2015 SIDRA School on Underwater Robotics. Introduction

Gianluca Antonelli
University of Cassino and Southern Lazio
http://www.eng.docente.unicas.it/gianluca_antonelli
PhD school in underwater robotics organized by
SIDRA - Società Italiana Docenti e Ricercatori in Automatica http://www.automatica.it
Bertinoro, 16-18 July 2015
Introduction

2
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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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
Day1
THU16.07.15
Day2
FRI17.07.15
Day3
SAT18.07.15Agenda

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The speakers
Modeling
Pino Casalino

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The speakers
GraalTech
Alessio Turetta

6
The speakers
Sensing & Communication
Navigation Andrea Caiti

7
The speakers
Guidance
Control Pedro Aguiar

8
The speakers
Multiple vehicles
Filippo Arrichiello

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The speakers
Photogrammetry
David Scaradozzi

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A recent case: blackbox recovery

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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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Why going uw?
How difficult is to operate a ROV:
aged approach
off-shore operator acts on the vehicle
off-shore operator acts on the arm motors (!)
voice coordination between the two
manned visual feedback

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Why going uw?
Recent approach in structured environment
vehicle in automatic station keeping
off-shore operator with a
master/slave architecture

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Why going uw?
13 peoples on 24 hours
8 Pilot-Techs (12 hours shift)
4 Supervisors (12 hours shift)
1 Superintendent (on call)
How long onboard?
4 to 6 weeks
ROV crew work 12 hours a day - 7/7

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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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Why going uw?
Archaelogy
amphora Cala Minnola
courtesy of B. Allotta, UNIFI
courtesy of D. Scaradozzi, UNIVPM
and 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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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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Common operations
Diver assistance

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Common operations
Inspection, survey, monitoring

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Common operations
Pipeline inspection and trenching
from C&C Technologies

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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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The uw fauna
ROV - eyeball class
micro < 3kg
mini < 15kg

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The uw fauna
ROV
light to heavy work class
intervention capability
approx 1100 ROVs currently in operation

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The uw fauna
ROV - a gymn test

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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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The uw fauna
Autonomous Underwater Vehicles

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The uw fauna

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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
Underwater
Vehicle
Manipulator
Systems

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The uw fauna

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The uw fauna
TRIDENTproject

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The uw fauna

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Bio-inspired robotics
K. Pettersen, NTNU

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Snake robot
K. Pettersen, NTNU

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Fish-like propulsion systems
various types depending
mainly on the size

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Center for Biorobotics, TUT
Festo
OCTOPUS project

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

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Launch & recovery

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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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commercial
military + research
96%
4%
AUVs use

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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

CADDY
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

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

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
MARIS
Marine Autonomous Robotics for InterventionS

ROAD
RObotics for Assisted Diving
contact: gconte@univpm.it
http://www.roadproject.it

SUONO
Smart Cities
2014-2017
Safe underwater operations in oceans
contact: benedetto.allotta@unifi.it

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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Thank for the attention and enjoy the school
www.whoi.edu/sharkcam

2015 SIDRA School on Underwater Robotics. Introduction

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