MDM Lab Laboratory of Mechatronics and Dynamic Modelling. Dall Ingegneria Ferroviaria alla Robotica Subacquea
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1 MDM Lab Laboratory of Mechatronics and Dynamic Modelling Dall Ingegneria Ferroviaria alla Robotica Subacquea Benedetto Allotta Alessandro Ridolfi Laboratorio di Modellazione Dinamica e Meccatronica
2 Laboratorio di Modellazione Dinamica e Meccatronica 2
3 Competencies Railway engineering On board systems and railway signaling Vehicle dynamics and control System- In- the- Loop simula<on Industrial robo<cs Mechatronics Marine and underwater robo<cs Laboratorio di Modellazione Dinamica e Meccatronica 3
4 Competencies Railway engineering On board systems and railway signaling Vehicle dynamics and control System- In- the- Loop simula<on Industrial robo<cs Mechatronics Marine and underwater robo<cs Laboratorio di Modellazione Dinamica e Meccatronica 3
5 COINS Project (Cooperative Odometry Inertial Navigation System) Study, development and test of an innovative localization algorithm for railway vehicles Laboratorio di Modellazione Dinamica e Meccatronica 4
6 ATP systems are planned to increase the railway running security Odometry Actual speed and position SST Rail characteristics and actual signalling state SSB Protection function (speed limit) Laboratorio di Modellazione Dinamica e Meccatronica 5
7 Degraded adhesion conditions Main problem for the typical estimation techniques Different coherent kinematical inputs coming from a 3D redundant sensor layout INS (Inertial Navigation System) algorithm Different sensors (sensor fusion) Speed (and position) estimation Laboratorio di Modellazione Dinamica e Meccatronica 6
8 Ingegneria Ferroviaria Robotica Subacquea INS (Inertial Navigation System) Laboratorio di Modellazione Dinamica e Meccatronica 7
9 Underwater robotics THESAURUS Project duration 30 months 2011/03/ /08/31 Laboratorio di Modellazione Dinamica e Meccatronica 8
10 THESAURUS Goals Laboratorio di Modellazione Dinamica e Meccatronica 9
11 THESAURUS Goals to develop mul+- disciplinary methods and technologies devoted to detect, explore, classify, and documen+ng underwater human ar+facts of archaeological and/or ethno- anthropological interest Laboratorio di Modellazione Dinamica e Meccatronica 9
12 THESAURUS Goals to develop mul+- disciplinary 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 9
13 University of Pisa: Co- ordina+on, Ocean Engineering, Communica+ons, Vehicle Coopera+on, Acous+c Imaging Laboratorio di Modellazione Dinamica e Meccatronica 10
14 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 Laboratorio di Modellazione Dinamica e Meccatronica 10
15 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 Laboratorio di Modellazione Dinamica e Meccatronica 10
16 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: Archaeological Inves+ga+on about Routes and Sites, Data Interpreta+on Laboratorio di Modellazione Dinamica e Meccatronica 10
17 Robot system made of AUVs for underwater archaeology Laboratorio di Modellazione Dinamica e Meccatronica 11
18 A number of people of MDM Lab and CVG have worked at vehicle design with the collabora+on of UNIPI: Laboratorio di Modellazione Dinamica e Meccatronica 12
19 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 BaQery Management Laboratorio di Modellazione Dinamica e Meccatronica 12
20 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 BaQery Management Naviga+on Sensors Naviga+on Techniques and Vehicle Control Vital and payload Computers and OS Laboratorio di Modellazione Dinamica e Meccatronica 12
21 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 BaQery 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 12
22 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 BaQery 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 12
23 Tes+ng Pool Propeller Tes+ng Pressure Chamber Laboratorio di Modellazione Dinamica e Meccatronica 13
24 Laboratorio di Modellazione Dinamica e Meccatronica 14
25 Laboratorio di Modellazione Dinamica e Meccatronica 14
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28 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 Typhoon One Payload: 2 cameras + illuminators Laser illuminator (blade) Side-Scan-Sonar i7 payload pc Some terabytes of mass storage Laboratorio di Modellazione Dinamica e Meccatronica 15
29 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 16
30 Laboratorio di Modellazione Dinamica e Meccatronica 17
31 Laboratorio di Modellazione Dinamica e Meccatronica 17
32 Test Roffia (San Miniato), Length: 2km, Max depth: 15m Tests with Typhoon 1, February 2013 Laboratorio di Modellazione Dinamica e Meccatronica 18
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41 Communication experiment with three Typhoons Laboratorio di Modellazione Dinamica e Meccatronica 26
42 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 27
43 Laboratorio di Modellazione Dinamica e Meccatronica 28
44 Boarding Alliance ( ) Laboratorio di Modellazione Dinamica e Meccatronica 29
45 Boarding NRV Alliance ( , 3 rd attempt ) Laboratorio di Modellazione Dinamica e Meccatronica 30
46 Boarding NRV Alliance ( , 3 rd attempt ) Laboratorio di Modellazione Dinamica e Meccatronica 30
47 Boarding NRV Alliance ( , 3 rd attempt ) Laboratorio di Modellazione Dinamica e Meccatronica 30
48 Laboratorio di Modellazione Dinamica e Meccatronica 31
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55 Turtle Team: Rookie of the year award Student Autonomous Underwater Challenge- Europe 2012 Laboratorio di Modellazione Dinamica e Meccatronica 36
56 FeelHippo!!! Laboratorio di Modellazione Dinamica e Meccatronica 37
57 Laboratorio di Modellazione Dinamica e Meccatronica 38
58 Nemo ROV Laboratorio di Modellazione Dinamica e Meccatronica 39
59 Work in progress: ARROWS - ARchaeological RObot systems for the World s Seas Call: FP7-ENV-2012-one-stage, topic ENV 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 40
60 Laboratorio di Modellazione Dinamica e Meccatronica 41
61 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 Shipwreck 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 42
62 Methodology Identification of the archaeologists requirements in all phases of the campaign a special Archaeological Advisory Group has already been created Identification of the technological problems Proposal and demonstration about 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 in underwater archaeology Laboratorio di Modellazione Dinamica e Meccatronica 43
63 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 44
64 Vehicles MARTA (UNIFI) Laboratorio di Modellazione Dinamica e Meccatronica 45
65 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 46
66 Biomimetic Robot Laboratorio di Modellazione Dinamica e Meccatronica 47
67 Biomimetic Robot Laboratorio di Modellazione Dinamica e Meccatronica 47
68 Old vehicles Nessie 2012 Laboratorio di Modellazione Dinamica e Meccatronica 48
69 Old vehicles Typhoon Two Laboratorio di Modellazione Dinamica e Meccatronica 49
70 Old vehicles FeelHippo Laboratorio di Modellazione Dinamica e Meccatronica 50
71 Benedetto Allotta Alessandro Ridolfi Thank you for your attention! Laboratorio di Modellazione Dinamica e Meccatronica 51
72 MDM Lab Laboratory of Mechatronics and Dynamic Modelling Dall Ingegneria Ferroviaria alla Robotica Subacquea Benedetto Allotta Alessandro Ridolfi Laboratorio di Modellazione Dinamica e Meccatronica
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