6 - Massimo Caccia - CNR-ISSIA involvement in FP7 projects on marine-maritime robotics

IPSIT 2012, March 27th 2012, Zagreb, [email protected]

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

[email protected]


CNR-ISSIA background● Theoretical and experimental research on marine robotics supported

by the development and exploitation of Unmanned Marine Vehicles


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)


CURE (2009-2012)Breaking The Surface 2010

● MARSEC – mine searching

● Integration of high-throughput acoustic devices


CURE (2009-2012)Breaking The Surface 2011

● Automatic grid survey and path-following

● Advanced interfaces for unmanned marine vehicles


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)


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


MINOAS (2009-2012)

● CNR-ISSIA Magnetic Autonomous Robotic Climber - MARC


MINOAS (2009-2012)

● CNR-ISSIA Magnetic Autonomous Robotic Climber – MARC

● Glafcos Marine arm with thickness gauge


MINOAS (2009-2012)

● CNR-ISSIA adaptation of VideoRay mini-ROV with thickness gauge


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)


– University of Zagreb (Croatia)

– Det Norske Veritas (Norway)


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


CART (2011-2013)Operating Scenario 1

● Breaking of the towing line during a programmed transfer

Emergency Towing System

Main Towing Cable


CART (2011-2013)Operating Scenario 1: B-ART solution










CART (2011-2013)Operating Scenario 2

● Emergency towing during harbour operations

Operating Scenario 3● Ship-to-ship towing


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


– 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)


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


MORPH concept


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

Documents

6 - Massimo Caccia - CNR-ISSIA involvement in FP7 projects on marine-maritime robotics