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

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Information about Underwater robotics activities at MDM Lab - DIEF - University of Florence
Technology

Published on March 2, 2014

Author: BenedettoAllotta

Source: slideshare.net

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

 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

Underwater robotics THESAURUS Project duration 30 months 2011/03/01 – 2013/08/31 Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     2  

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   Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     3  

•  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   Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     4  

•  Endorsement:  Nucleo   Opera<vo  Subacqueo   (N.O.S.),   Soprintendenza  per  i   Beni  Archeologici  della   Toscana     Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     5  

Robot system made of AUVs for underwater archaeology Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     6  

•  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   Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     7   7  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     8   8  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     9  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     10  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     11  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     12  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     13  

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 Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     14   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) Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     15   15

Tes<ng  Pool   Propeller  Tes<ng   Pressure  Chamber   Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     16  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     17  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     18  

Test site @Lake Roffia (San Miniato), Length: 2km, Max depth: 15m Tests with Typhoon 1, February 2013   Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     19  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     20  

VIDEO:   hp://www.rai.tv/dl/RaiTV/programmi/media/ContentItem-­‐c617031a-­‐b1f0-­‐411a-­‐9edf-­‐ cd39bb52a893-­‐tg2.html?iframe     Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     21  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     22  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     23  

VIDEO:   hp://www.youtube.com/watch?v=ctZoL0VcjXg     Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     24  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     25  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     26  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     27  

Communication experiment with three Typhoons (just in time: 31st of August…) Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     28  

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 Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     29  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     30  

VIDEO:   hp://www.youtube.com/watch?v=IiNn68K1Q50&feature=youtu.be     Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     31  

CommsNet13 Experiment Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     32  

VIDEO:   hp://www.youtube.com/watch?v=Ti7KU8dVLEU     Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     33  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     34  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     35  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     36  

Our helmsman (Maurizio) Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     37  

Turtle Team: “rookie of the year” award Student  Autonomous     Underwater  Challenge-­‐ Europe  2012   Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     38  

FeelHippo!!!   Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     39  

VIDEO:   hp://www.youtube.com/watch?v=ake8N56su6c&feature=youtu.be     Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     40  

Nemo  ROV   VIDEO:   hp://www.youtube.com/watch?v=umK_H5iaYHE     Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     41  

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€ Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     42  

Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     43  

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 Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     44  

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 Laboratorio  di  Modellazione  D underwater 45  

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) Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     46  

New vehicles – MARTA (UNIFI) Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     47  

New vehicles – MARTA (UNIFI) Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     48  

New vehicles – MARTA (UNIFI) Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     49  

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 Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     50  

Biomimetic Robot Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     51  

Biomimetic Robot Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     52  

“Old” vehicles – Nessie 2012 Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     53  

“Old” vehicles – Typhoon Two Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     54  

“Old” vehicles – FeelHippo Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     55  

Demonstration site 1 Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     56  

Demonstration site 2 Baltic Sea Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     57  

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) Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     58  

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 Laboratorio  di  Modellazione  Dinamica  e  Meccatronica     59  

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