Final Review Meeting Livorno, Italy January 30-31, 2012 Partner name: SSSA Working Team: WP leaders, SSSA Administrative Team Speaker name: Giacomo Saviozzi

Technical Management: cooperation for integration From Sensor Devices (SDs) needs: catamaran fluidic subsystem scheme, simplified scheme for flat-boat Water Decoupling SDs Fluidic interface 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. Livorno - January 31th , 2012 Giacomo Saviozzi

catamaran and flat-boat 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 Livorno - January 31th , 2012 Giacomo Saviozzi

Technical Management: cooperation for integration 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 Livorno - January 31th , 2012 Giacomo Saviozzi

Technical Management: cooperation for integration HydroNet Hg/HUJI SD datasheet Sensor ID HUJI_Hg_X * Chemical Parameter Parameter sensor can detect: Hg(II) (mg/l) Working Temperature Range 5 - 50 0C Water needed to measure + rinse Min 2 ml , Max 5 ml / cycle Calibration 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 / cycle Discharge mode Tube n° 8 (autonomous mode) Internal Operating Voltage 12 V Power Consumption Sleeping mode: 4 W Average: 12 W Max in Operating Mode: 20 W Weight Min 4 Kg , Max 5 Kg Life 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 / Year ca.100 EUR (no manpower, no electrode replacing) Electrodes Replacing Cost ca. 300 EUR Full Sensor Cost ca. 5200 EUR (no R&D) Returned Values (informatic) Output messages in the same measurement: 1 Concentration 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 Livorno - January 31th , 2012 Giacomo Saviozzi

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

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

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

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

Flat-boat Catamaran datasheets Application Lagoon 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 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 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 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 € 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 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 / Endurance 12 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 Flat-boat Catamaran datasheets Livorno - January 31th , 2012 Giacomo Saviozzi

Technical Management: cooperation for integration HSLU / Radio modules: Large messages Stream DEDALUS / AmI: mission save/restore, zoom, alert UOL / Dispersion models: subcontract for sediments IJS / Site characterization data: ARPAT missions for Livorno Coastal Sea Livorno - January 31th , 2012 Giacomo Saviozzi

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

La 3a Newsletter di HydroNet 28 – 01 – 2012 HydroNet Network di Robot sensorizzati di superficie per il Monitoraggio delle Acque La 3a Newsletter di HydroNet 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). Partner Coordinatore del Progetto: Prof. Paolo Dario Scuola Superiore Sant’Anna – SSSA Istituto di BioRobotica Pontedera, Pisa (Italy) Tel: +39-050883420 Fax: +39-050883497 Email: p.dario@sssup.it www.hydronet-project.eu

Ringrazia 2 Livorno - January 31th , 2012 Giacomo Saviozzi 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. 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. 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. 2 Livorno - January 31th , 2012 Giacomo Saviozzi

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

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

Conclusions 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 Livorno - January 31th , 2012 Giacomo Saviozzi