Post on 13-Apr-2017
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
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Gianluca Antonelli Bertinoro 16.07.2015
Summary
What are we going to see in this introduction
School overview
Why?
What?
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
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Gianluca Antonelli Bertinoro 16.07.2015
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
Day
1T
HU
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07.1
5D
ay 2
FR
I 17.
07.1
5D
ay 3
SA
T 1
8.07
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Agenda
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The speakers
Modeling
Pino Casalino
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Gianluca Antonelli Bertinoro 16.07.2015
The speakers
GraalTechAlessio Turetta
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Gianluca Antonelli Bertinoro 16.07.2015
The speakers
Sensing & CommunicationNavigation Andrea Caiti
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The speakers
GuidanceControl Pedro Aguiar
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The speakers
Multiple vehiclesFilippo Arrichiello
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The speakers
Photogrammetry
David Scaradozzi
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A recent case: blackbox recovery
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Gianluca Antonelli Bertinoro 16.07.2015
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
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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
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Why going uw? the applications
Oil & gas industry structured environment
vehicle localized via acoustic baseline
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Gianluca Antonelli Bertinoro 16.07.2015
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
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Gianluca Antonelli Bertinoro 16.07.2015
Why going uw?
How difficult is to operate a ROV:
Recent approach in structured environmentvehicle in automatic station keepingoff-shore operator with a master/slave architecture
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Gianluca Antonelli Bertinoro 16.07.2015
Why going uw?
How difficult is to operate a ROV:
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
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Gianluca Antonelli Bertinoro 16.07.2015
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)
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Why going uw?
Power/communication cables
example of burial from MD3
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Why going uw?
Fisheries & Aquaculture
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Gianluca Antonelli Bertinoro 16.07.2015
Why going uw?
Archaelogy
amphora Cala Minnolacourtesy of B. Allotta, UNIFI
courtesy of D. Scaradozzi, UNIVPMand Adriano Perico
relitto La Scola Pianosa
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Why going uw?
Security
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Why going uw?
Natural science
geophysical survey
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Gianluca Antonelli Bertinoro 16.07.2015
Why going uw?
video extracted from the American Petroleum Institute
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Why going uw?
Decommissioning
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Common operations
Diver assistance
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Gianluca Antonelli Bertinoro 16.07.2015
Common operations
Diver assistance
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Gianluca Antonelli Bertinoro 16.07.2015
Common operations
Inspection, survey, monitoring
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Gianluca Antonelli Bertinoro 16.07.2015
Common operations
Pipeline inspection and trenching
from C&C Technologies
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Gianluca Antonelli Bertinoro 16.07.2015
Common operations
All kind of manipulation tasks
Canadian Scientific Submersile Facility
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Teleoperation?
T = 0.5÷5 s
fiber optic
uw speed of sound 1500 m/s
b = 1÷2 Mbps
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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)
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The uw fauna
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Gianluca Antonelli Bertinoro 16.07.2015
The uw fauna
ROV - eyeball classmicro < 3kgmini < 15kg
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The uw fauna
ROVlight to heavy work classintervention capability
approx 1100 ROVs currently in operation
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The uw fauna
ROV - a gymn test
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Gianluca Antonelli Bertinoro 16.07.2015
The uw fauna
Trenchers, plough
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The uw fauna
ROV tangles...
“a good operator has a mental map of the cable during the whole operation”
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Tether Management System
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Gianluca Antonelli Bertinoro 16.07.2015
The uw fauna
Autonomous Underwater Vehicles
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The uw fauna
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Gianluca Antonelli Bertinoro 16.07.2015
The uw fauna
Gliders• energetic-efficient zig zag movement
by adjusting resorting forces
missions duration up to months
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Wave glider• it exploits gravity vs wave-
buoyancy to advance
The uw fauna
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The uw fauna
UnderwaterVehicleManipulatorSystems
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The uw fauna
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The uw faunaTRID
ENT projec t
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The uw fauna
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Bio-inspired robotics
K. Pettersen, NTNU
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Bio-inspired robotics
Snake robot
K. Pettersen, NTNU
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Bio-inspired robotics
Fish-like propulsion systems
various types dependingmainly on the size
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Gianluca Antonelli Bertinoro 16.07.2015
Bio-inspired robotics
Center for Biorobotics, TUT
Festo
OCTOPUS project
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Gianluca Antonelli Bertinoro 16.07.2015
Dimension of the vehicle affects seriously implicit costs• a small-size ROV• small AUV
Launch & recovery
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Gianluca Antonelli Bertinoro 16.07.2015
Launch & recovery
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Gianluca Antonelli Bertinoro 16.07.2015
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€
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AUV
ROV
850 M$
200 M$
Market share ROV vs AUV
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Gianluca Antonelli Bertinoro 16.07.2015
commercial
military + research
96%
4%
AUVs use
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Current projects
An overview of current National and European projects
Gianluca Antonelli Bertinoro 16.07.2015
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
Gianluca Antonelli Bertinoro 16.07.2015
DexROV
Gianluca Antonelli Bertinoro 16.07.2015
CADDY
FP7 - Cognitive Systems & Robotics
2014-2016
Cognitive Autonomous Diving Buddy
contact: nikola.miskovic@fer.hr
Gianluca Antonelli Bertinoro 16.07.2015
WiMUST
H2020-ICR-2014-1
2015-2018
www.wimust.eu
contact: giovanni.indiveri@unisalento.it
Gianluca Antonelli Bertinoro 16.07.2015
MORPH
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
Gianluca Antonelli Bertinoro 16.07.2015
MarineUAS
contact: tor.arne.johansen@itk.ntnu.no
www.marineuas.edu
Gianluca Antonelli Bertinoro 16.07.2015
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
Gianluca Antonelli Bertinoro 16.07.2015
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
Gianluca Antonelli Bertinoro 16.07.2015
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
Gianluca Antonelli Bertinoro 16.07.2015
2012-2015
MARIS
Marine Autonomous Robotics for InterventionS
Gianluca Antonelli Bertinoro 16.07.2015
ROAD
RObotics for Assisted Diving
contact: gconte@univpm.it
http://www.roadproject.it
Gianluca Antonelli Bertinoro 16.07.2015
SUONO
Smart Cities
2014-2017
Safe underwater operations in oceans
contact: benedetto.allotta@unifi.it
Gianluca Antonelli Bertinoro 16.07.2015
AMOS
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
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A final video...
Woods Hole Oceanographic Institute www.whoi.edu
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Gianluca Antonelli Bertinoro 16.07.2015
Thank for the attention and enjoy the school
www.whoi.edu/sharkcam