Robotica sperimentale al Robotlab

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1 Robotica sperimentale al Robotlab Gianmarco Veruggio CNR IAN / ISSIA / IIA Robotlab Genova, Italy

2 Robotlab Group Staff Gabriele Bruzzone Gianmarco Edoardo Giorgio Spirandelli Veruggio Bruzzone Massimo Caccia Riccardo Bono Paolo Coletta

3 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 Euro/year

4 Robotlab Mission The development of intelligent robotic systems able to work in less structured environments with remote supervision or teleoperation 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

5 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

6 Roby & Roby2 Roby ( ) Roby2 ( )

7 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 115 Kbps, 5 x 250 Kbps Navigation/tracking Simrad LBL/SSBL acoustic positioning system, echosounders; high frequency profiling sonar; depth sensor; compass; gyro; inclinometers; auto depth, heading, speed, altitude; way-point navigation Cameras/video/lighting pilot and scientist video cameras + 2 additional video links for custom toolsled instrumentation; video recorder; 6 x 50 W lights

8 AMADEUS 7 dofs electro-mechanical underwater arm designed for integration in a dual-arm work-cell for coordinated underwater manipulation

9 Tango ATRV Junior with active binocular acoustic and video mono pan-tilt sensor

10 Optical triangulation-correlation sensor

11 Underwater Virtual World Internet-connected real-time hardware-in-the-loop UUV simulator

12 Hardware development lab Hardlab 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)

13 Software development PCs (C, C++, Java IDEs) Softlab Numerical analysis and simulation software instruments (Matlab+Simulink e Mathematica) Development environments for Motorola MVME162 (Tornado/ VxWorks) and PowerPC (LynxOS) Development environments for Intel systems (Windows NT/2000, Red Hat Linux 7.2); CompactPCI and PC system with frame grabber system for image acquisition and elaboration, (robotic head)

14 Projects European Community AMADEUS 1 ( ) AMADEUS 2 ( ) ARAMIS ( ) PNRA IX Expedition ( ) Roby goes to Antarctica XIII Expedition ( ) Romeo goes to Antarctica XVII Expedition ( ) Antarctic Benthic Shuttle LIDAR Expeditions Tele-ABS SESAMO ENEA-MURST 95/95 PRASSI ( ) CNR E-robotics ( ) CNR Agenzia ( ) CNR Bilateral Projects Italy-USA ( ) Fault tolerant systems Italy-Portugal ( ) Internet-based UUV mission control

15 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

16 ARAMIS Project Advanced Rov package for Automatic Mobile Investigation of Sediments supported by the EC in the framework of the MAST III programme (DGXII MAS3 CT970083). ARAMIS consortium Tecnomare (Project Leader) Benthos Research Group of the Galway National University of Ireland Challenger Oceanographic Systems ENEA GRC Geociències Marines of the University of Barcelona Heriot-Watt University of Edinburgh IFREMER Institute of Marine Biology of Crete CNR - Istituto per l'automazione Navale

17 Aramis Project Advanced ROV package for Automatic Mobile Inspection of Sediments a scientific and technological system to be integrated with typical mid-class existing ROVs to carry out pelagic and benthic investigations both in shallow and deep waters. The ARAMIS system capabilities have been demonstrated by operating the system with IFREMER Victor 6000 and CNR-IAN Romeo.

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

19 IX Expedition 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

20 XIII Expedition 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 th 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.

21 1st Leg: Under Ice Activity Toolskid Multi-parametric Gauge conductivity temperature depth oxygen fluorimeter turbidity Microness zooplankton sampler Spectral Irradiance Meter

22 2nd Leg: Acoustic Devices Test Toolskid Doppler Velocimeter RDI Workhorse Navigator Tritech Echosounders and Profiling Sonar Acoustic Currentmeter

23 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

24 XVII Expedition 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 Day video-conference Internet-based tele-operation experiment High-school concourse

25 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.

26 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.

27 E-Robot Project CNR - Servizio Reti e Telecomunicazioni Internet & Satellite -based remote tele-operation of the Romeo ROV in Antarctica During the XVII Expedition , 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

28 Satellite E-Robot Project Inmarsat Ground Station Nera SaturnB Voice Phone LAN Network router Voice Phone Network router ISDN Network INTERNET Video equipment H.320 Robot Control System Terra Nova Bay Antarctica Romeo Video equipment H.320 Italy LAN PILOT OBSERVERS

29 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.

30 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.

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32 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

33 Bilateral agreement Italy-Portugal 1999 Lisbon-Genoa Experiment CNR-Istituto Automazione Navale IST-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.

34 Web interfaces for underwater virtual environments CNR Agenzia Progetto Giovani developing a web interface capable of allowing remote users to interact with a robotised vehicle in an underwater virtual environment by planning missions and observing the vehicle's performances.

35 PRASSI ENEA-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

36 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

37 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

38 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 , Elsevier Science Ltd., England. Caccia M., Bono R., Bruzzone G., Veruggio G.: Bottomfollowing for remotely operated vehicles, Control Engineering Practice (in publication) Horizontal-feature following Caccia M., Bono R., Bruzzone G., Veruggio G.: Bottomfollowing 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 , pp

39 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, Giugno 2001

40 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 , 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 , Editors: S. Taraglio, V. Nanni, ENEA, Roma, Italia

41 Romeo Project Main Research Results: Romeo exploitation 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 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 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

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