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www.isme.unige.it
Robot mobili e tecnologie marine del centro ISME
Alessandro Ridolfi Dipartimento di Ingegneria Industriale – Università di Firenze
nodo ISME
www.isme.unige.it
NATIONAL INTER-UNIVERSITY CENTER TO SUPPORT RESEARCH ACTIVITIES IN THE
FIELDS OF MARINE TECHNOLOGIES AND OCEANIC ENGINEERING
Established in 1999
About 60 researchers
Shared infrastructures, labs, equipments
www.isme.unige.it
ULISSE Catamaran ASV
ISME PartnersReference: Enrico SimettiUniversità di Genova
• 3m x 1.8m; 2 electrical motors• Mass 400 kg• Batteries inside each hulls (more than 8h autonomy)• 200 kg of payload can be installed• Speed (5 m/s w/o payload, 2.5 m/s w/ payload)• Electric motor power (single motor) 2000 W• Motor static thrust (single motor) 512 N• Available power for payloads 25 A @ 24 V• Wireless 5 GHz Ubiquiti• Autonomous platform• Way-points and parameterized path following
www.isme.unige.it
ULISSE Catamaran ASV
ISME PartnersReference: Enrico SimettiUniversità di Genova
• Deck for lowering underwater sensors through a movable mast• Deck for UAV landing• Waypoint navigation• Hold position against current• Path following
Research trends involving ULISSE• Autonomous geotechnical surveys (EU H2020 WiMUST project)• Obstacle detection and avoidance• Cooperative behaviours between multiple vehicles• Efficient thruster allocation
www.isme.unige.it
Folaga AUV
ISME Partners
The Folaga AUV is a low-cost platform with surface navigation capability:• Diameter 155 mm• Length from 2,000 mm• Weight in air 31 kg• Energy storage: NiMh batteries 12V 45Ah• Speed: 2kn (up to 4kn if required)• Control: pitch/yaw thruster, movable ballast, active
buoyancy control• Endurance: six hours at max speed• Maneuverability: any bearing and trim with no active
surfaces• Max depth: 80 m (underwater navigation)
www.isme.unige.it
• Long Endurance AUV
• Energy harvesting from wave motion with releasable wings
• Charging/Wings system as a module of eFolaga vehicle
• Re-charge of low power payload battery
• Possible integration with solar panels
• Possible exploitation for wave-generatedmotion at the sea surface
WAVE project
ISME Partner
Wave powered Autonomous Vehicle for marine Exploration
PNRM Project – industrial partner:
www.isme.unige.it
• Vehicle design• GNC development• HMI for multi-vehicle management• ROS-based software architecture• Optical and acoustic acquisitions• Underwater 2D mosaicing and 3D reconstructions• Low-cost technologies to be used in different fields, e.g. archaeology or geology
ISME Partners
Contacts in Florence (University of Florence – ISME node): Benedetto Allotta and Alessandro Ridolfi
AUV Development and testing
www.isme.unige.it
Typhoon-class AUV
Weight: about 180 kg
Hull material: fiberglass
Maximum pressure: 30 bar (300m depth)
Maximum speed: 5 knots
Sizes: 3700 X 330Ø mm
Onboard devices
Power supply: 48V DC X 4kWh (8h of autonomy)Linux + ROSMagnetic compass + MEMS IMUFOG (Fiber Optic Gyroscope)DVL (Doppler Velocity Log)Depth sensor + AltimeterEcho-sounderGPSWi-Fi + Radio modemAcoustic modemCameras + Side Scan Sonar
ISME Partners
www.isme.unige.it
MARTA AUV
ISME Partners
Onboard devices
Power supply: 24V DC X 1300 Wh (8h of autonomy)Linux + ROSMagnetic compass + MEMS IMUFOG (Fiber Optic Gyroscope)DVL (Doppler Velocity Log)Depth sensor + AltimeterEcho-sounderGPSWi-Fi + Radio modem2 acoustic modemsCameras + 2D Forward Looking Sonar
Weight: about 80 kg
Hull material: Anticorodal Al
Maximum depth: 150 m
Maximum speed: 4 knots
Sizes: 3700 X 177Ø mm
Modularity
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MARTA AUV
Basler Ace camera Cala Minnola, Sicily, Italy
From optical images…
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MARTA AUV
… to 2D and 3D reconstructions2D mosaic
ISME Partners
3D reconstruction
www.isme.unige.it
Zeno AUV
Onboard devices
Power supply: 14,8V DC X 600 WhLinux + ROSMagnetic compass + MEMS IMUFOG (Fiber Optic Gyroscope)DVL (Doppler Velocity Log)Depth sensor + AltimeterEcho-sounderGPSWi-Fi + Radio modemAcoustic modemCameras + Side Scan Sonar
Weight: about 35 kg
Hull material: Anticorodal Al + carbon fiber
Maximum depth: 120 m
Maximum speed: 4 knots
Sizes: 1000X800X500 mm
Hovering
8 motors
Quick battery replacement
ISME Partners
www.isme.unige.it
FeelHippo AUV
Onboard devices
Power supply: 24V DCLinux + ROSMagnetic compass + MEMS IMUFOG (Fiber Optic Gyroscope)DVL (Doppler Velocity Log)Depth sensor + AltimeterEcho-sounderGPSWi-Fi + Radio modemAcoustic modemCameras + 2D Forward Looking Sonar
Weight: 35 kg
Hull material: Anticorodal Al + plexiglas
Maximum depth: 30 m
Maximum speed: 2 knots
Autonomy: about 3 h
Sizes: 600X640X500 mm
4 motors (V shape)
ISME Partners
www.isme.unige.it
FeelHippo AUV
www.isme.unige.it
Other ISME technologies
ROVs
Underwater grippersTablets and
technologiesfor divers
Static nodes and acoustic modems
www.isme.unige.it
Contacts
DirectorGiuseppe Casalino - DIBRIS - University of Genova - [email protected]
Associated Universities and Departments with points of contactPolytechnical University of Marche – Giuseppe Conte - [email protected] of Cassino and Southern Lazio – Gianluca Antonelli - [email protected] of Genova – Giuseppe Casalino - [email protected] – Andrea Trucco - [email protected] of Salento – Giovanni Indiveri - [email protected] of Pisa – Andrea Caiti - [email protected] of Florence – Benedetto Allotta - [email protected] of Calabria – Alessandro Casavola - [email protected] of Roma “La Sapienza” – Chiara Petrioli - [email protected] of Bologna – Claudio Melchiorri- [email protected]
www.isme.unige.it
Thank you !
www.isme.unige.it
Contacts:Alessandro Ridolfi
Dipartimento di Ingegneria Industriale – Università di Firenzenodo ISME
Via di Santa Marta 3, 50139 Firenze, Italia