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
BREAKING THE SURFACE (http://bts.fer.hr) 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 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
Outline 1. Autonomous robotics in MCM Motivation remove humans from the mine field 2. Autonomous robotics helping divers - CADDY 4. Conclusions 4
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Unexploded ordnance (UXO) in the Adriatic Sea NC gun fuses Gun shells Torpedos Bombs
The method of cutting with explosive 7
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 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
Vehicles 10
MCM mission scenario ASV AUV Multibeam sonar 11
MCM mission scenario Range Bearing Depth 12
MCM mission scenario 13
MCM mission scenario 14
MCM mission scenario 15
MCM mission scenario 16
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
Idea Unlimited area of diver operation by autonomous positioning of the platform Absolute navigation underwater Maintaining a vertical acoustic channel reliable UW comms 18
Technical description Acoustic modem GPS WiFi CPU compass 4 thrusters 19
Technical description Height [m] 0.35 Width [m] 0.707 Length [m] 0.707 Mass [kg] 25 20
Technical description 21
Add the AUV to monitor, cooperate and understand what the diver needs Can underwater robots replace diving buddies? 22
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
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
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
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
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