The general objective of the MARIS project is studying, developing and integrating, technologis and methodologies enabling the development of underwater robotic systems for manipulation and transportation activities; whithin underwater scenarios which are typical for the off-shore industy, for the underwater search and rescue operations, as well as for the underwater scientific missions. Within such ambitious objective, the proposing instituitiona also intend to experimenatlly demonstrate, in the form proof-of-concept, the achievable operational capabilities; by also integrating the research results within real experimental systems. On the basis of the knowledges and experiences owned by the consortium; of its available logistic structures, laboratories and equipments; as well as the already available advanced-stage designs for the experimental systems; the consortium consider as really possible to coordinately develop all the necessary technological and methodologocal aspects; while also converging toward their final integration on the experimental to be in parallel realized; starting from the sub-systems and advanced-stage designs made available by some of the proposing institutions.
TYPE AND DATE
NATIONAL PROJECT (PRIN)
STARTING DATE – Feb 1, 2013
ENDING DATE – Jan 31, 2016
TOTAL COST €: 1,798,039.00
TOTAL FUNDING € 1,258,628.00
COST € 377,927.00
FUNDING € 264,549.00
Important advances within the integrated development of different enabling technologies and methodologies are the following:
- Reliable guidance and control of the floating bases (during long-range motions) on a multi-sensory basis; tht is via the integration of inertial sensors, Doppler velocity measuring devices, external acoustic supports to localization (USBL or SSBL), as well as real-time SLAM techniques based on the sea-floor observations, and more generally of the submerged environment.
- Construction of multi-modal maps via real-time SLAM, as also referred at the previus point.
- Stereo-vision techniques for object recognitions and/or specific features recognition, also including their position and pose estimation.
- Advanced techniques for grasping and manipulation from a floating base, by part of each operating agent; that is automatic reasoning for the reliable grasping and manipulation of objects, and related reactive control (based on visual, force/torque and possibly tactile sensing) of the entire system (vehicle, arm, gripper), also guaranteeing the safety of its operative conditions (and in particular the grasp keeping on a force-torque-tactile sensing basis).
- Automatic methods for the execution of coordinated intervention operations by part of cooperative teams of floating manipulator systems, based on their mutual exchange of information, their mutual visualization and localization.
- High level mission planning techniques, including the automatic decomposition and cooperative distribution of tasks among the agents, based on the mutual exchange of information, as at the previous point.
- Advanced underwater communication techniques among the agents (on an acoustic basis when far each other, possibly on an optical basis when closer) to the aims expressed by both the previous points.
On the basis of the knowledges and experiences owned by the consortium; of its available logistic structures, laboratories and equipments; as well as the already available advanced-stage designs for the experimental systems; the consortium consider as really possible to coordinately develop all the necessary technological and methodological aspects; while also converging toward their final integration on the experimental setups to be in-parallel realized; starting from the sub-systems and advanced-stage designs made available by some of the proposing institutions. Thus the MARIS project aims to coordinately in-parallel develop all the reaserch activities aloowing the achievement of the following secific objectives:
- Dexterity and agility for floating manipulator systems, individually or team operating.
- Experimental autonomous system “single floating manipulator”.
- Experimental autonomous system “team of floating manipulators” .
The first objective refers to the activities directed toward the further development and the synergic integration of the previously outlined enabling technologies and methodologies; finalized to the emergence of dexterity and coordination capabilities, to be exhibited by part of single floating manipulators; with the addition of cooperative capabilities when operating in a team of them. The second an third objective instead regard the development of the necessary prototype systems hosting the results of the first; to the end of demonstrating the achievable operational capabilities by part of both single and team operating floating manipulators.
University of Genoa (UNIGE) Italy
National Research Council of Italy (CNR), Italy
Univerity of Bologna (UNIBO), Italy
University of Parma (UNIPR), Italy
University of Pisa (UNIPI), Italy
University of Cassino and Southern Lazio (UNICAS), Italy
University of Salento (UNISAL), Italy