough

The uw fauna

ROV tangles...

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

Tether Management System

The uw fauna

Autonomous Underwater Vehicles

The uw fauna

Gliders• energetic-efficient zig zag movement

by adjusting resorting forces

missions duration up to months

Wave glider• it exploits gravity vs wave-

buoyancy to advance

The uw fauna

UnderwaterVehicleManipulatorSystems

The uw fauna

The uw faunaTRID

ENT projec t

The uw fauna

Bio-inspired robotics

K. Pettersen, NTNU

Snake robot

K. Pettersen, NTNU

Fish-like propulsion systems

various types dependingmainly on the size

Center for Biorobotics, TUT

OCTOPUS project

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

Launch & recovery

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):

100÷300 k€

200 M€

30 M€

1÷3 M€

Schilling Titan arm : 400 k€

1 day of operations with a research vessel : 15 k€

850 M$

200 M$

Market share ROV vs AUV

commercial

military + research

AUVs use

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: jeremi.gancet@spaceapplications.com

www.dexrov.eu

DexROV

FP7 - Cognitive Systems & Robotics

2014-2016

Cognitive Autonomous Diving Buddy

contact: nikola.miskovic@fer.hr

WiMUST

H2020-ICR-2014-1

2015-2018

www.wimust.eu

contact: giovanni.indiveri@unisalento.it

FP7-ICT-2011-7

2012-2016

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

contact: joerg.kalwa@atlas-elektronik.com

www.morph-project.eu

MarineUAS

contact: tor.arne.johansen@itk.ntnu.no

www.marineuas.edu

NOPTILUS

FP7-ICT-2009.6

2011-2015

final demo few weeks ago

autoNomous, self-Learning, OPTImal and compLete Underwater Systems

contact: kosmatop@iti.gr

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

contact: benedetto.allotta@unifi.it

http://www.arrowsproject.eu

2012-2015

Marine Autonomous Robotics for InterventionS

RObotics for Assisted Diving

contact: gconte@univpm.it

http://www.roadproject.it

Smart Cities

2014-2017

Safe underwater operations in oceans

contact: benedetto.allotta@unifi.it

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 HROV’s to the surface

A final video...

Woods Hole Oceanographic Institute www.whoi.edu

Thank for the attention and enjoy the school

www.whoi.edu/sharkcam

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