View
140
Download
3
Category
Preview:
Citation preview
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CNR-ISSIAFP7 projects in marine-maritime robotics
M. Caccia
Consiglio Nazionale delle Ricerche
Istituto di Studi sui Sistemi Intelligenti per l’AutomazioneVia De Marini 6, 16149 Genova, Italy
massimo.caccia@ge.issia.cnr.it
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CNR-ISSIA background● Theoretical and experimental research on marine robotics supported
by the development and exploitation of Unmanned Marine Vehicles
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CURE (2009-2012)
● Developing Croatian Underwater Robotics Research Potential - CURE● EC FP7 Coordination and Support Action
– SP-4 Capacities (call FP7-REGPOT-2008-1),Grant Agreement No. 229553
– Coordinator: Prof. Zoran Vukic, University of Zagreb, Croatia
● CNR-ISSIA role● EU expert: Massimo Caccia
● Participation to Breaking The Surface 2009-2010-2011
– Lectures: M. Caccia, M. Bibuli
– Field Work: Charlie USV (Ga. Bruzzone, Gi. Bruzzone, M. Bibuli, M. Caccia)
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CURE (2009-2012)Breaking The Surface 2010
● MARSEC – mine searching
● Integration of high-throughput acoustic devices
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CURE (2009-2012)Breaking The Surface 2011
● Automatic grid survey and path-following
● Advanced interfaces for unmanned marine vehicles
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
MINOAS (2009-2012)
● Marine INspection rObotic Assistant System● EC FP7 SST.2008.5.2.1 Innovative Product Concepts project – STREP
● Coordinator
– RINA (Italy)
● Partners
– DFKI (Germany)
– CNR-ISSIA (Italy)
– Glafcos Marine (Greece)
– SRV group (Spain)
– RIGEL engineering (Italy)
– Horama (Greece)
– Lloyd's Register (United Kingdom)
– MTG Dolphin (Bulgaria)
– Neorion (Greece)
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
MINOAS (2009-2012)
● Marine INspection rObotic Assistant System● Project Eligible Costs: 2,958,170.60 €
● Project Requested EU contribution: 2,102,035.00 €
● CNR-ISSIA Eligible Costs: 355,798.00 €
● CNR-ISSIA Requested EU contribution: 273,625.50 €
● Project Goal
– MINOAS project proposes reengineering of the overall vessel-inspection methodology.
– MINOAS proposes the development of a new infrastructure that substitutes human personnel by high locomotion enabled robots and "teleports" the human inspector from the vessel's hold to a control room with virtual reality properties.
● CNR-ISSIA role
– development of heavy climbing robot
– adaptation of commercial underwater robot
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
MINOAS (2009-2012)
● CNR-ISSIA Magnetic Autonomous Robotic Climber - MARC
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
MINOAS (2009-2012)
● CNR-ISSIA Magnetic Autonomous Robotic Climber – MARC
● Glafcos Marine arm with thickness gauge
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
MINOAS (2009-2012)
● CNR-ISSIA adaptation of VideoRay mini-ROV with thickness gauge
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CART (2011-2013)
● Cooperative Autonomous Robotic Towing system● EC FP7 SME-2011-1 Research for SME – Grant Agreement 285878
● Coordinator
– Posidonia Srl (Italy)
● Partners
– PKL AS (Estonia)
– SRS Mecano Instalatie (Romania)
– CNR-ISSIA (Italy)
– University of Zagreb (Croatia)
– Det Norske Veritas (Norway)
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CART (2011-2013)
● Cooperative Autonomous Robotic Towing system● Project Eligible Costs: 912,113.20 €
● Project Requested EU contribution: 658,400.00 €
● CNR-ISSIA requested contribution: 3,394.00 €
● CNR-ISSIA sub-contracting: 298,437.00 €
● Project Goal
– CART project proposes a new concept for salvage operations of distressed ships at sea.
– CART focuses on the high risk operation of linking the emergency towing system of distressed ships to towing vessels.
– CART concept is based on the development of cooperative robotic technologies able to (semi-)automatically execute the manoeuvre of recovering the towing system.
● CNR-ISSIA role
– RTD developer: system development & integration
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CART (2011-2013)Operating Scenario 1
● Breaking of the towing line during a programmed transfer
Emergency Towing System
Main Towing Cable
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CART (2011-2013)Operating Scenario 1: B-ART solution
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CART (2011-2013)Operating Scenario 1: B-ART solution
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CART (2011-2013)Operating Scenario 1: B-ART solution
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CART (2011-2013)Operating Scenario 1: B-ART solution
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CART (2011-2013)Operating Scenario 1: B-ART solution
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
CART (2011-2013)Operating Scenario 2
● Emergency towing during harbour operations
Operating Scenario 3● Ship-to-ship towing
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
MORPH (2012-2016)
● Marine robotic system of self-organizing, logically linked physical nodes● EC FP7 ICT- 288704 MORPH Marine robotic system of self-organizing
logically linked physical nodes – Grant Agreement 288704
● Coordinator
– Atlas Elektronik Gmbh (Germany)
● Partners
– CNR-ISSIA (Italy)
– IFREMER (France)
– Jacobs University Bremen (Germany)
– Instituto Superior Tecnico (Portugal)
– Technische Universitaet Ilmenau (Germany)
– NATO Undersea Research Centre (Italy)
– Universitat de Girona (Spain)
– IMAR- Instituto do Mar (Portugal)
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
MORPH (2012-2016)
● Marine robotic system of self-organizing, logically linked physical nodes● Project Eligible Costs: 8,521,744.00 €
● Project Requested EU contribution: 6,284,371.00 €
● CNR-ISSIA eligible costs: 526,987.00 €
● CNR-ISSIA requested contribution: 398,040.00 €
● Project Goal
– MORPH project advances the novel concept of an underwater robotic system composed of a number of spatially separated mobile robot-modules, carrying distinct and yet complementary resources.
– MORPH modules are connected via virtual links that rely on the flow of information among them, i.e. inter-module interactions are allowed by underwater communication networks at distant and close ranges and supported by visual perception at very close range.
● CNR-ISSIA role
– 2D real-time mapping; Formation control and relative navigation; Validation & Verification
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
MORPH concept
IPSIT 2012, March 27th 2012, Zagreb, Croatiamassimo.caccia@ge.issia.cnr.it
Final hint
● CNR-ISSIA Autonomous robotic systems and control● funding sources (2004-2015)
SP-P03-003
Fonti di finanziamento esterno 2004-2015
conto terzi prog.italiani prog.europei
contracts with companies
national research projects
Europeanprojects
Recommended