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Environment Programme - Project N°212790 The HydroNet Project Partner name: SSSA Working Team: WP leaders, SSSA Administrative Team Speaker name: Giacomo.

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Presentazione sul tema: "Environment Programme - Project N°212790 The HydroNet Project Partner name: SSSA Working Team: WP leaders, SSSA Administrative Team Speaker name: Giacomo."— Transcript della presentazione:

1 Environment Programme - Project N° The HydroNet Project Partner name: SSSA Working Team: WP leaders, SSSA Administrative Team Speaker name: Giacomo Saviozzi Final Review Meeting Livorno, Italy January 30-31, 2012

2 Livorno - January 31th, 2012Giacomo Saviozzi2 Thanks to the involved partners efforts, the SDs been implemented according to the defined interfaces and they can be plag&play installed on floating robots and the “chemical” buoy. Well determined electrical, electronic, hydraulic, informatics interfaces have been proposed to all the involved partners to facilitated the mounting/dismounting of all the SDs and to realize common, standard connections easily to use, to check and to maintain. From Sensor Devices (SDs) needs: catamaran fluidic subsystem scheme, simplified scheme for flat-boat Water Decoupling Technical Management: cooperation for integration SDs Fluidic interface

3 Livorno - January 31th, 2012Giacomo Saviozzi3 Technical Management: cooperation for integration SDs / HRMC protocol The figure shows the state diagram related to a SD in the operative phase is shown Applied in catamarans, flat boat and “chemical” buoy A lot of software shared between catamaran and flat-boat

4 Livorno - January 31th, 2012Giacomo Saviozzi4 Hg bioSDs IFB : Delivered very late AE-2 and CRAB optical SDs LUMEX : Delivered on time Heavy-metal chemiSDs HUJI Cd(II) - Delivered on time HUJI Hg(II) - Delivered very late HUJI Cr(VI) - Delivered very, very late Technical Management: cooperation for integration

5 Livorno - January 31th, 2012Giacomo Saviozzi5 Sensor IDHUJI_Hg_X * Chemical ParameterParameter sensor can detect:  Hg(II) (mg/l) Working Temperature Range C Water needed to measure + rinseMin 2 ml, Max 5 ml / cycle Calibrationat least twice a day: preferably to carry out standard addition than calibration. Single needed time: approximately 1800 sec Off-Shore Recondition TimesSubstituting consumables: sec (if any) Sampling TimeTimes for sampling: 600 Sec (measurement only), 800 Sec (with internal sensor cleaning) Discharged whole liquid quantity10 ml / cycle Discharge mode o Tube n° 8 (autonomous mode) Internal Operating Voltage 12 V Power Consumption  Sleeping mode: 4 W  Average: 12 W o Max in Operating Mode: 20 W WeightMin 4 Kg, Max 5 Kg LifeUntil 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 / Year ca.100 EUR (no manpower, no electrode replacing) Electrodes Replacing Cost ca. 300 EUR Full Sensor Cost ca EUR (no R&D) Returned Values (informatic)Output messages in the same measurement: 1 1.Concentration o 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 ppb HydroNet Hg/HUJI SD datasheet Technical Management: cooperation for integration

6 Livorno - January 31th, 2012Giacomo Saviozzi6 HydroNet SD maintenance manuals Technical Management: cooperation for integration

7 Livorno - January 31th, 2012Giacomo Saviozzi7 Software Firmware Electrical Mechanics Software Electrical Technical Management: cooperation for integration

8 Livorno - January 31th, 2012Giacomo Saviozzi8 HydroNet robots: an high multidisciplinary integrated project Technical Management: cooperation for integration

9 Livorno - January 31th, 2012Giacomo Saviozzi9 HydroNet robots datasheets Dissemination / Exploitation (to NILU) Technical Management: cooperation for integration

10 Livorno - January 31th, 2012Giacomo Saviozzi10 Applications Marine coastal, rivers and lagoons monitoring of physical and chemical figures managed by a intelligent ground station. Operational Modes The 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 purpose The 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 SizeLength: 1991 mm; Width: 1164 mm MaterialsCarbon fiber Power Consumption Wing span Antenna mast length Weight85 Kg Maximum DepthThe probe can reach a maximum depth of 50m Maximum Travel Range/Duration3 Km from the coast, Can cover a distance of 22 Km Battery / Endurance 12 Li-Po (TopFuel 29.7 V, 5000mA 8S Long 30C) batteries Autonomy: 10 hours Typical Speed2,5-3 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 FeaturesOperating 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 FeaturesEmbedded Linux OS Special Features Emergency measuresInternal hulls high temperature detector Physical Parameter Temperature, PH, Turbidity, Conductivity, Oxid reduction potential, Nitrates, Dissolved Oxygen, plus optional sensors Biological Parameter Chemical ParameterHg, Cr, Cd, dispersed oil Working Temperature Range Calibration Off-Shore Recondition Times Life Running Cost / Year Material Replacing Cost / Year Total Cost ApplicationLagoon and river monitoring of water chemical pollutants (heavy metal and oil). Operational Modes The 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 SizeL x W x H: 2.29m x 1.12m x 0.58m MaterialsCarbon fiber Power Consumption~ 150W (12V 12.5Ah) Wing span Antenna mast length Weight Maximum Depth Maximum Travel Range/DurationCan cover a distance of 20 Km Battery / EnduranceAbout 10 hours Typical SpeedAbout 2 Knots (Maximum Speed About 4 Knots) Glide Angle Mechanical Features Two independent inboard propeller motors. 4 Pumps to feed 4 different sensors Electrical Features Two 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 FeaturesEmbedded Linux OS Special Features Emergency measures Physical Parameter Biological Parameter Chemical ParameterHg, Cr, Cd, dispersed oil Working Temperature Range Calibration Off-Shore Recondition Times Life10 years Running Cost / Year50,000 € Material Replacing Cost / Year9,000 € Total Cost110,000 €

11 Livorno - January 31th, 2012Giacomo Saviozzi11 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

12 12Livorno - January 31th, 2012Giacomo Saviozzi The HydroNet – 2 nd Newsletters nonTechnical Management

13 La 3 a 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). HydroNet Network di Robot sensorizzati di superficie per il Monitoraggio delle Acque La 3 a Newsletter di HydroNet 28 – 01 – 2012 Coordinatore del Progetto: Prof. Paolo Dario Scuola Superiore Sant’Anna – SSSA Istituto di BioRobotica Pontedera, Pisa (Italy) Tel: Fax:

14 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, 2012Giacomo Saviozzi

15 Livorno - January 31th, 2012Giacomo Saviozzi15 All the HydroNet platform has been tested and validated at the planned demonstration sites The HydroNet Official Demonstrations nonTechnical Management 1. Marano Lagoon (Italy) 2. Soča/Isonzo River (Slovenia) 3. Coastal area of Livorno (Italy)

16 WASS CNR- INSEAN Ageotec Drass Galeazzi GeoPolaris Labromare Livorno Coast Guard Sielco NATO Undersea Research Centre Improved Contacts Giacomo Saviozzi Livorno- January 30th, 2012 nonTechnical Management 16

17 Livorno - January 31th, Conclusions Giacomo Saviozzi Today’s awareness for tomorrow’s commitments We have: an excellent research prototype Society 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 need for the Earth wellness


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