Autonomous Marine Robots Assisting Divers

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Ethan Erik Arnold
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1 LUST Overview UNIVERSITY OF ZAGREB Faculty of Electrical Engineering and Computing Department of Control & Computer Engineering Laboratory for Underwater Systems and technologies Autonomous Marine Robots Assisting Divers Zoran Vukić & Nikola Mišković Oceans-Challanges & Opportunities 14th 17th May 2013 Porto, Portugal

2 BREAKING THE SURFACE ( FP7 CURE (2009, 2010, 2011); ONRG (2012, 2013, 2014) A week long field training with four main disciplines underwater robotics, marine biology/ecology, underwater archaeology, maritime security Plenary lectures by leading experts in the field Tutorials for students and participants/experts Missions at sea on place of interest Echange of new ideas, new proposals, new cooperation, new developments. Social program galla dinner, trip Industrial participation: VideoRay (USA) OceanServer (USA) OceanScan (Portugal) Other disciplines are welcome: oceanography, geology, hydrography,.. ECTS points 2

Our mission sites Nature park Telaščica & National

with endemic species Telaščica is the nature park

coastline and one lake with the sea water.

3 Our mission sites Nature park Telaščica & National Park Kornati Croatia is one of the richiest country with endemic species Telaščica is the nature park with 13 islands, 25 bays and 69 km of well indented coastline and one lake with the sea water. National park Kornati has 89 islands of 152 islands in the close proximity

4 Outline 1. Autonomous robotics in MCM Motivation remove humans from the mine field 2. Autonomous robotics helping divers - CADDY 4. Conclusions 4

5 5

6 Unexploded ordnance (UXO) in the Adriatic Sea NC gun fuses Gun shells Torpedos Bombs

7 The method of cutting with explosive 7

8 German mine from the WWII. Type: Bottom laying mine LMB III. Filled with 750 kg TNT mixed with aliminum powder. 8

Cooperation with NATO Undersea Research Centre Autonomous Naval MCM Neutralization System Perform maritime mine neutralization more efficiently and cost-effectively using a

9 Cooperation with NATO Undersea Research Centre Autonomous Naval MCM Neutralization System Perform maritime mine neutralization more efficiently and cost-effectively using a system of cooperative autonomous vehicles The master/slave type of collaboration between the highly capable ASV or AUV and a low-cost, hence less capable, mine intervention vehicle

10 Vehicles 10

11 MCM mission scenario ASV AUV Multibeam sonar 11

12 MCM mission scenario Range Bearing Depth 12

13 MCM mission scenario 13

14 MCM mission scenario 14

15 MCM mission scenario 15

16 MCM mission scenario 16

17 Cognitive autonomous diving buddy (CADDY) FP7 project in negotiation phase CADDY aims to establish an innovative set-up between a diver and companion autonomous marine robots (underwater and surface) that exhibit cognitive behaviour through learning, interpreting, and adapting to the diver s behaviour, physical state, and actions. Robotic system: Monitor the diver Understand the diver Cooperate with the diver 17

18 Idea Unlimited area of diver operation by autonomous positioning of the platform Absolute navigation underwater Maintaining a vertical acoustic channel reliable UW comms 18

19 Technical description Acoustic modem GPS WiFi CPU compass 4 thrusters 19

20 Technical description Height [m] 0.35 Width [m] Length [m] Mass [kg] 25 20

21 Technical description 21

22 Add the AUV to monitor, cooperate and understand what the diver needs Can underwater robots replace diving buddies? 22

- what sensors to use for perceiving hand gestures, - how to construct a complex

23 Gesture enabled communication How can natural diver-robot communication be accomplished? - what sensors to use for perceiving hand gestures, - how to construct a complex language for issuing mission commands to robots with a limited number of symbols used by divers, - how to provide feedback to the diver from the cognitive underwater robot 23

24 Cooperation How can underwater robots cooperate and interact with divers? Diver guide leads the diver through the underwater environment adapts to the diver motion Challenge: cooperative guidance algorithms where masterslave roles switch stochastically Diver slave performs tasks: mosaicing, illuminating, or bringing a specific tool Challenge: Online mission replanners Low level control tasks 24

25 Interpreting diver behaviour How can we interpret diver behaviour? Diver observer Challenge: 3D diver pose reconstruction using invasive and non-invasive sensors underwater, defining diver anthropological and physiological cues and determining sensors to measure them, and performing emotional analysis, i.e. correlating measurements to a set of diver behaviours. 25

26 CADDY consortium 1. UNIZG-FER, Zagreb, Croatia. N. Mišković 2. CNR-ISSIA, Genova, Italy. M. Caccia & M. Bibuli 3. IST-ISR, Lisbon, Portugal. A. Pascoal 4. JACOBS, Bremen, Germany. A. Birk 5. UNIVIE, Austria. K. Grammer 6. DAN Europe, Malta, C. Balestra 7. University of Newcastle (UNEW), UK. J. Neasham 26

27 Conclusion 1. Will underwater robots replace diving buddies? 2. How can natural diver-robot communication be accomplished? 3. How can underwater robots cooperate and interact with divers? 4. How can we interpret diver behaviour? 27

PROJECT PERIODIC REPORT

PROJECT PERIODIC REPORT Grant Agreement number: 611373 Project acronym: CADDY Project title: Cognitive Autonomous Diving Buddy Funding Scheme: Collaborative project, Small or medium-scale focused research