Is there life on Jupiter&#39;s moon Europa? An ocean suspected to be under miles of ice gives science hope. But how could it be reached and explored? Researchers at the DFKI Robotics Innovation Center have been investigating this question since 2012 in the Europa Explorer project series. The focus is on the development of robotic systems that can penetrate the water, explore it autonomously and remain there for a longer period of time. At the end of the third phase of the project, the autonomous underwater robot DeepLeng will now be put to the test in a frozen lake in northern Sweden.&nbsp;<img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1647686785744-csm_Deep_Leng-9963_b8f4a16cf7.jpg" style="width: 766px;" class="fr-fic fr-dib">DeepLeng in the Maritime Exploration Hall of the DFKI in Bremen &copy; DFKI, Annemarie PoppAn average of 600 million kilometers separates the earth from the icy moon Europa, one of the four large moons of Jupiter. Underneath its mighty shell of water ice an ocean is assumed about 100 km deep with hydrothermal vents at its bottom, which release hot and mineral-rich water into their surroundings, creating the basis for living organisms. As part of the German Aerospace Center&#39;s (DLR) Explorer Initiatives, the Robotics Innovation Center has been investigating how this highly interesting place for science could be explored. To this end, the researchers developed autonomous underwater vehicles (AUVs), which can navigate and explore its surroundings under an ice sheet autonomously, in three successive phases of the project. In the third phase of the Europa Explorer project for long-range under-ice navigation (EurEx-LUNa), the final field tests are ahead, in which the AUV DeepLeng will be tested for the first time outside the laboratory under realistic conditions: For this purpose, five DFKI scientists will travel to the small northern Swedish town of Abisko in the national park of the same name on Lake Tornetr&auml;sk from March 20 to April 2, 2022. Here, north of the Arctic Circle, with outside temperatures expected to be around minus 10 degrees, the underwater robot is to autonomously explore the frozen lake, which is up to 168 meters deep. Despite the freezing cold, it is a baptism of fire for the researchers, who are housed in a research station in Abisko for the duration of the field trials, to prove the feasibility of the concept for autonomous under-ice navigation. Once launched by the mobile crane, the hole in the ice allows only a brief glimpse of the three-meter-long system with its eye-catching yellow cover before it dives down and disappears completely under the ice shell. Here, the robot has to find its way around completely on its own in murky conditions, gather as much information as possible from its surroundings and then navigate back to the docking station, where it can transmit the data, it has collected and recharge its batteries.<img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1647686861679-csm_auv_detaches_from_dockingport_3771a69fbc.png" style="width: 766px;" class="fr-fic fr-dib">Animation of autonomous docking under ice. &copy; DFKI, Meltem FischerFor the success of this challenging mission, the researchers further developed both the AUV&#39;s hardware and software in the EurEx-LUNa project. Among other things, they equipped DeepLeng with an USBL underwater navigation system that can transmit, receive, and process acoustic signals. They also used machine learning to train the system to find its way even under the most adverse conditions and to dock safely at the docking interface. Now, the preliminary work in the project, as well as in the entire Europa Explorer project series, should pay off in the field tests in Sweden. As a continuation of the Europa Explorer and EurEx-SiLaNa projects, EurEx-LUNa is funded since March 1, 2020, until May 31, 2022, by the German Federal Ministry of Economics and Climate Protection (BMWK) via the German Aerospace Center (DLR). Note: For those who want to get a picture of the field trials in Sweden, a live camera will be installed on site. The images will be broadcast via YouTube. There will also be a field test blog where project leader Dr. Marc Hildebrandt will report daily on what has happened over the past day. The links to the live stream and the blog will be announced here in the next few days. More information: Project EurEx-LUNa: <a href="https://robotik.dfki-bremen.de/en/research/projects/eurex-luna/" rel="noreferrer" target="_blank">https://robotik.dfki-bremen.de/en/research/projects/eurex-luna/</a> System DeepLeng: <a href="https://robotik.dfki-bremen.de/en/research/robot-systems/deepleng/" rel="noreferrer" target="_blank">https://robotik.dfki-bremen.de/en/research/robot-systems/deepleng/</a> &nbsp;

The predecessor version of DeepLeng dives autonomously in the icy Stadtwaldsee in Bremen, Germany.  © DFKI, Annemarie Popp

Is there life on Jupiter's moon Europa? An ocean suspected to be under miles of ice gives science hope. But how could it be reached and explored? Researchers at the DFKI Robotics Innovation Center have been investigating this question since 2012 in the Europa Explorer project series.

On an icy mission: DFKI researchers test extraterrestrial under-ice navigation in northern Swedish National Park

Our seas and oceans currently contain somewhere between 26 and 66 million tonnes of plastic waste, most of which is lying on the seafloor. This represents an enormous threat to marine plants and animals and to the ecological balance of the seas.But removing waste from the waters is a complex and expensive process. It is often dangerous, too, because the work is generally done by scuba divers. The cleanup operations are also usually limited to the water surface. In the <a href="https://seaclear-project.eu/" rel="noreferrer" target="_blank">SeaClear Project</a>, a team at TUM is working with eight European partner institutions to develop a robotic system capable of collecting underwater litter. &nbsp;<h2>Four robots working together</h2>The system combines four robotic components: an autonomous surface vehicle performs an initial scan of the sea bottom and localizes large litter pockets. Next an observation robot is lowered into the water to detect undersea litter and transmit additional information to the computers such as close-up images of the sea bottom.In clear water and with good visibility, an aerial drone is also used to identify further litter objects. The resulting data are combined to generate a virtual map. A collection robot then visits defined points on the map and picks up litter. It uses a gripper to place larger pieces in a basket that is towed to shore by the autonomous boat.<div class="fr-img-space-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1641200382603-Seaclear_Foto.jpg" style="width: 766px;" class="fr-fic fr-dib">A system consisting of four robots ensures clean sea floors. Image: The SeaClear Project&nbsp;</div><h2 id="isPasted">The challenge of currents</h2>“Developing autonomous robots for underwater applications is a unique challenge” says Dr. Stefan Sosnowski, the technical director of the SeaClear project at the Chair of Information-oriented Control at TUM. That is because, in contrast to land-based applications, very special conditions prevail in the water. “When a piece of litter is identified and located, the robot needs to get close to it. To do so, it may need to overcome strong currents. The task of TUM in the SeaClear project is to enable the robot to move in the right direction.”<h2>Efficient machine learning</h2>To achieve this, the team is using machine learning methods. An artificial intelligence (AI) module performs calculations and learns the conditions under which the robot will move in certain ways. This makes it possible to predict its behavior precisely.“Another challenge is that we don’t have the computing power at our disposal that we would on dry land,” says Prof. Sandra Hirche, director of the chair and SeaClear principal investigator. “We do not have links to large data centers with supercomputers. So we need highly efficient algorithms that run with limited resources. We are therefore working with high-efficiency sampling methods that arrive at precise predictions with minimal data. The AI system simply discards unnecessary information.”<h2>90% success rate</h2>When the SeaClear system is fully operational, it is expected to achieve 80% accuracy in classifying underwater litter and to successfully collect 90% of it. This is comparable to the results produced by scuba divers. The initial trials with the prototype were carried out in October 2021 in Dubrovnik, Croatia, where the water is clear and visibility is excellent. Further trials are scheduled in the port of Hamburg in May 2022.<div class="fr-img-space-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1641200417136-First_Litter_Grabbed_1.jpeg" style="width: 766px;" class="fr-fic fr-dib">The research group of the SeaClear project observes the underwater activities of the robot on the monitor. Image: The SeaClear Project&nbsp;</div><hr><h3 id="isPasted">Publications:</h3>P. Bevanda, S. Sosnowski, S. Hirche, "Koopman operator dynamical models: Learning, analysis and control", Annual Reviews in Control , 2021, 52, 197-212 ,&nbsp;<a href="https://www.sciencedirect.com/science/article/abs/pii/S1367578821000729?via%3Dihub" rel="noreferrer" target="_blank">DOI:10.1016/j.arcontrol.2021.09.002</a>

The robot of the SeaClear Project is able to detect and collect underwater litter. Image: The SeaClear Project

Removing litter from oceans and seas is a costly and time-consuming process. As part of a European cooperative project, a team at the Technical University of Munich (TUM) is developing a robotic system that uses machine learning methods to locate and collect waste under water.

Robots collect underwater litter

Autonomous Underwater Vehicles (AUVs) play a vital role in fields such as hydrocarbon drilling and extraction, marine surveying and aquatic environmental monitoring. An AUV can perform functions in which it is difficult for divers to accomplish, and can descend to depths which would put human operators in danger.Most AUV products on the market today are large, capable of carrying heavy payloads, and fitted with a large battery to enable them to stay underwater for long periods of time. This type of product suits customers such as oil companies, which can afford the substantial cost not only to buy a large AUV, but to transport it to where it is needed, to manoeuvre it into position, and to operate it.UK-based marine products supplier <a href="https://planet-ocean.co.uk/wp/" rel="noopener" target="_blank">Planet Ocean</a> spotted that this left a gap in the market for a smaller, more affordable AUV. This realization spurred the development of <a href="https://planet-ocean.co.uk/wp/?page_id=4509" rel="noopener" target="_blank">ecoSUB</a>, a range of small, low-cost AUVs which can be easily carried, launched, operated and retrieved from the water by a single person.Its goal was to democratize the use of AUVs: to bring them within reach of all research institutes, universities, commercial users, users in less developed countries, and of other users who have limited resources.&nbsp;It turned out that the design of this innovative AUV required a motion tracking sensor which was both compact and accurate.<img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1619774171204-1619774171204.png" alt="Capture 2" width="1289" srcset="https://www.xsens.com/hs-fs/hubfs/Capture%202.png?width=645&amp;name=Capture%202.png 645w, https://www.xsens.com/hs-fs/hubfs/Capture%202.png?width=1289&amp;name=Capture%202.png 1289w, https://www.xsens.com/hs-fs/hubfs/Capture%202.png?width=1934&amp;name=Capture%202.png 1934w, https://www.xsens.com/hs-fs/hubfs/Capture%202.png?width=2578&amp;name=Capture%202.png 2578w, https://www.xsens.com/hs-fs/hubfs/Capture%202.png?width=3223&amp;name=Capture%202.png 3223w, https://www.xsens.com/hs-fs/hubfs/Capture%202.png?width=3867&amp;name=Capture%202.png 3867w" sizes="(max-width: 1289px) 100vw, 1289px" class="fr-fic fr-dii" style="width: 777px;">Xsens makes accurate underwater navigation possibleThe efficient operation of the ecoSUB AUV calls for accurate location data derived by the dead reckoning technique. On the surface of the water, geolocation is easy: satellite positioning signals determine position to a typical accuracy of ±5m.The satellites’ RF signals do not penetrate water, however, so the ecoSUB AUV determines its position by continuously tracking its motion relative to its launch point on the surface.&nbsp;For this motion tracking function, ecoSUB uses the <a href="https://www.xsens.com/inertial-sensor-modules" rel="noopener" target="_blank">Xsens MTi-3 AHRS</a> (Attitude and Heading Reference System), together with a discrete pressure sensor for depth measurement. The MTi-3 sensor provides the ecoSUB with highly accurate measurements of roll, pitch, heading and acceleration. The ecoSUB’s on-board computer continuously converts these measurements into position coordinates.<iframe src="https://www.youtube.com/embed/7EEqPm0ylWk?&amp;t=6s&amp;wmode=opaque&amp;rel=0" frameborder="0" allowfullscreen="" class="fr-draggable" style="width: 788px; height: 501px;"></iframe>The especially challenging requirements of designing a small and light AUV made the Xsens motion tracking sensor the ideal fit.&nbsp;‘The fundamental design objective for the ecoSUB was to make an AUV that was small and light enough for an average person to lift, while still having enough load-carrying capacity and range to perform useful tasks. Our design for the ecoSUB fits an “A” size sonar buoy tube – it is 1m long, and weighs just 4kg. To optimize the ecoSUB’s range and dynamic characteristics, we needed to apportion as much of the internal space as possible to the battery and the motor. So the motion sensor and the rest of the control electronics system have to be packed in a small space, in the presence of the strong magnetic fields generated by the motor system. And of course the accuracy of the AUV’s position data is absolutely crucial. When the AUV is being used for instance to detect an oil leak or to monitor variations in the oxygen content of sea water, users need to know exactly where in three dimensions it has taken its measurements.’Jeremy Sitbon, ecoSUB Chief Robotics EngineerXsens MTi-3 motion tracker: Small, light, reliableThe constraints applying to the design of the ecoSUB meant the motion sensor had to offer three essential characteristics:<ul><li>High accuracy in the sensor’s motion tracking data&nbsp;</li><li>Dependability, with high immunity to magnetic interference</li><li>Small size and weight</li></ul>The Xsens MTi-3 AHRS delivers on all three counts. The MTi-3 integrates multiple sensor functions including 3D accelerometer, gyroscope and magnetometer plus a processor.The accuracy of the sensor’s static measurements of roll and pitch is ±0.5°, and for yaw the value is ±2°. In use, the ecoSUB typically achieves positioning accuracy of ±5% of the distance travelled when using only the MTi-3 motion sensor and the pressure sensor measurements.The accuracy of the sensor’s measurements remains stable regardless of changes in the magnetic field around it. The ecoSUB designers have made full use of the sophisticated filtering capabilities built into the MTi-3 sensor: the sensor can be configured for operation in various types of operating environments, including for continuous strong magnetic interference. This is ideal for the ecoSUB, in which the propellers are coupled to the motor magnetically.All functionality is squeezed into a compact package which measures just 12.1 x 12.1 x 2.55mm and weighs less than 1g. Typical power consumption is less than 100mW, helping the ecoSUB’s battery to last longer and extend the vehicle’s range.Opening up the use of AUVs to whole new market segmentsAfter completing sea trials, the innovative ecoSUB AUV went into full commercial production in 2020. Jeremy Sitbon says that Planet Ocean is excited about the possibility of introducing a new generation of users to the utility of AUVs. The ecoSUB’s capabilities include acoustic (sonar) communication, enabling multiple ecoSUB AUVs to be used concurrently in ‘shoals’ to give a 3D picture of subsea conditions. The ecoSUB can act like a marine ‘truck’ – a carrier for almost any type of sensor or other payload, so the potential for its use is almost limitless.<blockquote>‘The success of the product comes down to our ability to pack a lot of functionality and performance into a very small space. Our decision to use the MTi-3 played a really important part in our ability to make this design successful. I’m very happy that we made the right choice!’</blockquote>Jeremy Sitbon, ecoSUB Chief Robotics Engineer&nbsp;Learn more about the <a href="https://www.xsens.com/mti-3" rel="noopener" target="_blank">Xsens MTi-3 AHRS</a>&nbsp;here.Choosing your productWant to know the right inertial measurement unit for your application? Try our recommendation tool and find out what MTi you need by answering just 3 questions.<a href="https://www.xsens.com/cs/c/?cta_guid=e67ae0db-e496-4b1b-aaae-0f33c66a97bb&signature=AAH58kERCATymf5UB4b7WHUo8PJHsSLMlQ&pageId=42748316968&placement_guid=0e0cf390-8244-48ac-aa9c-cc22448b3988&click=38fa5093-baba-426c-92e2-244e329bd831&hsutk=26cd9f0233255f079c3a3909dd662892&canon=https%3A%2F%2Fwww.xsens.com%2Fcases%2Fsmall-light-and-accurate-xsens-mti-3-sensor-helps-planet-ocean-open-up-new-markets-for-autonomous-underwater-vehicles&utm_referrer=https%3A%2F%2Fwww.xsens.com%2Fexplore%3Ffilter%3Dcases&portal_id=3446270&redirect_url=APefjpHFi12gvYuHqoWSZfHrIGqiyim6_ONHhAlUSf5P2fSu9LX3yPDWqIEBNMTq7zPbzoK-WfoIZg8Bfa15xkMpbz1GkbkzFFTzUwGCgcPUASxo3Mq8GkOyNHKblRAbv48KApkSyYPNJwvTLiTVMI_w5QhewNpuAjHGGtTfSn2xG8nR_UcoJBph_ito-8xtKFpTW9QoAoROG3GmG8mI-y8TDzizVxJguxXZRuSkE0Jr3QNx52alDInkfDxEm_QGTqfCxOEdsmfaCQUt-NiFKNTC_MtmiftGKw&__hstc=81749512.26cd9f0233255f079c3a3909dd662892.1612181589013.1619708666522.1619773674521.185&__hssc=81749512.8.1619773674521&__hsfp=1627031933&contentType=blog-post" target="_blank" title="Recommendation tool">Recommendation tool</a>&nbsp;

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Xsens AHRS Enables Planet Ocean To Open Up New Markets For Autonomous Underwater Vehicles

In this episode, we talk about Charm Industrial’s novel approach for carbon offsetting, a concept fitness drone from Hongik University that could be the first to commercialize, and a joint effort between MIT and the US Navy to understand how sound waves are altered by water conditions in the North Pole. As always, you can find these and other interesting &amp; impactful engineering articles on Wevolver.com.&nbsp;<iframe height="200px" width="100%" frameborder="no" scrolling="no" seamless="" src="https://player.simplecast.com/e71ade31-1622-42a8-93a9-a489df82c655?dark=false" class="fr-draggable" data-lf-form-tracking-inspected-kn9eq4roawkarlvp="true" data-lf-yt-playback-inspected-kn9eq4roawkarlvp="true" data-lf-vimeo-playback-inspected-kn9eq4roawkarlvp="true"></iframe><h3>EPISODE NOTES</h3>(0:50) - A Charming Response To The Carbon Offsetting Controversy:&nbsp;Approximately 85% of all carbon offsetting efforts do not actually remove any additional carbon dioxide from the atmosphere and Charm wants to change that by injecting bio oil into wells that stored crude oil at one point.(8:10) - Drones As Personal Fitness Instructors<a href="https://www.wevolver.com/article/organic-material-may-help-design-energy-efficient-heating-and-cooling-systems" target="_blank">:</a>Drones are finally making their debut in the fitness scene with a concept design from Hongik University that could serve as the first commercially viable fitness drone and pave the way for the future of the industry.&nbsp;(14:20) - MIT &amp; ONR’s Trip To The North Pole:Acoustic signals get distorted in regions of the ocean where warm water meets cold water - especially in the Beaufort Sea - so MIT has collaborated with ONR to understand these distortions in hopes of allowing exploration in these regions without risking loss of communication.--About the podcast:Every day, some of the most innovative universities, companies, and individual technology developers share their knowledge on Wevolver. To ensure we can also provide this knowledge for the growing group of podcast listeners, we started a collaboration with two young engineers, Daniel Scott Mitchell &amp; Farbod Moghaddam who discuss the most interesting content in this podcast series.&nbsp;To learn more about this show, please visit the&nbsp;<a href="https://www.wevolver.com/profile/the.next.byte" target="_blank">shows page</a>. By following the page, you will get automatic updates by email when a new show is published.Be sure to give us a follow and review on <a href="https://podcasts.apple.com/nl/podcast/the-next-byte/id1548255861?l=en" rel="nofollow" target="_blank">Apple</a> podcasts, <a href="https://open.spotify.com/show/6lPPsRtegnivsRUEsQ09R7?si=IPMiah7xT_apJtPjqvXMlA" rel="nofollow" target="_blank">Spotify</a>, and most of your favorite podcast platforms!

In this episode, we talk about Charm Industrial’s novel approach for carbon offsetting, a concept fitness drone from Hongik University that could be the first to commercialize, and a joint effort between MIT and US Navy to understand how sound waves are altered by water conditions in the North Pole.

Podcast: Charm's Carbon Offsets, Fitness Trainer Drones, MIT Studies Sound Waves In The North Pole

The deployment of divers to make underwater video recordings is difficult and expensive. It calls for professionals who are trained in two disciplines: diving and video camera operation. There are even some video inspection tasks – such as recording pictures of the inside of an undersea pipe – which are impossible for divers because the location is inaccessible to a person, or too dangerous.Now a Russian manufacturer, <a href="https://gnomrov.com/" rel="noopener" target="_blank">Underwater Robotics</a>, has developed a Remotely Operated underwater Vehicle (ROV) which can carry out video photography missions under the control of an operator who remains safe and dry on the surface of the water. Underwater Robotics’ GNOM-PRO, the world’s smallest and lightest ROV designed for video recording missions, enables users to perform underwater visual inspections without the need for a diver. It also provides a safe way to view small or hazardous locations underwater.Offering outstanding underwater dynamic characteristics, its motion is controlled simply with a joystick. And the key to its stability and ease of use is a <a href="https://www.xsens.com/inertial-sensor-modules" rel="noopener" target="_blank">3D motion sensor</a> from Xsens.Complete motion-tracking module speeds development of ROVXsens’ MTi-3 is a complete AHRS (Attitude and Heading Reference System) including gyroscopes, accelerometers and magnetometer in a 12.1 x 12.1 mm module. It includes Xsens’ industry-leading sensor fusion algorithm, which maintains high accuracy over the sensor’s lifetime, and performs sensor auto-calibration. The use of an integrated Xsens module enabled Underwater Robotics to develop the motion control system in the GNOM-PRO quickly. The module’s calculated measurements of roll, pitch and heading are also easy to integrate into the GNOM-PRO’s control software.When choosing the motion sensor for the GNOM-PRO, Underwater Robotics also carefully considered its size and weight. An important feature of the ROV is that it can be carried by hand: the complete system including the ROV and its maximum 400m-long tether fits in two portable cases. The ROV itself measures 520 x 440 m x 347 mm and weighs 25 kg: this means that it can easily be transported to the site of a mission, and launched and operated from almost any type of boat. Its compact size also means that it can be used in constricted spaces such as pipelines in which a conventional ROV will not fit.The MTi-3 sensor’s small size and its light weight, less than 1g, were therefore highly attractive. But Underwater Robotics’ choice of the MTi-3 was as much about the sensor’s dynamic characteristics. The GNOM-PRO is intended for use in monitoring and maintenance of marine and underwater installations such as oil production platforms and hydroelectric generation plants, for the inspection of ships’ hulls, and for monitoring functions in hazardous locations such as nuclear power plants. Its use as a video camera platform calls for high dynamic stability to ensure that video images are not impaired by blur, shake or other image artefacts.Maintaining stability in waterThe GNOM-PRO’s small size and light weight, however, mean that it is more strongly affected by the motion of waves and currents than a larger vehicle is. The MTi-3’s high performance, including roll and pitch accuracy of ±0.5° under static conditions (±0.8° under dynamic conditions), enables the operator to maintain stable orientation. The GNOM-PRO also has an Auto-Heading Mode to enable the operator to set its direction of travel via an automatic setting controlled by the heading output from the MTi-3. In addition, the MTi-3 sensor’s measurements of velocity, roll, pitch and yaw enable accurate dead reckoning from a known starting position, to establish the geolocation of the ROV.<img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1618320084977-1618320084977.png" alt="352" width="814" srcset="https://www.xsens.com/hs-fs/hubfs/352.jpg?width=407&amp;name=352.jpg 407w, https://www.xsens.com/hs-fs/hubfs/352.jpg?width=814&amp;name=352.jpg 814w, https://www.xsens.com/hs-fs/hubfs/352.jpg?width=1221&amp;name=352.jpg 1221w, https://www.xsens.com/hs-fs/hubfs/352.jpg?width=1628&amp;name=352.jpg 1628w, https://www.xsens.com/hs-fs/hubfs/352.jpg?width=2035&amp;name=352.jpg 2035w, https://www.xsens.com/hs-fs/hubfs/352.jpg?width=2442&amp;name=352.jpg 2442w" sizes="(max-width: 814px) 100vw, 814px" class="fr-fic fr-dii">Underwater Robotics decided to embed the MTi-3 in the GNOM-PRO ROV after exhaustive evaluation of the motion sensor market.&nbsp;‘On every parameter which we considered important, our evaluation pointed us towards the MTi motion tracker. It is a full-function motion tracker including sensor fusion software, but Xsens fits all the functionality into a small and light package, which is very important for a portable product such as the GNOM-PRO. But the small size does not compromise performance – the accuracy of the MTi-3’s measurements are very good, and in conjunction with the depth measurements provided by a separate pressure sensor, allows the user to tag each frame of video with an exact geolocation.The performance of the GNOM-PRO ROV with the MTi-3 sensor has brought us great success – the product is now in use around the world in countries including France, Italy, Germany, Spain, the US and India as well as Russia. That is why I am sure that we made the right decision to use the MTi-3.’Boris Rozman, CEO of Underwater RoboticsLearn more about the Xsens MTi-3 AHRS&nbsp;The MTi-3 stands out for its small form factor (12.1mm x 12.1mm), easy integration, low cost and robustness – as well as its strapdown integration algorithm.Want to know more? Go to the <a href="https://www.xsens.com/mti-3" rel="noopener noreferrer" target="_blank">MTi-3 page</a>.

ROV With Xsens MTi-3 Sensor Inside Performs Geotagged Visual Inspections Underwater

In this webinar (July 2020) we take the first public in-depth look at the Reach Bravo underwater robotic arm system and answer attendees questions.

WEBINAR Reach Bravo - A New Underwater Robotic Arm - Demo and Q&A

Whether in murky waters, cramped ship tanks or caves with little light – poor visibility conditions have a huge impact on the environmental perception of autonomous robots. How can they still operate safely and reliably? In the new DeeperSense project, an international consortium led by the German Research Center for Artificial Intelligence (DFKI) is working on technologies that combine the strengths of visual and acoustic sensors with the help of artificial intelligence. The aim is to significantly improve the perception of robotic underwater vehicles in three use cases from the maritime sector. The project is funded by the European Union (EU) with around 3 million euros.&nbsp;The possible applications of robotic systems are numerous. However, in practice, there is often a lack of functional technologies that enable autonomous robots to comprehensively perceive complex environments. Visual sensors such as cameras, which are used in robotics for tasks such as autonomous navigation, manipulation, mapping and object recognition, provide detailed information about the environment. However, their performance is highly dependent on the prevailing light and visibility conditions. In contrast, acoustic sensors for distance measurement are independent of visibility conditions. They also generate image-like data, but with a significantly lower resolution than cameras. In addition, their functionality is severely limited at close range.<h2>Intelligent technologies for practicable robot systems in complex environments</h2>This is where the DeeperSense (Deep-Learning for Multimodal Sensor Fusion) project comes into play, which started on January 1, 2021. The overall objective of the project, which is funded under the EU's Horizon 2020 research framework program, is to significantly improve the environmental perception of service robots, especially in complex and unstructured environments such as underwater. To achieve this, the project pursues an innovative approach: by using artificial intelligence (AI), in particular deep learning as a data-driven machine learning method, it aims to combine the strengths of non-visual and visual sensors to optimize their environment perception capabilities beyond those of the individual sensors. This should not only significantly increase the performance and reliability of autonomous systems, but also open up new functionalities and applications for robotics. <img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjE1NTk4MTM0NDEwLWNzbV9EZWVwZXJTZW5zZV9EaXZlcjJfd2ViX2FkZTM5NmUwNWUuanBnIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" style="width: 788px;" class="fr-fic fr-dib">Mission scenario: AUV monitors diver working under water. © Technisches Hilfswerk (THW)&nbsp; The DeeperSense concept will be demonstrated in three use cases from the particularly demanding underwater sector: diver monitoring in turbid waters, exploration of coral reefs, and seabed mapping. For this purpose, the project consortium brings together leading experts in the fields of maritime robotics, artificial intelligence and underwater sensor technology – the DFKI Robotics Innovation Center, the University of Girona, the University of Haifa and Kraken Robotik GmbH – with end users from the three different application areas – the German Federal Agency for Technical Relief (THW), the Israel Nature and Parks Authority and Tecnoambiente SL.<h2>Intersensory learning for improved environmental perception in underwater applications</h2>DeeperSense is based on the overarching concept of intersensory learning, in which a sensor modality B learns from a sensor modality A. This way, sensor B can provide output that is similar to that of sensor A – in terms of accuracy as well as the type of output and interpretation of the data. For this purpose, sensor A, e.g. a camera, and sensor B, e.g. a sonar, observe the same scene simultaneously. The collected low-resolution sonar data serves as input to an artificial neural network, while the high-resolution camera data serve as output. By gradually adapting the network to the desired output, it learns about the relationships between the input and output data. The result is an algorithm that, once sufficiently trained, is capable of generating a camera-like image based only on the low-resolution sonar data. In the project, this concept will be realized in three core algorithms that meet the specific requirements of the use cases.In the first use case, an autonomous underwater vehicle (AUV) is used to monitor divers at work in turbid waters. Usually, a remote-controlled robot with a camera is used for this purpose, which transmits its data to a control station. However, since optical sensors can only be used to a limited extent underwater, the project partners are also equipping the AUV with a sonar sensor. In DeeperSense, they want to teach this sensor to deliver camera-like images that can be easily interpreted by human personnel at the control station.The second use case deals with the robotic exploration of complex and sensitive underwater structures such as coral reefs. In order to create detailed environmental maps for reliable obstacle detection, the project relies on a combination of visual and acoustic sensors. Here, the challenge will be to reconcile the differing image perspectives. For this purpose, the planned algorithm must be able to recognize objects identified in the data from one sensor in the data of the other. This way, autonomous robots will be able to navigate through a coral reef instead of just going over it. <div class="fr-img-space-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjE1NTk4MjI1NDIxLURlZXBlclNlbnNlX0NvcmFsUmVlZl93ZWIuanBnIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" style="width: 788px;" class="fr-fic fr-dib">With DeeperSense AUVs will be able to explore coral reefs at close range. © Israel Nature and Parks Authority (INPA)&nbsp;Finally, in the third use case, the partners want to enable an AUV to generate precise maps of the seafloor. These surveys are typically carried out by ships, which is very expensive. Cameras usually provide supplementary information to verify acoustic data. However, this method is not practical in the darkness of deep waters. In the project, the AUV will use various acoustic sensors to classify sediments on the seafloor. With the help of the DeeperSense concept, the acoustic sensors learn to produce annotated maps of different types of seafloor, just as detailed as it would be possible with cameras under good visibility conditions.</div> <h2>Algorithm development and optimization in the laboratory and under real conditions</h2>During the project, the partners will generate comprehensive training data for the three use cases. The algorithms will be trained using this data and tested under real conditions both in the laboratory and in extensive field tests – in inland waters, in the Mediterranean and the Red Sea. Eventually, the trained algorithms will be optimized for on-board use by underwater vehicles in order to enable real-time execution to support the autonomous robot’s behaviour. The consortium intends to make the results available to the robotics community in online repositories embedded in European research infrastructures.

In the new DeeperSense project, an international consortium led by the German Research Center for Artificial Intelligence (DFKI) is working on technologies that combine the strengths of visual and acoustic sensors with the help of artificial intelligence.

Artificial Intelligence To Optimize The Environmental Perception Of Underwater Robots

The work blurs the boundary between materials and robots. In the self-propelled devices, the material itself makes the machine function. "Our examples show that we can use structured materials that deform in response to environmental cues, to control and propel robots," says Daraio, professor of mechanical engineering and applied physics in Caltech's Division of Engineering and Applied Science, and corresponding author of a paper unveiling the robots that appears in the Proceedings of the National Academy of Sciences&nbsp;on May 15.The new propulsion system relies on strips of a flexible polymer that is curled when cold and stretches out when warm. The polymer is positioned to activate a switch inside the robot's body, that is in turn attached to a paddle that rows it forward like a rowboat.The switch is made from a bistable element, which is a component that can be stable in two distinct geometries. In this case, it is built from strips of an elastic material that, when pushed on by the polymer, snaps from one position to another.<iframe src="https://www.youtube.com/embed/tBxb1A6boTI?&amp;wmode=opaque" allowfullscreen="" class="fr-draggable" style="width: 767px; height: 439px;" frameborder="0"></iframe>When the cold robot is placed in warm water, the polymer stretches out, activates the switch, and the resulting sudden release of energy paddles the robot forward. The polymer strips can also be "tuned" to give specific responses at different times: that is, a thicker strip will take longer to warm up, stretch out, and ultimately activate its paddle than a thinner strip. This tunability allows the team to design robots capable of turning and moving at different speeds.The research builds on previous work by Daraio and Dennis Kochmann, professor of aerospace at Caltech. They used chains of <a href="http://www.caltech.edu/news/utility-instability-51629" target="_blank">bistable elements to transmit signals and build computer-like logic gates</a>.<img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1564499883153-Screenshot_2019-07-30+Harnessing+bistability+for+directional+propulsion+of+soft%2C+untethered+robots+-+5698+full+pdf%281%29.png" style="width: 766px;" class="fr-fic fr-dib">In the latest iteration of the design, Daraio's team and collaborators were able to link up the polymer elements and switches in such a way to make a four-paddled robot propel itself forward, drop off a small payload (in this case, a token with a Caltech seal emblazoned on it), and then paddle backward.&nbsp;"Combining simple motions together, we were able to embed programming into the material to carry out a sequence of complex behaviors," says Caltech postdoctoral scholar Osama R. Bilal, co-first author of the PNASpaper. In the future, more functionalities and responsivities can be added, for example using polymers that respond to other environmental cues, like pH or salinity. Future versions of the robots could contain chemical spills or, on a smaller scale, deliver drugs, the researchers say.<img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1564499825448-1.jpg" style="width: 766px;" class="fr-fic fr-dib">Currently, when the bistable elements snap and release their energy, they must be manually reset in order to work again. Next, the team plans to explore ways to redesign the bistable elements so that they are self-resetting when water temperature shifts again—making them potentially capable of swimming on indefinitely, so long as water temperature keeps fluctuating.The PNAS&nbsp;paper is titled <a href="http://resolver.caltech.edu/CaltechAUTHORS:20180515-101708023" target="_blank">"Harnessing bistability for directional propulsion of soft, untethered robots."</a> Daraio and Bilal collaborated with Tian Chen and Kristina Shea from ETH in Zurich. This research was supported by the Army Research Office and an ETH postdoctoral fellowship to Bilal.

 An artist's rendering of the new design for a robot that uses material deformation to propel itself through water. 

Engineers have developed robots capable of self-propulsion without using any motors, servos, or power supply. Instead, these first-of-their-kind devices paddle through water as the material they are constructed from deforms with temperature changes.

autonomous underwater vehicles (AUVs)

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