Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions

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2 OCT 2012 (FP7-ICT ) Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions 2 ND FIELD TRAINING WORKSHOP ON UNDERWATER ROBOTICS INTERVENTION IRS Lab

3 Programme Agenda

4 The Reviewers Dan Toal Carlos Balaguer Dep. of Electronic & Computer Eng. University of Limerick, Ireland Robotics Lab Carlos III University, Spain 4

5 The Scientific Advisory Board Dr. Gianluca Antonelli Prof. Dr. Andreas Birk Dr. Giacomo Marani Universita` degli Studi di Cassino, Italy Jacobs University Bremen, Germany West Virginia University, USA

6 The Consortium

7 OVERVIEW 1.INTRODUCTION 1.1 THE AIM OF THE PROJECT 1.2 THE STATE-OF-THE-ART 1.3 THE ENVISIONED CONCEPT 2.PROJECT RESEARCH STATUS 2.1 WORK PLAN IN PROGRESS 2.2 MAIN EXPERIMENTAL RESULTS 3.CONCLUDING REMARKS May 4th, 2012 UdG, SPAIN 7

8 1.1 THE AIM Underwater Exploration Flight Type Vehicle Autonomous Data logging No physical interaction with the world Underwater Intervention Missions: Potential Applications Amphorae recovery (using suction-pump) Oil spill disaster Offshore industry May 5th, 2011 UdG, SPAIN 8

9 I-AUV ROV 1.1 THE AIM The black-box search & recovery problem Control panel Prestige (ship) oil spill 9

10 1.1 THE AIM Flight Data Recorder of Air France flight AF 447 found (Sunday, May 1 st 2011) (black box) from the Airbus A330, operating the Rio-Paris flight which disappeared over the Atlantic on June 1, 2009, has been found and retrieved (3.900 m on depth) Control panel Prestige (ship) oil spill It was raised and lifted on board the ship Ile de Sein by the Remora 6000 ROV 10

11 1.1 THE AIM The search was targeted in an area of about 10,000 square kilometers. Phoenix s Remora ROV Specifications General Weight in Air 900 kgs dry Weight in Water Neutral Dimensions Length: 1.7 m Width: 1.0 m Height: 1.2 m Maximum Operating Depth 6,000 m Vehicle Description Propulsion 25 hp electro-hydraulic Thrusters 4 x Axial / lateral thrusters 2 x Vertical thrusters Manipulators 2 x Hydro-Lek six function, rate controlled Approx. 30 M $ (three missions) 11

12 1.1 THE AIM The improvement of the intervention capacities beyond the state-of-the-art Paving the way towards a higher autonomy degree in those situations where physical interaction is mandatory B3.1 Strategic impact; Annex 1 - DoW May 5th, 2011 UdG, SPAIN 12

13 1.2 THE STATE-OF- THE-ART May 5th, 2011 ROV operated as AUV Adapted PA10 Manipulator Simulated Results Dual arm with fixed base 7 DOF Three-fingered hand ROV transported by an AUV AUV Docking Teleoperated Intervention I-AUV (3.5 Ton) I-AUV Docking Intervention from fixed base I-AUV (6 Ton) Intervention from mobile base AUV-Arm dynamically decoupled TRIDENT I-AUV 7 DOF Electric Manipulator Three-fingered hand AUV 4 DOF Autonomous Intervention Mobil Intervention 200 Kg. 500 m. Multipurpose Intervention

14 The Envisioned Concept PHASE I (Survey): 1) Launching. 2) Survey. 3) Recovery. Target Selection & Intervention Specification PHASE II (Intervention): 4) Launching. 5) Approaching. 6) Intervention. 7) Recovery.

15 Robotic Tandem for Multipurpose Intervention 3 DOF ASC 4 DOF AUV 7 DOF MANIPULATOR 3 FINGER DEXTEROUS HAND

16 1 Prev. Review 1.1 THE OVERALL SYSTEM ARCHITECTURE

17 1 Prev. Review 1.3 THE PLAN FOR SYSTEM DEMONSTRATION: The Roadmap

18 TRIDENT Pert chart 3.2 The Roadmap M3 M1 M4 M2 M5

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20 1 Prev. Review 1.4 THE PROGRESS IN INDIVIDUAL WP s

21 2 Status Specific Objectives 1. Cooperative navigation techniques to achieve robust, high accuracy localization of ASC & I-AUV (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)

22 2 Status Specific Objectives 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; WP2; WP5; WP7) 9. A multisensory control architecture, including a knowledgebased approach, to guarantee the suitable manipulation actions for enabling a multipurpose intervention system (WP7; WP6; WP5; WP4)

23 2 Status WP s Relationships WP9: Project Coordination and Management UJI WP8: Dissemination, Education and Training UdG WP5: Floating Manipulation UNIGE-ISME WP1: Navigation and Mapping UdG WP7: Multisensory Based Manipulation Architecture UJI WP3: Vehicles Intelligent Control Architecture HWU WP2: Single and Multiple Vehicles Control IST WP6: Hand+Arm Mechatronics System and Control UNIBO WP4: Visual/Acoustic Image Processing UIB May 4th, 2012 UdG, SPAIN 23

24 TRIDENT Milestones 2 Status 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 WP4,7 UJI 18 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 WP6 UNIBO 25 WP1,2,3,4 UdG 33 WP1,2, 3,4,5,6,7 UNIGE-ISME 34 May 4th, 2012 UdG, SPAIN 24

25 2 Status Milestone D State of Progress % 1. Cooperative Navigation 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 18 Two TR, one about the cooperative navigation of the ASC/I-AUV robot team (D1.1) and another one concerning integrated bottom-path-following and compliant leader following control strategies (D2.1), have been submitted in due time. 18 Two TR, one concerning the methodology aspects and requirements on the Multisensory and knowledge-based approach architecture for grasping and dexterous manipulation (D7.1) and another one, about the visual and acoustic image processors under development for the project (D4.1), have been submitted in due time. 24 The expected TR on the design of the hand/arm system (D6.1) was submitted in due time. During this month of April, the final integration process is ending in Spain (Girona), with cooperation of UNIBO (responsible of this task), UdG and GT. 33 Advances in M4 require previous success in some tasks whose progress has been reported in deliverables D1.1 (AUV/ASC cooperative navigation), D2.1 (bottom path-following control strategies), D4.1 (image processors), all of them on schedule. 34 M5 concerns the final experimental validation of TRIDENT. So, Jointly effort of the whole Consortium is crucial for its achievement. Letting apart the aforementioned necessary deliverables, a TR on overall system modelling, including all variables needed for reactive coordination (D5.1) has been presently submitted. May 5th, 2011 UdG, SPAIN

26 OFFLINE MAPPING ONLINE NAVIGATION Finding the target Planning a Path to the Target Fine Navigation around the target. Large Area 2D Ortho Photomosaic Bathymetry Multimodal 2.5 D mapp Guidance & Control Geo-referencing Survey & Coverage Coarse Navigation to target Pose Communica on WP1 Navigation & Mapping Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions Goal Work & Techniques ASC/AUV USBL aided Navigation Single Beacon Range only Navigation SBUSLAM: Single Beacon Bearing only Navigation for black box localization ASC/AUV Cooperative Navigation t t+τ ε Pose-based SLAM Probabilistic Surface Matching Globally Optimized Visual Map (Bundle Adjustment)

27 WP2 Single & Multiple Vehicles Control Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions Homing controller Docking between two transponders (currently under development) 2 Journal articles for TDOA-based homing control and cooperative control on International Journal of Robust and Nonlinear Control Coordinated leader-following Bottom path-following

28 WP3 Intelligent Control Architecture Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions Objectives: develop an architecture enabling goal based mission planning Enable interoperability between platforms and its users How? Service Oriented architecture with capability discovery and advertising On the fly mission planning using pre-stored mini-plans and online diagnostics Based on ROS «Main goal» pkg User Interface pkg Deliberation Unit Agent Interpreter pkg World Model Discovering Activity 1 «Goal A» «Goal B» «Goal C» «Goal D» Planning, Matching AGENTS SERVICES Orchestration, Choreography Activity 4 Activity 2 Activity 5 Activity 3 Activity 6 Activity 7 Composing BEHAVIOUR EXECUTION DELIBERATION «module» Operator Console «module» Mission Planner pkg Execution Unit Agent Intentions pkg Behavior Unit Agent Plans «module» Mission Spooler Pool of Services «module» Mission Reasoner «module» Service Matchmaker «module» Social Model Agent Desires «module» Mental Model Agent Beliefs «module» Geospatial Model Composite activity

29 Motion estimate Target identification WP4: Visual / Acoustic Image Processing Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions Design of the optical imaging infrastructure. Development of image processing modules Other ROS nodes Feature detection and tracking: Visual odometry Long path motion estimation ROS vision node Feature correspondence analysis Acoustic processors development Sonar Seabed Classification Target visual recognition Sonar beam segmentation & Underwater Scan Matching Target detection and classification

30 WP5 Floating Manipulation Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions Classification of Control Objectives Set-Objectives (safety or enabling inequality conditions to be achieved) Precision-Objectives (precise motion or positions to be achieved; e.g. grasp) Proposed Functional Control Architecture Back-stepping two-layered hierarchical architecture: Upper Kinematic layer Lower Dynamic layer Upper Kinematic Layer Prioritized tasks Prioritized subsystems Priorities changeable on-fly Uniform-invariant algorithmic structure Computationally efficient Distributable between vehicle and arm Lower dynamic layer Prioritized subsystem Uniform invariant algorithmic structure Computationally efficient Distributable between vehicle and arm hosting simplified or complex dynamic models Extensive simulation in progress possible Auto-tuning Possible chattering avoidance via adaptive gains v T g x x 20 Hz 100 Hz q 1 2 Vehicle Sensors &Actuation System Interface v T g 1 2 q General References (commands, parameters, etc.) Kinematic control layer Dynamic control layer q q m

31 WP6 Hand-Arm Mechatronic System and Control Objectives: Moreover: Develop a hand/arm robotic system capable of underwater manipulation Redundant arm Multifingered hand Modular design, allowing different configurations for both the arm and the hand Equipped with position (arm and hand), force (wrist) and tactile (fingers) sensors Low level control integrated in the hand/arm System control integrated within the AUV control systems Current state: Final integration of hand/arm achieved in due time Integration within the AUV has been achieved (May 2012) M3 velocity cartesian references. At the moment, the controcollaboratel system only implements a cartesian control based on an iterative kinematic inversion; during next weeks the whole task priority control is going to be implemented. TRIDENT - Newsletter October 2011 Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions Three-fingered hand (6 DOF) The arm will be equipped with a 3 fingered hand system (UNIBO) able to do a much advanced grasping that the one being carried out currently using the light weight arm 5E currently mounted on GIRONA500 I-AUV. The final arm/ hand/ AUV integration will be completed before March integra AUV. It the USB estimat suppor previou in ROS a reduc validat law per paving steps in 7 DOF arm

32 WP7 Multisensory Based Manipulation Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions

33 2 Status 2.2 MAIN EXP. RESULTS HIL Simulation (January 2011, UJI) Water tank demonstration (May 2011, UdG) Harbour demonstration (October 2011, Roses harbour, Girona) May 4th, 2012 UdG, SPAIN 33

34 DVD Newsletter Local News: mpm&feature=player_embedded

35 Object Search and Recovery from simulation to field Harbour Tests Video-1 Video-2 SIE017 35

36 Temas a tratar Urgente: Pasar info del JR3 a Claudio y Alessio: Modelo CAD?

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38 the vicinity, thus allowing for its integration in the near future onboard the G-500 I- AUV. It was also possible to successfully operate Field Experiments (Roses Oct 11) the USBL from the surface, providing the position estimate of a transponder installed on-board a support vessel. The homing control law that was previously developed was successfully integrated in ROS jointly with the Heriot-Watt University, in a reduced period of time. It was possible to validate the software integration and the control law performance at sea with minimal effort, thus paving the way to joint efforts to pursue the next steps in TRIDENT roadmap. System was tested. Finally, we integrated video based motion estimation algorithms and control strategies for homing developed at the University of the Balearic Islands, Spain, and the Instituto Superior Tecnico of Lisbon, Portugal. Both were tested successfully. A week later in Mallorca, UIB and HWU collaborated mounting the UBI stereo pair on Nessie AUV to test visual dead rckoning. The arm will be equipped with a 3 fingered hand system (UNIBO) able to do a much advanced grasping that the one being carried out currently using the light weight arm 5E currently mounted on GIRONA500 I-AUV. The final arm/ hand/ AUV integration will be completed before March a reduced period of tim validate the software in law performance at sea paving the way to joint steps in TRIDENT road TRIDENT - Newsletter October

39 Mechatronics Integration Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions

40 Software Integration Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions

41 Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions May 2011 UdG, 1 st Annual Project Review

42 Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions

43 Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions UJI 2010 Zadar UJI

44 Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions Lisbon 2011 Roses, Girona S. Francisco (IROS 2011)

45 Marine Robot and Dexterous Manipula n for Enabling Mul purpose Inteven on Missions Genova 2012

46 3 Remarks TRIDENT is progressing as expected so far Planned demos for today include: M3 (Full mechatronics integration in water tank conditions) M4 & M5 in 3D Simulation TRIDENT final demonstration is approaching May 4th, 2012 UdG, SPAIN 46

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