Download - Partner name : SSSA
Environment Programme - Project N°212790The HydroNet Project
Partner name: SSSA
Working Team: WP leaders, SSSA Administrative Team
Speaker name: Giacomo Saviozzi
Final Review MeetingLivorno, ItalyJanuary 30-31, 2012
Livorno - January 31th , 2012 Giacomo Saviozzi 2
Thanks to the involved partners efforts,the SDs been implemented according to thedefined interfaces and they can be plag&playinstalled on floating robots and the “chemical” buoy.Well determined electrical, electronic, hydraulic,informatics interfaces have been proposedto all the involved partners to facilitatedthe mounting/dismounting of all the SDs andto realize common, standard connections easilyto use, to check and to maintain.
From Sensor Devices (SDs) needs:• catamaran fluidic subsystem scheme,• simplified scheme for flat-boat
WaterDecoupling
Technical Management: cooperation for integration
SDs Fluidic interface
Livorno - January 31th , 2012 Giacomo Saviozzi 3
Technical Management:cooperation for integration
SDs / HRMC protocol
The figure shows thestate diagram related to a SD inthe operative phase is shown
Applied incatamarans, flat boatand “chemical” buoy
A lot of software shared between
catamaran and flat-boat
Livorno - January 31th , 2012 Giacomo Saviozzi 4
Hg bioSDsIFB : Delivered very late
AE-2 and CRAB optical SDsLUMEX : Delivered on time
Heavy-metal chemiSDsHUJI Cd(II) - Delivered on timeHUJI Hg(II) - Delivered very lateHUJI Cr(VI) - Delivered very, very late
Technical Management: cooperation for integration
Livorno - January 31th , 2012 Giacomo Saviozzi 5
Sensor ID HUJI_Hg_X *Chemical Parameter Parameter sensor can detect:
Hg(II) (mg/l)
Working Temperature Range 5 - 50 0CWater needed to measure + rinse Min 2 ml , Max 5 ml / cycleCalibration at least twice a day:
preferably to carry out standard addition than calibration. Single needed time: approximately 1800 sec
Off-Shore Recondition Times Substituting consumables: 900-1800 sec (if any)Sampling Time Times for sampling:
• 600 Sec (measurement only),• 800 Sec (with internal sensor cleaning)
Discharged whole liquid quantity 10 ml / cycleDischarge mode o Tube n° 8 (autonomous mode)
Internal Operating Voltage 12 VPower Consumption Sleeping mode: 4 W
Average: 12 Wo Max in Operating Mode: 20 W
Weight Min 4 Kg , Max 5 KgLife Until the sensor has to be recharged (with bacteria or hexane for
example): Life-measurements: tens (normal conditions: heat, voltage) Life-time: 1 day (initially)
Running Cost / Yearca.100 EUR (no manpower, no electrode replacing)
Electrodes Replacing Cost ca. 300 EURFull Sensor Cost ca. 5200 EUR (no R&D)Returned Values (informatic) Output messages in the same measurement: 1
1. Concentrationo ppb (µg/L)
Least Significative Byte (LSB) Returned Values Resolution: 3 with a multiplication factor
Sensitivity To be determined, should finally be <1 ppb
Working Range (in ng/L or ppt) To be determined, should finally be 1-100 ppb
HydroNet Hg/HUJI SD datasheet
Technical Management: cooperation for integration
Livorno - January 31th , 2012 Giacomo Saviozzi 6
HydroNet SD maintenance manuals
Technical Management: cooperation for integration
Livorno - January 31th , 2012 Giacomo Saviozzi 7
SoftwareFirmwareElectricalMechanics
Software
SoftwareElectrical
Technical Management: cooperation for integration
Livorno - January 31th , 2012 Giacomo Saviozzi 8
HydroNet robots:an high multidisciplinaryintegrated project
Technical Management: cooperation for integration
Livorno - January 31th , 2012 Giacomo Saviozzi 9
HydroNet robots datasheetsDissemination / Exploitation (to NILU)
Technical Management: cooperation for integration
Livorno - January 31th , 2012 Giacomo Saviozzi 10
ApplicationsMarine coastal, rivers and lagoons monitoring of physical and chemical figures
managed by a intelligent ground station.
Operational ModesThe catamaran can sail autonomously through a series of waypoints set
previously and can keep a stationary position to gather water environment data.
Bottom loiter
Sub-surface purposeThe boat can dip a probe up to 50m to gather water samples and environment
parameters along the water column
Navigation
Fully automatic (predefined): using GPS to position reference, remotely controlled;
speed, altimeter and anemometer sensors, path planning with current estimation;
hybrid navigation with motors and sail; obstacle avoidance using a laser scanner
and a forward looking sonar
Body Size Length: 1991 mm; Width: 1164 mm
Materials Carbon fiber
Power Consumption
Wing span
Antenna mast length
Weight 85 Kg
Maximum Depth The probe can reach a maximum depth of 50m
Maximum Travel Range/Duration 3 Km from the coast, Can cover a distance of 22 Km
Battery / Endurance12 Li-Po (TopFuel 29.7 V, 5000mA 8S Long 30C) batteries
Autonomy: 10 hours
Typical Speed 2,5-3 kns
Glide Angle
Mechanical Features
Two independent propellers controlled by two motors and two rudders actuated by a single motor; rudders are actuated with an articulated parallelogram by a motor acting on a worm gear mechanism; winch for the sampling probe; fluidic system to manage the sampled water
Electrical Features Operating 24-32V
Electronical Features
Titan PC; Blootooth module; WiFi module; controllers for the motors; GPS module;
Laser Scanner; Forward looking Sonar; Altimeter; radio communication module;
compass; paddle wheel water speed sensor; up to 4 chemical sensors for heavy
metals, optical sensor for oil slick detection
Software Features Embedded Linux OS
Special Features
Emergency measures Internal hulls high temperature detector
Physical Parameter Temperature, PH, Turbidity, Conductivity, Oxid reduction potential, Nitrates,
Dissolved Oxygen , plus optional sensors
Biological Parameter
Chemical Parameter Hg, Cr, Cd, dispersed oil
Working Temperature Range
Calibration
Off-Shore Recondition Times
Life
Running Cost / Year
Material Replacing Cost / Year
Total Cost
Application Lagoon and river monitoring of water chemical pollutants (heavy metal and oil).
Operational ModesThe flat boat robot can navigate autonomously in a river or in a lagoon through a
series of waypoints set previously by a ground control station.
Sub-surface purpose
Navigation
Remotely controlled by an operator or autonomous navigation with obstacle
avoidance capability. Hull Draught is 0.30 m.
Sensors: GPS, digital compass and water current data for estimating position; laser
scanner for obstacle detection.
Body Size L x W x H: 2.29m x 1.12m x 0.58m
Materials Carbon fiber
Power Consumption ~ 150W (12V 12.5Ah)
Wing span
Antenna mast length
Weight
Maximum Depth
Maximum Travel Range/Duration Can cover a distance of 20 Km
Battery / Endurance About 10 hours
Typical Speed About 2 Knots (Maximum Speed About 4 Knots)
Glide Angle
Mechanical FeaturesTwo independent inboard propeller motors.4 Pumps to feed 4 different sensors
Electrical FeaturesTwo 12VDC batteries, 110Ah
1 Solar Panel, 90W
Electronic Features
PC 104 CPU module
Wi-Fi module
Radio communication module
Motors Controller
GPS module
Digital Compass
Water current sensor
Laser Scanner
Up to 4 chemical sensors for heavy metals
One optical sensor for oil slick detection
Software Features Embedded Linux OS
Special Features
Emergency measures
Physical Parameter
Biological Parameter
Chemical Parameter Hg, Cr, Cd, dispersed oil
Working Temperature Range
Calibration
Off-Shore Recondition Times
Life 10 years
Running Cost / Year 50,000 €
Material Replacing Cost / Year 9,000 €
Total Cost 110,000 €
Flat-boat
Catamaran
datasheets
Livorno - January 31th , 2012 Giacomo Saviozzi 11
DEDALUS / AmI:• mission save/restore,
• zoom,• alert
HSLU / Radio modules:• Large messages• Stream
UOL / Dispersion models:• subcontract for sediments
IJS / Site characterization data:• ARPAT missions for Livorno Coastal Sea
Technical Management: cooperation for integration
12Livorno - January 31th , 2012 Giacomo Saviozzi
The HydroNet – 2nd Newsletters
nonTechnical Management
www.hydronet-project.eu
La 3a Newsletter di HydroNet
Partner
Benvenuti alla terza newsletter di HydroNet distribuita con cadenza annuale per tenervi aggiornarti sui risultati del progetto europeo.Il progetto HydroNet è uno STREP sottomesso nell’ambito dell’area tematica ENVIRONMENT del 7° Programma Quadro della EC, e ha progettato, sviluppato e sperimentato una nuova piattaforma tecnologica per migliorare il monitoraggio delle acque.La piattaforma è costituita da una rete di robot marini autonomi, natanti e boe, dotati di sensori miniaturizzati ambientali, integrati in una infrastruttura software di Ambient Intelligence.HydroNet ha appena terminato con successo il terzo e ultimo anno di attività e ha realizzato 3 natanti, 5 boe e tutti i loro sottosistemi. Nell’ultimo anno sono stati realizzati e integrati negli scafi le parti meccaniche, fluidiche ed elettroniche dei sottosistemi, oltre ai moduli software necessari al controllo dei robot stessi.Il Consorzio è composto da 10 partner.Cinque sono istituzioni pubbliche: Scuola Superiore Sant’Anna (SSSA, Italia), Hochshule Lucerne (HSLU, Svizzera), Jozef Stefan Institute (IJS, Slovenia), University of Ljubljana (UOL, Slovenia), Hebrew University of Jerusalem (HUJI, Israele),e cinque sono aziende medio-piccole: Dedalus SpA (Italia), LUMEX (Russia), Norwegian Institute for Air Research (NILU, Norvegia), Institute of Physical Biology (IFB, Slovenia), RoboTech srl (RT, Italia).
HydroNetNetwork di Robot sensorizzati di superficie per il Monitoraggio delle Acque
La 3a Newsletter di HydroNet 28 – 01 – 2012
Coordinatore del Progetto: Prof. Paolo DarioScuola Superiore Sant’Anna – SSSAIstituto di BioRoboticaPontedera, Pisa (Italy)Tel: +39-050883420 Fax: +39-050883497Email: [email protected]
Il progetto HydroNet ha realizzato una nuova piattaforma hardware e software composta da una rete di robot autonomi, sensorizzati e interconnessi via radio. In accordo al paradigma di Ambient Intelligence (AmI), la piattaforma HydroNet integra i robot in una rete sensoriale mirata alla verifica, in tempo reale, in-situ della salubrità degli ambienti acquatici e alla generazione di informazioni spazio-temporali sulla qualità dell'acqua. Il nucleo della piattaforma è rappresentato da sensori (biologici, ottici e chimici) montati all'interno di boe fisse e dei natanti. Tutti i robot comunicano con la stazione di controllo remota nella quale è installato il software che costituisce il core del sistema AmI.La rete di robot sensorizzati campiona e analizza rapidamente in-situ diversi parametri fisici e chimici dell'acqua generando informazioni in tempo reale sullo stato di salute degli ambienti acquatici. Sensori miniaturizzati rilevano la presenza di diversi inquinanti (cromati, cadmio, mercurio, petrolio, idrocarburi). Il progetto ha anche sviluppato modelli matematici evoluti al fine di simulare la diffusione degli inquinanti in fiumi, laghi e acque costiere.
2
Caratteristiche dei robot
• Distanza operativa: 15 km per i fiumi, 20 km per le aree costiere;• Velocità di crociera: 3 nodi; Autonomia: 8 ore;• Profondità campionamento: max 50m;• Abili con mare forza 3 (vento 7-10 nodi);• Dimensioni: lunghezza < 2m, peso ~80kg; gestione: 2 persone.
I robot sono natanti, piccoli, leggeri, energeticamente efficienti ed eco-compatibili, sia in termini di impatto ambientale (dimensioni, colori), sia in termini ecologici (materiali utilizzati e generatori di energia). Essi sono in grado di comunicare con la stazione di controllo attraverso una connessione radio senza fili. Le boe sensorizzate monitorizzano un'ampia gamma di parametri ambientali e atmosferici e sono anche nodi della rete per migliorare la connettività e la localizzazione dei robot mobili. Tutta la rete è connessa alla stazione di controllo che mette a disposizione degli operatori e dei decision maker servizi per la gestione e per l'analisi intelligente dei dati con interfacce utente avanzate.
La flotta di robot sensorizzati è in grado di navigare in diversi ambienti acquatici: acque costiere, fiumi (alla foce), laghi naturali e artificiali e lagune. In ogni ambiente l’obiettivo della flotta è anche quello di localizzare, in maniera cooperativa, la sorgente inquinante.
Ringrazia
14Livorno - January 31th , 2012 Giacomo Saviozzi
Livorno - January 31th , 2012 Giacomo Saviozzi 15
All the HydroNet platform has been tested andvalidated at the planned demonstration sites
The HydroNetOfficial Demonstrations
nonTechnical Management
1. Marano Lagoon (Italy)
2. Soča/Isonzo River (Slovenia)
3. Coastal area of Livorno (Italy)
WASS CNR- INSEAN
Ageotec
Drass Galeazzi
GeoPolaris Labromare
Livorno Coast Guard
Sielco
NATO Undersea Research Centre
Improved Contacts
Giacomo SaviozziLivorno- January 30th , 2012
nonTechnical Management
16
Livorno - January 31th , 2012 17
Conclusions
Giacomo Saviozzi
Today’s awareness for tomorrow’s commitments
We have: an excellent research prototypeSociety needs: an industrial prototype
There’s a gap .... then there’s another gap (industrial production)
Surely, it needs much more money
HydroNet is an infrastructural needfor the Earth wellness