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from Research to Innovation

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1 from Research to Innovation
Marine Robotics: from Research to Innovation Marco Bibuli Consiglio Nazionale delle Ricerche Istituto di Studi sui Sistemi Intelligenti per l’Automazione Via De Marini 6, Genova, Italy Marine Robotics at CNR - ISSIA MarineRobotics UNIGE-DIMA, 2013 November 25, Genova (Italy)

2 Mathematics & Robotics
Why am I here? Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Bridging the gap between Mathematics & Robotics UNIGE-DIMA, 2013 November 25, Genova (Italy)

3 Why am I here? Modeling Analysis Theoretical validation Outline
Performance measurement Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Design & development Navigation, Guidance and Control Mission handling Exploitation UNIGE-DIMA, 2013 November 25, Genova (Italy)

4 Why am I here? Outcome: knowledge transfer brainstorming
Modeling Analysis Theoretical validation Performance measurement Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Outcome: knowledge transfer brainstorming collaboration proposals (thesis) Design & development Navigation, Guidance and Control Mission handling Exploitation UNIGE-DIMA, 2013 November 25, Genova (Italy)

5 Marine Robots The bad news… …nothing about this… …yet! Outline
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC …nothing about this… …yet! UNIGE-DIMA, 2013 November 25, Genova (Italy)

6 Marine Robots Outline UNIGE-DIMA, 2013 November 25, Genova (Italy)
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

7 Marine Robots - ROV Remotely Operated Vehicle Outline
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

8 Marine Robots - AUV Autonomous Underwater Vehicle Outline
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

9 Marine Robots - Glider Outline
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

10 Marine Robots - USV Unmanned Surface Vehicle Outline
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

11 Marine Robots Outline UNIGE-DIMA, 2013 November 25, Genova (Italy)
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

12 Applications Outline UNIGE-DIMA, 2013 November 25, Genova (Italy)
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

13 Applications - ROV Underwater Exploration Outline Sampling
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Exploration Sampling Intervention UNIGE-DIMA, 2013 November 25, Genova (Italy)

14 Applications - ROV Underwater Exploration Outline Sampling
Depth: 3810 m Underwater Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Exploration Sampling Intervention ARGO ROV Used to discover the Titanic (1985) UNIGE-DIMA, 2013 November 25, Genova (Italy)

15 Applications - ROV Underwater Exploration Outline Sampling
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Exploration Sampling Intervention UNIGE-DIMA, 2013 November 25, Genova (Italy)

16 Applications - ROV Underwater Exploration Outline Sampling
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Exploration Sampling Intervention ROMEO ROV Length: 1.30 m Width: 0.90 m Height: 0.96 m Weight in air: 500 kg Max. depth: 500 m Speed: 0.6 m/s forward Electric propulsion: 4 horizontal and 4 vertical thrusters UNIGE-DIMA, 2013 November 25, Genova (Italy)

17 Applications - AUV Underwater Mapping Outline Sampling Patrolling
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Mapping Sampling Patrolling UNIGE-DIMA, 2013 November 25, Genova (Italy)

18 Applications - AUV Underwater Mapping Outline Sampling Patrolling
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Mapping Sampling Patrolling EU Project MORPH UNIGE-DIMA, 2013 November 25, Genova (Italy)

19 Applications - AUV Underwater Mapping Outline Sampling Patrolling
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Mapping Sampling Patrolling Extreme! Challenger Deep descent Depth: 10900 m Bathyscaphe “Trieste” 1960 Deepsea Challenger 2012 “Kaiko” AUV 1995 “Nereus” HROV 2009 UNIGE-DIMA, 2013 November 25, Genova (Italy)

20 Applications - USV Surface Sampling Outline Bathymetry Protection
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Sampling Bathymetry Protection Comms. relay UNIGE-DIMA, 2013 November 25, Genova (Italy)

21 Applications - USV Surface Sampling Outline Bathymetry Protection
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Sampling Bathymetry Protection Comms. Relay Multi-vehicle UNIGE-DIMA, 2013 November 25, Genova (Italy)

22 Vehicle loss acceptable?
Applications - USV Surface Vehicle loss acceptable? Yes, if casualties = 0 Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Sampling Bathymetry Protection Comms. Relay Multi-vehicle UNIGE-DIMA, 2013 November 25, Genova (Italy)

23 Applications - USV Surface Charlie USV Sampling Outline Bathymetry
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Sampling Bathymetry Protection Comms. Relay Multi-vehicle Charlie USV Dimension 2.40 (length) x 1.70 (width) m Weight 300 Kg (in air) Max speed 2.0 m/s Propulsion 2 DC motors with propellers Steering 2 coupled rudders behind propellers Navigation GPS, Gyro-Compass, Inclinometers UNIGE-DIMA, 2013 November 25, Genova (Italy)

24 Applications - USV Outline Sampling Bathymetry Protection Comms. Relay
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Sampling Bathymetry Protection Comms. Relay Multi-vehicle Side-scan sonar fan-shaped acoustic pulse UNIGE-DIMA, 2013 November 25, Genova (Italy)

25 Applications - USV Outline
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

26 Seabottom classification – Murter (Croatia), 2013
Applications Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Seabottom classification – Murter (Croatia), 2013 Port area bathymetry – Loano (Italy), 2013 UNIGE-DIMA, 2013 November 25, Genova (Italy)

27 Applications Vehicle-Following – a Leader vehicle defines, with its motion, a reference path; such path has to be followed by a Follower vehicle, maintaining a certain distance from the Leader. Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC desired distance error UNIGE-DIMA, 2013 November 25, Genova (Italy)

28 Applications Vehicle-Following – a Leader vehicle defines, with its motion, a reference path; such path has to be followed by a Follower vehicle, maintaining a certain distance from the Leader. Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

29 Applications Vehicle aggregation Outline
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

30 Applications Vehicle aggregation Outline Safety distance
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Safety distance UNIGE-DIMA, 2013 November 25, Genova (Italy)

31 Applications Vehicle aggregation Outline Safety distance
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Safety distance Communication constraints UNIGE-DIMA, 2013 November 25, Genova (Italy)

32 Applications Vehicle aggregation Outline Safety distance
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Safety distance Communication constraints UNIGE-DIMA, 2013 November 25, Genova (Italy)

33 Applications Vehicle aggregation Outline Safety distance
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Safety distance Communication constraints Formation path-following UNIGE-DIMA, 2013 November 25, Genova (Italy)

34 Applications - Maritime Robotics
EU Project MINOAS Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

35 Applications - Maritime Robotics
EU Project MINOAS Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

36 Applications - Maritime Robotics
EU Project CART Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

37 Applications - Maritime Robotics
EU Project CART Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

38 Development Outline UNIGE-DIMA, 2013 November 25, Genova (Italy)
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

39 Development Outline Equipment & Payload
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

40 Development Outline Equipment & Payload
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

41 Development Outline Equipment & Payload Modeling
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

42 Development Outline Equipment & Payload Modeling
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

43 Navigation, Guidance & Control
Development Equipment & Payload Modeling Navigation, Guidance & Control Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Navigation Guidance Control UNIGE-DIMA, 2013 November 25, Genova (Italy)

44 Development Autonomy Outline Advanced guidance Semi-automatic
Geo-referenced motion Line-of-Sight, Line-Following, Genaral Path-Following Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Advanced guidance Semi-automatic Manual control Auto-pilot Automatic control of surge speed and heading Direct drive of rudder and thrusters UNIGE-DIMA, 2013 November 25, Genova (Italy)

45 Development Outline Defining the Lyapunov function:
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Defining the Lyapunov function: where  is an approach angle defined as: the yaw-rate control law is obtained: Defining the Lyapunov function: the virtual target speed control law is obtained: UNIGE-DIMA, 2013 November 25, Genova (Italy)

46 Development Outline UNIGE-DIMA, 2013 November 25, Genova (Italy)
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC UNIGE-DIMA, 2013 November 25, Genova (Italy)

47 Development Outline Global stability Robustness to disturbances
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Absence of singularities UNIGE-DIMA, 2013 November 25, Genova (Italy)

48 Performances Performance measurement qualitative  quantitative
Equipment & Payload Modeling Navigation, Guidance & Control Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Navigation Guidance Control Performance measurement qualitative  quantitative UNIGE-DIMA, 2013 November 25, Genova (Italy)

49 Performances Definition of performance indices
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Definition of performance indices Design of “good” experimental methodologies - How to execute the experiments? - How to guarantee the same initial conditions? - Which parameters come into play? UNIGE-DIMA, 2013 November 25, Genova (Italy)

50 Performances Example: comparison between two path-following algorithms
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Jacobian-based technique Lyapunov-based virtual target technique UNIGE-DIMA, 2013 November 25, Genova (Italy)

51 Performances Moving towards multi-vehicle frameworks… Outline
Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Which indices?!?... UNIGE-DIMA, 2013 November 25, Genova (Italy)

52 case-dependant reliable Cool, useful, reliable, legal,
Conclusions Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC Research Cool, useful, case-dependant reliable Development Cool, useful, reliable, illegal Innovation Cool, useful, reliable, legal, business-worthy UNIGE-DIMA, 2013 November 25, Genova (Italy)

53 Conclusions Why am I here? Marine Robots Applications Development Performances Conclusions Outline ROV | AUV | Glider | USV ROV | AUV | USV Maritime Robotics Equipment & Payload Modeling NGC What are the next steps towards the improvement of the Robotics’ research? New performance indices Protocols for environmental condition measurement Procedures for experiments’ repetition Methodologies for statistical characterization Ideas from a different point of view… UNIGE-DIMA, 2013 November 25, Genova (Italy)

54 Thank you! UNIGE-DIMA, 2013 November 25, Genova (Italy)

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