FP7 STREP. The. Consortium. Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions

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1 FP7 STREP Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions ID Strategic Objective: ICT Cognitive Systems, Interaction, Robotics Duration: 36 months Funding: 3,248 Keuros Contact: Pedro J Sanz sanzp@icc.uji.es 1 The Consortium 2

2 Participant organisation name Part. short name Universitat Jaume I de Castellón UJI (Coordinator) Spain Universitat de Girona UdG Spain Universitat de les Illes Balears UIB Spain Università di Bologna UNIBO Italy Università di Genova UNIGE-ISME Italy Country Instituto Superior Tecnico IST Portugal Heriot-Watt University HWU United Kingdom GRAAL TECH SRL GT Italy 3 The Envisioned Concept 4

3 PHASE I (Survey) PHASE II (Intervention) 5 Main activities within TRIDENT Responsible of WP7 and WP9 WP7 is responsible for guarantying the suitable manipulation actions along the final intervention mission Ensure the suitable integration between the sensors (vision, force/torque and tactile) and the mechatronics of the manipulator/hand system available guarantying a successfully control architecture Enabling the necessary interconnection among perception, action and knowledgebased approach modules Multisensory and knowledge-based approach architecture for grasping and dexterous manipulation Open source software platform for benchmarking in grasping and dexterous manipulation Robotic Intelligence Lab (UJI, 1991) Focused in cognitive manipulation by means of sensorimotor coordination of robotic arms, hands and perceptual systems. European projects: EURON, FP6 GUARDIANS; FP7 EYESHOTS and FP7 GRASP 6

4 Main activities within TRIDENT Responsible of WP1 and WP8 WP1 is responsible for endowing the team of robots with two fundamental capabilities: 1) building multimodal maps of the environment and 2) geo-referencing the robot position within the application scenario Cooperative navigation: ASC (DGPD+MRU+USBL). AUV (DVL+IMU+USBL). Acoustic Communication. Multimodal mapping: 2D Orthophoto-mosaicing Sonar based SLAM (Bathymetry based SLAM using MBE) Dissemination, education & trainning Contribution to: Vehicle Cognitive Architecture. Development of vision/sonar processors. AUV provider: Electromechanical integration of the AUV and the hand/arm system (together with UNIBO and UdG) and basic functional tests. Experimental test: Data-set on Cooperative Navigation. Data-set on multimodal Navigation & Mapping. UdG: University of Girona Computer Vision and Robotics Group Insitute of Informatics and applications UdG Water tank and Labs URIS ICTINEU 7 Main activities within TRIDENT Responsible of WP4 Processing the incoming optical and acoustical images and providing the other modules of the system with the relevant information of the environment is the main responsibility of WP4 The Systems, Robotics and Vision (SRV) group is integrated by members of the Mathematics & Computer Science Department of the University of the Balearic Islands Development of suitable data fusion methods for perfomance and robustness improvement of this WP tasks, as well as for other WPs tasks requiring 2D/3D multiresolution/multimodal environment information Visual and acoustic image processors The vision-based relative localization of the vehicle-target system and the image processor module in the control loop of the robotic platform 8

5 Main activities within TRIDENT Responsible of WP6 Electromechanical design of the robotic hand Realization of the robotic underwater hand: Main mechanical parts outsourced to an external mechanical workshops Minor parts and prototypal components developed and tested during the project will be directly realized by UNIBO Assembling and cabling phases directly performed by UNIBO using its own lab facilities. Development of the low-level control of the robotic underwater hand Tests on the robotic underwater hand: Preliminary tests performed at UNIBO labs Wet tests performed in the NURC pool. Electromechanical integration of the hand/arm system (together with GT) and basic functional tests Electromechanical integration of the AUV and the hand/arm system (together with GT and UdG) and basic functional tests DEIS UNIBO is one of the largest Dept. of the Univ. of Bologna, with an active research group in robotics reputed for the design and control of dexterous multifingered hands, on grasp planning, telemanipulation and haptic systems, hardware/software control architectures for multi-robot systems, advanced sensors. Participation to different European Projects in robotics and control: GEOPLEX, IFATIS, DEXMART, EURON, 9 Some of the prototypes of robotic hands developed at UNIBO in the last years 10

6 Main activities within TRIDENT Responsible of WP5 Floating manipulation Coordinated Control Specifications Class of grasping, manipulation and transportation tasks Set of elementary reactive behaviors and their combination Overall System Modeling Kinematic modeling including all geometric variable having influence on the overall coordinate control Underlying dynamic model including exogenous and intra structure interactions Coordinated Control Architecture and Algorithms Functional and algorithmic modular control framework Sensor based concurrent coordinated control algorithms Rt-Sw development and Implementation Inter-process communication infrastructure Hard real time and soft real time constrains at different time scales Experimental validation & benchmarking Preliminary testing on existing experimental lab facilities Integration with hand, arm and vehicle low level control and sensory system and lab testing Experimental testing within the overall integrated physical system Contribution to: Single and multiple vehicle control vehicle intelligent control architecture. Hand-arm mechatronics system and control Multisensory based manipulation. University of Genova GRAAL: Genoa Robotics & Automation Lab Multi-robotic Structures: Coordinated Cooperative Distributed Control 11 DELFIM DELFIMX Main activities within TRIDENT IST/ISR Lisbon, Portugal DSORL Dynamic Systems and Ocean Robotics Lab. Responsible of WP2 WP2 is responsible for the development and test of the Single and Multiple Vehicles Control strategies Cooperative Navigation USBL/INS Navigation Bottom Following Control INFANTE Path-following Control Sensor Based Homing and Docking Control contact: Prof. Carlos Silvestre 12

7 Main activities within TRIDENT Responsible of WP3 WP3 is responsible for providing the embedded knowledge representation framework and the high-level reasoning agents required to enable autonomy and on-board decision making of the platform Interdependent and homogeneous embedded knowledge representation Enabler for autonomy and on-board decision making Improve local (machine level) and global (system level) situation awareness, temporal context and planned mission behaviour Goal-based adaptive mission planning The Core Ontology (system) and the Application Ontologies (agent) for representation of knowledge at the different capabilities and levels Description of the integration of planning and decision-making agents inside the framework Oceans Systems Laboratory 4 academic staff, 6 Research Associates, 10 PhD students 2M Funding from EU, EPSRC, MOD and industry 13 Main activities within TRIDENT Electromechanical design of the robotic underwater arm Realization of the robotic underwater arm: Main mechanical parts outsourced to one of the external mechanical workshops frequently cooperating with GT. Minor parts and prototypal components developed and tested during the project will be directly realized by GT. Assembling and cabling phases directly performed by GT using its own lab facilities. Development of the low-level control of the robotic underwater arm Company overview A spin-off company from the Department of Communication, C. and System Sc. (DIST) of the University of Genova Established in 1998, Genova, Italy AMADEUS Dual-arm Underwater workcell Tests on the robotic underwater arm: Preliminary tests performed in GT lab. Wet tests performed in the NURC pool. Electromechanical integration of the hand/arm system (together with UNIBO) and basic functional tests Electromechanical integration of the AUV and the hand/arm system (together with UNIBO and UdG) and basic functional tests Eurobot Wet Model (customer: Thales Alenia Space for ESA) 14

8 TRIDENT Concept and Objectives 15 Specific Objectives Design and development of 1. Cooperative navigation techniques to achieve robust, high accuracy navigation (localization) of all the vehicles involved in the robotic team (WP1; WP2) 2. Innovative mapping algorithms to robustly build consistent multimodal maps of the seafloor (WP1) 3. New guidance and control algorithms for the team vehicles alone but also to cooperatively guide and control both vehicles in formation (WP2; WP3) 4. Embedded knowledge representation framework and the high level reasoning agents required (WP3) 5. Advanced acoustic/optical image processing algorithms to allow for feature detection and tracking (WP4) 16

9 Specific Objectives Design and development of 6. A redundant robotic arm endowed with a dexterous hand as an enabling technology for multipurpose manipulation underwater (WP6) 7. Innovative strategies for the coordinated control of the joint AUV Manipulator system (WP5) 8. The mechatronics as well as the perception/action capabilities needed to face the autonomous docking of the I AUV to the ASC (WP1; WP5; WP7) 9. A multisensory control architecture, including a knowledge based approach, to guarantee the suitable manipulation actions for enabling a multipurpose intervention system (WP7) 17 methodology and associated work plan 18

10 WP s s Relationships WP9: Project Coordination and Management UJI WP8: Dissemination, Education and Training UdG WP4: Visual/Acoustic Image Processing UIB WP1: Navigation and Mapping UdG WP7: Multisensory Based Manipulation Architecture UJI WP5: Floating Manipulation UNIGE ISME WP3: Vehicles Intelligent Control Architecture HWU WP6: Hand+Arm Mechatronics System and Control UNIBO WP2: Single and Multiple Vehicles Control IST 19 List of milestones Milestone no. Milestone name WPs no's. Lead beneficiary Responsible for the milestone Delivery date from Annex I 1 Cooperative navigation WP1,4 IST 18 2 Object recovery from a fixed base manipulator 3 Integrated AUV/ARM/HAND Prototype 4 Seafloor Mapping Through Coordinated Motion of the ASC/AUV team 5 Object recovery from a free floating AUV/ARM/HAND system WP4,7 UJI 18 WP6 UNIBO 24 WP1,2,3,4 UdG 33 WP1,2, 3,4,5,6,7 UNIGE-ISME 34 20

11 M1 M3 TRIDENT Pert chart M4 M2 M5 21