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: p.dario@sssup.it

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

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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

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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