The ROMEO Project - unina.it · Napoli, 6 Dicembre 2002 Robotlab Mission • The development of intelligent robotic systems able to work in less structured environments with remote

Napoli, 6 Dicembre 2002

Robotica sperimentaleal Robotlab

Gianmarco Veruggio

CNR – IAN / ISSIA / IIA RobotlabGenova, Italy


Robotlab Group Staff

GianmarcoVeruggio

RiccardoBono

GiorgioBruzzoneEdoardo

SpirandelliGabrieleBruzzone

MassimoCaccia

PaoloColetta


Robotlab Facts

• Established in 1989• Mission profile

– Basic Research• Intelligent Robotic Systems for Extreme Environment

– Applied Research• PNRA - Italian National Programme for Antarctic Research• National Projects• European Commission Projects

• 7 Personnel units• Average Budget 250.000 Euro/year


Robotlab Mission• The development of intelligent robotic systems able to work in

less structured environments with remote supervision or tele-operation by the human operator through non deterministic and time-variant communication channels (e.g. Internet).

• Main research topics:– Networked Intelligent Control Architectures– Modelling and Identification– Sensor-based Navigation, Guidance and Control

• Concurrent Mapping & Localization

– Acoustic/Optical Vision– Hybrid Systems, and Discrete Event Systems– Fault Tolerant Systems– Manipulation– Operator Interfaces– Virtual Environments– Internet Robotics– Embedded and Real-time Systems for Automation


Robotlab Facilities• Unmanned Underwater Vehicles

– ROBY (small size ROV, dismissed)– ROBY2 (medium size ROV, actually in Genova Antarctic Museum)– ROMEO (medium size ROV)

• Underwater Manipulators– AMADEUS (heavy 7dof arm)– MIKE (light 6dof arm, in progress)

• Land Vehicles– TANGO (ATRW Jr platform)

• Virtual Environments– Underwater Virtual World (real-time hardware-in-the-loop UUV simulator)

• Sensing devices– Active binocular pan-tilt acoustic sensor (mounted on Tango)

– Optical triangulation-correlation sensor for UUV slow motion estimation(mounted on Romeo)

• Hardlab & Softlab


Roby & Roby2Roby (1990-1991)

Roby2 (1992-1996)


Romeo• Length 1.30 m• Breadth 0.90 m• Depth 0.96 m• Weight in air 500 kg• Operating depth 500 m• Speed 0.6 m/s forward• Electric propulsion

4 horizontal and 4 vertical thrusters• Tether/Communications

600 m electro-optical link with Ethernet 10 Mbps, 5 x RS232 @ 115 Kbps, 5 x RS422 @ 250 Kbps

• Navigation/trackingSimrad LBL/SSBL acoustic positioning system, echo-sounders; high frequency profiling sonar; depth sensor; compass; gyro; inclinometers; auto depth, heading, speed, altitude; way-point navigation

• Cameras/video/lightingpilot and scientist video cameras + 2 additional video links for custom toolsled instrumentation; video recorder; 6 x 50 W lights


AMADEUS

7 dofs electro-mechanical underwater arm designed for integrationin a dual-arm work-cell for coordinated underwater manipulation


Tango

ATRV Junior with active binocular acousticand video mono pan-tilt sensor


Optical triangulation-correlation sensor


Underwater Virtual World

Internet-connected real-time hardware-in-the-loopUUV simulator


Hardlab• Hardware development lab• Labview workstation for analog signals• Autocad workstation• Tank for static tests (5.000 l)• Pressure tank (100 bar)• LBL/SSBL APS• Campaign logistics (mobile lab, van

equipped with a crane)


Softlab• Software development PCs

(C, C++, Java IDEs)• Numerical analysis and simulation

software instruments(Matlab+Simulink e Mathematica)

• Development environments forMotorola MVME162 (Tornado/ VxWorks) and PowerPC (LynxOS)

• Development environments forIntel systems (Windows NT/2000, Red Hat Linux 7.2);

• CompactPCI and PC system with frame grabber system for image acquisition and elaboration, (robotic head)


Projects• European Community

– AMADEUS 1 (1993-95)– AMADEUS 2 (1996-98)– ARAMIS (1997-2000)

• PNRA– IX Expedition (1993-94)

• Roby goes to Antarctica– XIII Expedition (1997-98)

• Romeo goes to Antarctica– XVII Expedition (2001-02)

• Antarctic Benthic Shuttle• LIDAR

– Expeditions 2002-04• Tele-ABS• SESAMO

• ENEA-MURST 95/95– PRASSI (1999-2002)

• CNR– E-robotics (2001-02)

• CNR Agenzia 2000– www.UVW (2001-02)

• CNR Bilateral Projects– Italy-USA (1996-98)

• Fault tolerant systems

– Italy-Portugal (1997-2000)• Internet-based UUV mission

control


AMADEUS• Advanced Manipulator for Deep Underwater System

– 1993/1995 EC-MAST2 Phase I– 1996/1998 EC-MAST3 Phase II– Partnership

– HWU-UK– UNIGE-DIST – UB-ES– IMBC-GR

– CNR-IAN tasks• Human Computer Interface• System hw/sw Architecture• Dual-arm workcell design & integration


ARAMIS ProjectAdvanced Rov package for Automatic Mobile Investigation of

Sediments

supported by the EC in the framework of the MAST III programme (DGXII MAS3 CT970083).

ARAMIS consortiumTecnomare (Project Leader)Benthos Research Group of the Galway National University of IrelandChallenger Oceanographic SystemsENEAGRC Geociències Marines of the University of BarcelonaHeriot-Watt University of EdinburghIFREMERInstitute of Marine Biology of CreteCNR - Istituto per l'Automazione Navale


Aramis Project

Advanced ROV package forAutomatic MobileInspection of Sediments

a scientific and technological system tobe integrated with typical mid-classexisting ROVs to carry out pelagic and benthic investigations both in shallowand deep waters.The ARAMIS system capabilities have been demonstrated by operating the system with IFREMER Victor 6000 and CNR-IAN Romeo.


Romeo-ARAMIS Trialsin the Aegean Sea (Milos)

Final demo:16-28 September 2000Aramis Test Trials in Crete and Milos (Greece) were undertaken on the hydrothermal vent areas of the island.


IX Expedition 1993-94

• Roby2 performed 18 dives, maximum depth of 150 m.• Verification of requirements and constraints of SARA (Sottomarino

Autonomo Robotizzato Antartico)• Ecology and Biogeochemistry of the Southern Ocean: survey of the

Marine Antarctic Specially Protected Area nearby Terra Nova Bay station


XIII Expedition 1997-98• Romeo performed 75 dives, for a total mission time

of 120 hours at a maximum depth of 320 m.• 1st Leg (1st November - 4th December 1997)

» Project 2.b.3 Ecology and Biogeochemistry of the Southern Ocean.Romeo was operated through a hole in the pack and carried a scientific payload for the plankton sampling, the measurement of pack luminance and the characterisation of water chemical and physical properties. It performed horizontal traverses at a constant speed of 25 cm/s and depth of 3 to 10 m.

• 2nd Leg (5th December 1997 - 9th January 1998)» Project 4a Robotics and Tele-science in Extreme Environment.

Three ice camps were set up to operate Romeo for the testing of acoustic navigation devices and algorithms.

• 3rd Leg (10th January - 16th February 1998)» Project 2.b.3 Ecology and Biogeochemistry of the Southern Ocean.

Romeo was operated from the boat Malippo to perform surveys and to take pictures and water samples in the Marine Antarctic Specially Protected Area of Terra Nova Bay.


1st Leg: Under Ice Activity Toolskid• Multi-parametric Gauge

– conductivity– temperature– depth– oxygen– fluorimeter– turbidity

• Microness– zooplankton sampler

• Spectral Irradiance Meter


2nd Leg: Acoustic Devices Test Toolskid

• Doppler Velocimeter RDI Workhorse Navigator• Tritech Echosounders and Profiling Sonar• Acoustic Currentmeter


3rd Leg: Benthic Survey Toolskid• Doppler Velocimeter RDI Workhorse Navigator• Tritech Echosounders and Profiling Sonar• Pan/Tilt Colour TV camera• 35mm Still Camera• Flashlights• 2 Water Sampler


XVII Expedition 2001-02

• Romeo performed 22 dives, for a total mission time of 45 hours at a maximum depth of 387 m.– Antarctic Benthic Shuttle– LIDAR Fluorosensor– E-robot

• Marconi Dayvideo-conference

• Internet-basedtele-operationexperiment

• High-schoolconcourse


Antarctic Benthic Shuttle

• UNIGE-DIPTERIS– Benthic Chamber: a docking system and a benthic module has been

developed to be deployed on the seabed also below the ice-pack and recovered after a suitable period of work with a ROV. The benthic module consists of a time-lapse image and data acquisition system and a benthic chamber.


LIDAR Fluorosensor• ENEA C.R. Frascati

– Lidar Fluorosensor Payload: a skid carries the prototype LIDAR, developed by ENEA FIS-SPET, for the analysis of the chemical composition of the substances dissolved in the sea in order to detect different algae chromophore groups, water impurities and to analyse the plankton photosynthesis.


E-Robot Project

• CNR - Servizio Reti e Telecomunicazioni• “Internet & Satellite”-based remote tele-operation

of the Romeo ROV in Antarctica– During the XVII Expedition 2001-02, Romeo’s console

has been connected to the Web through Inmarsat link to remotely pilot the robot and to follow the underwater operations from any PC linked to Internet.

– The web console has been developed by means of Java applets running on every Web browser:

• Pilot window• Observer window


E-Robot Project

ISDN NetworkNetwork

router

Networkrouter

LAN

VoicePhone

VoicePhone

Video equipment

H.320

Video equipment

H.320

Nera SaturnB

Satellite

Terra Nova BayAntarctica

RobotControl System

Romeo

LAN

PILOT

Italy

Inmarsat

Ground Station

INTERNETINTERNET

OBSERVERS


Marconi Day videoconference• December 12: Celebrations for the 1st century of the

Guglielmo Marconi’s Atlantic radio transmission• Ministero delle Poste e delle Telecomunicazioni:

videoconference connecion wth Terra Nova Bay (Antarctica) and announcement of the E-robot experiment.


L’esperimento E-Robot

• December 18: tele-operation of the Romeo ROV operating in Terra Nova Bay, Antarctica, from the conference hall of Italian CNR in Rome.



Concorso E-Robot

• SPACE foundation– Italian concourse of robotics for high

schools– January 14: winner students controlled

from Arezzo (Italy) an adapted camera mounted on Romeo operating in Terra Nova Bay


Bilateral agreement Italy-Portugal1999 Lisbon-Genoa Experiment

CNR-Istituto Automazione NavaleIST-Instituto de Sistemas e Robotica

– The June 21st 1999, Romeo's automatic guidance system was driven via Internet by the mission control system located in Lisbon to execute in the Genoa pool a mission pre-defined by the Portuguese user. The link between Romeo and the Internet has been ensured trough a cellular GSM phone empowered for data transmission. The Portuguese scientists could follow in real-time the development of the mission through a virtual representation of the vehicle's telemetry.


Web interfaces for underwater virtualenvironments

• CNR Agenzia 2000 - Progetto Giovani

• developing a web interface capable of allowing remote users tointeract with a robotisedvehicle in an underwatervirtual environment by planning missions and observing the vehicle's performances.


PRASSIENEA-MURST Act N. 95/95, "Parallel Computing applied to Robotics”

High Parallelism Computer Systems for the real-time elaboration of multisensing data for autonomous robotic systems employed in activities of

surveillance and security

• Active pan-tilt binocular sonar system with vergence control– focusing attention– adaptation adattamento alla distanza ed al tipo di struttura osservata


Main Research Results:Modelling and Identification

• UUV model including thruster installation coefficients

• Methodology for on-board sensor-based identification (experiment design and data processing)

– Caccia M., Indiveri G., Veruggio G.: "Modelling and identification of open-frame variable configuration Unmanned Underwater Vehicles", IEEE Journal of Oceanic Engineering, vol. 25, no. 2, Aprile 2000, pp. 227-240.


Main Research Results: Guidance and Control

• Dual-loop hierarchical architecture uncoupling system kinematics (guidance task functions) and dynamics (velocity control)

– Caccia M., Veruggio G., "Guidance and control of a reconfigurable unmanned underwater vehicle", IFAC Control Engineering Practice,Vol. 8, No. 1, January 2000, pp.21-37, Elsevier Science Ltd, England.

– Caccia M., Veruggio G.: “Modeling, identificaton, control and guidance of unmanned underwater vehicles”, Underwater Vehicle Technology,TSI Press Series,Vol.12, Ch.6, 2001, pp.53-66, Ed.:S.K.Choi, J.Yuh


Main Research Results: Acoustic Motion Estimation & Guidance

• Bottom-following– Caccia M., Bruzzone G., Veruggio G., "Active sonar-based

bottom following for Unmanned Underwater Vehicles," IFAC Control Engineering Practice, Vol. 7, No. 4, April 1999, pp. 459-468, Elsevier Science Ltd., England.

– Caccia M., Bono R., Bruzzone G., Veruggio G.: “Bottom-following for remotely operated vehicles”, Control Engineering Practice (in publication)

• Horizontal-feature following– Caccia M., Bono R., Bruzzone G., Veruggio G.: “Bottom-

following for remotely operated vehicles”, Control Engineering Practice

– Caccia M., Bruzzone G., Veruggio G., "Sonar-based guidance of Unmanned Underwater Vehicles", Special issue of Advanced Robotics on "Recent Advance in Underwater Robotics: theory and technology", Volume 15 N.5 2001, pp. 551-573.


Main Research Results:Discrete Event Systems

• Execution control and reconfiguration

– Caccia M., Coletta P., Bruzzone G., Veruggio G.: "Petri net-based execution control of robotic tasks", Mediterranean conference on Control and Automation, Dubrovnik, Croazia, 26-29 Giugno 2001


Main Research Results

Underwater Virtual World– Bruzzone G., Bono R., Caccia M., Veruggio G.:"A Simulation

Environment for Unmanned Underwater Vehicles Development", MTS/IEEE Oceans 2001, Honolulu, USA, 2001

Internet Robotics– Bruzzone G., Bono R., Caccia M., G.Veruggio, Ferreira C., Silvestre C.,

Oliveira P., Pascoal A.: "Internet mission control of the ROMEO Unmanned Underwater Vehicle using the CORAL Mission Controller",MTS/IEEE Oceans'99, vol. 3, pp. 1081-1087, Seattle, USA, 1999

Land Robotics– Caccia M., Bruzzone G., Veruggio G.: “Active pan-tilt bi-unit sonar

head”, Enabling technologies for the PRASSI autonomous robot”, pp. 24-29, Editors: S. Taraglio, V. Nanni, ENEA, Roma, Italia


Main Research Results:Romeo exploitation

• Romeo Project– Caccia M., Bono R., Bruzzone G., Veruggio G.: “Unmanned

Underwater Vehicles for scientific applications and robotics research: the ROMEO Project”, Marine Technology Society Journal, Vol. 24, n. 2, Summer 2000, pp. 3-17

• Antarctic Exploitation– Bono R., Bruzzone G., Caccia M., Veruggio G., "Variable configuration

UUVs for marine science applications, IEEE Robotics and Automation Magazine, Vol. 6, No. 2, June 1999, pp.22-32.

• ARAMIS Exploitation– Caccia M., Bono R., Bruzzone Ga., Bruzzone Gi., Spirandelli E.,

Veruggio G.: "Romeo-ARAMIS integration and sea trials", Marine Technology Society Journal, Summer 2002


Documents

The ROMEO Project - unina.it · Napoli, 6 Dicembre 2002 Robotlab Mission • The development of intelligent robotic systems able to work in less structured environments with remote