The ARROWS Project: Underwater Robotic Systems for Archaeology

Transcription

1 The ARROWS Project: Underwater Robotic Systems for Archaeology Benedetto Allotta DIEF - Dept. of Industrial Engineering Florence MDM Lab Laboratory of Mechatronics and Dynamic Modelling

2 INTER-UNIVERSITY CENTER ON INTEGRATED SYSTEMS FOR MARINE ENVIRONMENT GENOVA PISA LECCE CASSINO ANCONA FLORENCE Headquarter - Established in > 30 researchers - Shared infrastructures, labs, equipements

3 ISME Expertise & Applications Robotics - Underwater manipulation systems - Guidance and control of AUV s and ROV s - Distributed coordination and control of AUV s team - Mission planning and control Underwater acoustics - Acoustic localization - Acoustic communications - Underwater optical communications, - Acoustic Imaging and Tomography - Seafloor acoustics - Sonar systems Signal Processing and data acquisition - Distributed data acquisition - Geographical information systems - Decision support systems - Classification and data fusion Applications: - Surface and underwater security systems - Distributed underwater environmental monitoring - Underwater archaeology - Underwater infrastructures inspection - Sea surface remote sensing 3

4 EU-FP6 Virtual ExploratioN of Underwater Sites Strep EPOCH Excellence in Processing Open Cultural Heritage NoE ARCHEOMED Patrimoine Culturel Maritime de la Mediterranee Interreg EU-FP7 UAN Underwater Acoustic Network Strep Cooperative Cognitive Control of AUVs Strep Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions Strep

5 CS3IM RIMA WAVE - Current and Recent National & Technology Transfer Projects AUV Team for Naval Asymmetric Threads Detection UW Adaptive Sampling via AUV Cooperative Teams Wave Driven Autonomous Vehicle for Marine Exploration Integrated Low-cost UW Communication and Localization Systems Cooperative Marine Robots for Interventions Safe Underwater Operations in Oceans DLTM DLTM Italian Navy FAS-DLTM MIUR-PRIN MIUR-Smart Cities

6 Floating Manipulation Project examples: Cooperative Floating Manipulation ISME GE CNR-ISSIA GE + EU- TRIDENT Project ISME-GE GRAALTECH MIUR -MARIS Project ISME-GE-PI-LE-CAS CNR-ISSIA- GE 6

7 Project examples: Acoustic networked AUV Teams(UW Localization) Centralized Underwater Localization Group Underwater Localization (perspective trend) DGPS B1 [ r 1 ] MB r1 χ Employment of Real-time Ray-tracers for complying with acoustic propagation nonlinearities Single-transponder localization Experimental results Centralized multi-transponder localization EU- CO3AUV Project ( ) ISME-CAS GRAALTECH 7

8 Networked ASV Teams (UW optimal interceptor allocation) Networked ASV Teams (Adaptive Sampling) Dynamic Programming Based Approach Dynamic Voronoi Partition Based Approach EU- CO3AUV Project ( ) ISME-PI-GE-CAS EU- CO3AUV Project ( ) ISME-GE SIIT-AUTOMATION Phase 1 Project ISME-GE SELEX-SI IND SlimCONTROLProject ( ) SELEX_ELSAG ISME-GE SIELCO S.r.l GRAALTECH S.r.l. 8

9 Fixed topology UW Acoustic Network Addition of mobile units for adaptability to varying Acoustic transmission properties EU- UAN Project ( ) ISME-PI-GE SELEX-SI NURC GRAALTECH Integrating protection or environmental sensors within UW Acoustic networks SIELCO IND SlimCONTROLPr.jt( ) SELEX_ELSAG ISME-GE SIELCO S.r.l GRAALTECH S.r.l. 9

10 Project examples: Cooperative Semi-autonomous ROV Systems for Archaeological Data Gatheringl EU- VENUS Project ( ) ISME-AN-PI 10

11 SAFE UNDERWATER OPERATIONS IN OCEANS

12 The roots of ARROWS THESAURUS Project duration 30 months 2011/03/ /08/31 12

13 THESAURUS Goals to develop/adapt methods and technologies devoted to detect, explore, classify, and documenting underwater human artifacts of archaeological and/or ethno-anthropological interest the project tries to integrate robotics and ICT technologies with scientific methodologies which are typical of History and Archaeology 13

14 University of Pisa:Co-ordination, Ocean Engineering, Communications, Vehicle Cooperation, Acoustic Imaging University of Florence:Vehicle Design, Navigation, and Control, Computational Vision ISTI-CNR, Pisa:Data Collection and Integration Scuola Normale Superiore, Pisa: Investigation about Routes and Sites, Data Interpretation 14

15 Endorsement:Nucleo Operativo Subacqueo (N.O.S.), Soprintendenza per i Beni Archeologici della Toscana 15

16 Robot system made of AUVs for underwater archaeology 16

17 Test Roffia (San Miniato), Length: 2km, Max depth: 15m Tests with Typhoon 1, February

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