<h1 id="isPasted">Wired for Autonomy: Confronting PCBA Complexities in Mobile Robotics</h1><section><p>The field of untethered robotics is booming, and across industries, autonomous robots are rapidly assuming responsibility for an increasing number of tasks. In their expansion into increasingly diverse industries, these robots place additional demands on their internal workings, specifically the PCBAs that help them function.</p><p>However, developing PCBAs for autonomous robot systems presents several unique challenges that electrical engineers must overcome to succeed. We take a deep dive into these challenges by exploring design considerations beyond those associated with conventional PCBAs.</p><h3>Beyond the Basics: Design Considerations for Autonomous Robots</h3><p>While core electrical principles remain a top priority, autonomous robotics introduces additional complexity to PCBA design that electrical engineers must consider from day one. To function properly, these machines must anticipate and plan for the unexpected in harsh, changing conditions.</p><p>Intuitive Machines’ Odysseus moon lander recently brought this to light, when the private spacecraft <a href="https://www.reuters.com/technology/space/moon-lander-described-alive-well-day-after-white-knuckle-lunar-touchdown-2024-02-23/" target="_blank">landed on the moon’s surface</a>. As much as the sideways landing attracted media attention, few reports focused on last-minute troubleshooting that kept the mission afloat, a testament to the quick-thinking nature of the engineers involved.</p><p>Here are some of the important factors to consider when designing PCBAs for untethered robotics:</p><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1713979758192-1713979758192.png" alt="Autonomous robot design considerations" class="fr-fic fr-dii"><ul><li><strong>PCBAs Must Prioritize Efficiency:</strong> Untethered robots almost entirely rely on batteries, so PCBAs must focus on efficiency. The key to this is meticulous component selection, such as using low-power microcontrollers and efficient voltage regulators, as well as excellent circuit design that minimizes standby currents. Using clock gating also maximizes battery life and reduces heat generation.</li><li><strong>Maintain Signal Integrity Amid Noise:</strong> Robots operate in dynamic environments with <a href="https://www.macrofab.com/blog/bypass-caps-decouple-your-way-to-cleaner-power/" target="_blank">potential electrical noise</a> from motors, sensors, and external sources. EMI can wreak havoc on robotic sensors, causing glitches, calibration issues, or even complete sensor failure. Consider layout strategies in detail to cut crosstalk and ground loops and maintain clear signal transmission.</li><li><strong>Build for Endurance:</strong> Many robots are subjected to extreme temperatures, temperature fluctuations, vibrations, and shocks. Use ruggedized PCBA boards that have components with adequate vibration and temperature ratings. To prevent overheating, soldering must be properly performed to handle thermal expansion and contraction, mechanical fatigue, and dust and moisture infiltration. Enclosures need to protect against dust and moisture egress.</li><li><strong>Size Matters:</strong> Robots must be mobile, so PCBAs must also be compact and lightweight to minimize robot weight. Choose wisely when choosing mechanisms within your robot, like vacuum track-based models or electromagnetic ones. They may increase the mass of your robot and reduce maneuverability. High-density interconnect (HDI) techniques and minimizing wasted space become crucial.</li><li><strong>Don’t Compromise Reliability:</strong> Autonomous robots, operating alone, demand ultra-reliable PCBAs to minimize failure. Filtering tackles this by reducing sensor noise for cleaner data, smoothing data for fewer errors, extracting key features for better navigation, and even lowering processing load for faster decision-making. Redundancy and fail-safe features further enhance reliability.</li><li><strong>Play by the Rules:</strong> Robots must comply with <a href="https://www.macrofab.com/blog/safeguarding-pcba-design-from-electromagnetic-interference/" target="_blank">Electromagnetic Compatibility (EMC) regulations</a> to ensure proper operation and avoid interfering with other electronic devices. Shielding techniques and filtering components become necessary.</li><li><strong>Ensure Maintainability:</strong> After assembling, it’s crucial to diagnose faults and perform maintenance. Make sure test points are conveniently accessible after the final assembly. Consider implementing Built-in Test (BIT) features on the PCBA for self-diagnostic features or options for wireless troubleshooting.</li></ul><h2><br></h2><h3>The Unexpected Factors: When Biology Interferes</h3><p>Biological influences are often overlooked when designing PCBAs for autonomous robotics but are an important factor. Autonomous robotics may work in many different environments, encountering biological challenges that can undermine even the most robust and reliable designs.</p><h3><p>Biofouling</p></h3><p>Biofouling, or the accumulation of microorganisms on surfaces, happens most frequently in aquatic environments. However, this issue can also occur within humid industrial settings or food processing facilities. Biofouling causes issues in many ways including:</p><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1713979758511-1713979758511.png" alt="Biofouling" class="fr-fic fr-dii"><ul><li><strong>Reduced Performance:</strong> Fouling on sensors, thrusters, and hulls can decrease efficiency and accuracy. As a result, sensors become less sensitive, propellers drag more, and overall power consumption increases. Special coatings applied to surfaces can deter organism attachment.</li><li><strong>Problems with Navigation:</strong> Fouling on navigational equipment leads to positioning and localization errors, which make it difficult for the robot to map its surroundings, keep its trajectory, and reach its destination.</li><li><strong>Maintenance Issues:</strong> Regular cleaning to remove biofouling is essential, particularly in remote locations. As a result, downtime occurs and reduces operational efficiency. Prevent biofouling with brushes or wipers, as well as scheduled cleaning protocols.</li><li><strong>Damage and Disruption:</strong> Biofouling can cause physical damage by promoting barnacle growth and corroding structures. Choosing materials that discourage organism growth is a passive defense, and monitoring systems can detect biofouling early and trigger automatic cleaning.</li></ul><p>Especially within industrial and food processing industries, biofouling can create a surprising but challenging issue for logistics robotics in order fulfillment, for example, or other autonomous vehicles. Make sure to consider this possibility when designing for specific applications.</p><h3><br></h3><h3>Biological Challenges Across Environments</h3><p>While biofouling dominates aquatic environments, other biological factors impact robots in other settings:</p><ul><li><strong>On Land:</strong> Dust, dirt, and debris can accumulate on sensors and cameras in terrestrial robots, hindering performance. Agricultural robots may encounter challenges with mud and plant debris.</li><li><strong>Airborne:</strong> Airborne robots face issues with dust, pollen, insects, and other airborne particles that can increase drag, reduce lift, and affect sensor accuracy.</li></ul><p>To address animal-related challenges, EEs can employ design strategies like:</p><p><strong>1. Physical Resilence:&nbsp;</strong></p><ul><li><strong>Challenge:</strong> Animals may chew on cables or antennas, causing malfunctions.</li><li><strong>Solution:</strong> Employ ruggedized components, reinforced substrates, and protective enclosures to enhance PCBA durability against physical damage from animal interactions. Additionally, utilize encapsulation and conformal coatings to safeguard critical components from moisture, dust, and possible damage by animals.</li></ul><p><strong>2. Sensor Integrity</strong>:</p><ul><li><strong>Challenge</strong>: Animals brushing against sensors can distort sensor inputs, leading to navigation errors.</li><li><strong>Solution:</strong> Design sensors with robust shielding, noise filtering capabilities, and redundancy features to ensure reliable operation and accurate data despite potential interference from animals. Develop strategies for preventing animals from brushing against sensors to keep distortions and navigational errors from happening. For example, anti-fouling paints or cages around the robot could prevent fouling, or sensors might be placed where animals cannot access them.</li></ul><p><strong>3. Mobility Optimization</strong>:</p><ul><li><strong>Challenge:</strong> Animals blocking pathways or obstructing movement can impede the robot’s forward progress.</li><li><strong>Solution:</strong> Develop strategies to address mobility constraints caused by animals blocking pathways or obstructing movement, ensuring that robots can navigate effectively and complete their objectives. This could include low-power LEDs or subtle sounds that encourage animals to move away. Optimize power management systems to maximize operational autonomy and extend battery life in resource-constrained environments where robots may interact with animals.</li></ul><h3>Security: The Next Level in AMR PCBA Design</h3><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1713979758575-1713979758575.png" alt="AMR PCBA security" class="fr-fic fr-dii"><p>AMR PCBA security</p><p>PCB design traditionally focuses on protecting against electrical malfunctions and physical damage. However, for AMRs (autonomous mobile robots) connected to the internet, cybersecurity emerges as a key concern. Hacking hazards present significant security risks. A compromised robot can open the door to major security breaches. Thus, incorporating encryption and secure boot mechanisms in PCBA design is essential to block unauthorized access.</p><p>Hardware Trojan Horses also pose a silent yet profound threat. These sneaky modifications, made during manufacturing, can go almost unnoticed. To counteract this, it’s critical to partner with trustworthy suppliers and employ hardware authentication methods.</p><p>Consider working with a partner with a connected technology platform that keeps you in touch with your manufacturing process from start to finish. Moreover, work with a partner that employs robust security practices and can provide proof of such, such as ISO and ITAR certifications, or membership in the ERAI, an organization established to <a href="https://www.macrofab.com/blog/electronics-industry-counterfeit-parts-problem/" target="_blank">combat counterfeit electronics</a> and high-risk components in the electronics industry. MacroFab holds these standards, and it is a member of ERAI.</p><p>Another challenge is the theft of PCBAs after robot deployment, especially those containing valuable intellectual property. Consider using tamper-evident seals or protective enclosures if you will be installing robotics in an unsupervised area.</p><p><strong>Want to read more about designing PCBAs for robotics? Read <a href="https://www.macrofab.com/documents/reshaping-robotics-how-pcba-advances-drive-tomorrows-autonomous-solutions/" target="_blank">Reshaping Robotics: How PCBA Advances Drive Tomorrow's Autonomous Soutions</a> now.</strong></p><h2><br></h2><h3>Conclusion: Embracing the Challenge</h3><p>The realm of PCBA design for autonomous robots transcends the traditional electrical engineer’s domain. While electrical fundamentals remain the cornerstone, navigating the complexities of this field necessitates venturing beyond the confines of the schematic. It’s a world where understanding environmental stresses, mitigating biological influences, and safeguarding against security vulnerabilities are equally critical.</p><p>By embracing these unique challenges and fostering a spirit of relentless innovation, electrical engineers will become the architects of a new era in robotics. The future holds immense potential for these autonomous machines, with robust, adaptable PCBAs serving as their foundation.</p><p><strong>Need PCBAs for your robotics project?&nbsp;</strong></p></section><p><a href="https://factory.macrofab.com/quick_quote?mbsy_source=c2dfbfd3-8c8b-4098-87b7-c7e0e06119ec&campaignid=62990&mbsy=6DBV3m" target="_blank">GET AN INSTANT QUOTE NOW</a></p><section><h5><br></h5></section><p><br></p>

Autonomous robotics must anticipate and plan for the unexpected, often in harsh, changing environments. We take a deep dive into these challenges by exploring design considerations beyond those associated with conventional PCBAs.

Wired for Autonomy: Confronting PCBA Complexities in Mobile Robotics

<p dir="ltr" id="isPasted">Microtunneling is a trenchless construction method using a remotely controlled, steerable tunnel-boring machine for underground pipeline installation. It minimizes surface disruption, making it ideal for urban and sensitive areas. This technique ensures precise pipeline alignment and involves simultaneous excavation and pipe installation, enhancing safety and efficiency. Widely used for utilities, microtunneling's precision and reduced environmental impact make it a preferred choice for constructing water, sewage, and other infrastructure systems in congested settings.</p><p dir="ltr">This article highlights the progress a young engineering student team from Switzerland has made with its self-developed micro tunnel boring machine. It describes the project on its way to revolutionizing the tunneling industry with specific regard to its innovative 3D-printing-like tunneling mechanism.</p><h2 dir="ltr">The Journey of Swissloop Tunneling</h2><p dir="ltr"><a href="https://swisslooptunneling.ch/" target="_blank">Swissloop Tunneling</a> is a student group from ETH Zurich that focuses on developing innovative tunneling technologies. This team, composed of students, works on designing and testing tunnel boring machines that incorporate advanced technologies and methods. Their efforts aim to enhance the efficiency and reduce the costs of tunneling processes, contributing to the broader goal of revolutionizing tunneling to facilitate ambitious infrastructure projects, including proposed systems like the Hyperloop transportation system.</p><p dir="ltr"><em><strong>Further reading:&nbsp;</strong></em><a href="https://www.wevolver.com/article/swissloop-tunneling-revolutionizing-the-tunneling-industry" target="_blank"><strong><em>Swissloop Tunneling: Revolutionizing the Tunneling Industry</em></strong></a></p><p dir="ltr">Throughout the last 3 years, over 100 Swissloop Tunneling members have made contributions to a common goal: unleashing the potential of time-, cost-, and resource-efficient tunneling. In this regard, innovation is needed to accelerate the infrastructural progress to benefit society by supporting the rapid expansion of connected underground systems. Therefore, Swissloop Tunneling aims to contribute to advancements in technology, demonstrated by its two iterations of prototypical tunnel boring machines since its founding in 2020.&nbsp;</p><p dir="ltr">Building upon its first model named Groundhog Alpha, the team has maintained the first machine components’ strengths while further extending it with technological add-ons, designing certain subsystems from scratch, conducting tests, and optimizing for higher reliability. Those efforts have now led to the current model Groundhog Beta.</p><h2 dir="ltr">The Groundhog Beta</h2><p dir="ltr">The current model of the association’s (micro) tunnel boring machine named Groundhog Beta consists, among others, of these functions:</p><h2 dir="ltr">Erosion</h2><p dir="ltr">Extracts and processes the underground material during the boring phase. At the front of the machine, where the cutterhead is placed, a special soil-conditioning foam is used to help decompose the sticky clay ground in Bastrop (TX), where the prototype was being tested. The erosion subsystem can further handle small to medium-sized rocks by crushing them into smaller pieces. A suctioning mechanism then transports the eroded material through and out of the machine. At this point, an external sedimentation system is ensuring a constant circulation of used water and the removal of the extracted material.</p><p dir="ltr"><span class="fr-img-caption fr-fic fr-dib" style="width: 790px;"><grammarly-extension data-grammarly-shadow-root="true" style="position: absolute; top: 0px; left: 0px; pointer-events: none;" class="dnXmp"></grammarly-extension><grammarly-extension data-grammarly-shadow-root="true" style="position: absolute; top: 0px; left: 0px; pointer-events: none;" class="dnXmp"></grammarly-extension><span class="fr-img-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNzEzNzExOTM0NDY1LXguanBnIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" style="width: 100%px;" class="fr-fic fr-dib" alt="groundhog-beta-soil-conditioning-foam"><span class="fr-inner" spellcheck="false">Fig. 1: Groundhog Beta tackling clay using soil conditioning foam</span></span></span></p><h2 dir="ltr">Navigation</h2><p dir="ltr">Consists of a two-component system. The steering component allows for angled digging and enables withholding stronger vibrations. It consists of a comprehensive sensory system to achieve an accurate autonomous movement of the machine. The propulsion component gets the machine moving forward by coordinated gripper plates that push the machine forward through the tunnel wall.</p><p dir="ltr"><span class="fr-img-caption fr-fic fr-dib" style="width: 790px;"><span class="fr-img-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNzEzNzEyMDA4NjA4LURTQzA1MDk5ICgxKS5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 100%px;" class="fr-fic fr-dib" alt="groundhog-beta-hydraulic-powered-propulsion"><span class="fr-inner" spellcheck="false">Fig. 2: Swissloop Tunneling's hydraulics-powered propulsion component</span></span></span></p><h2 dir="ltr">Starting platform</h2><p dir="ltr">Placed in the launching area or on the surface, the starting platform enables the machine to launch from various angles.</p><h2 dir="ltr">Tunnel liner</h2><p dir="ltr">One of the most innovative aspects of Groundhog Beta is its tunnel lining mechanism. The liner mechanism simultaneously builds the interior tunnel wall while continuously moving forward with the tunnel boring machine, acting like a 3D printer. As it stands right now, a mechanism of this type has not been tested in tunneling yet and provides an ecologically sustainable solution regarding the reusability of the wall material. By using a pneumatic system, a polypropylene granulate to later build the tunnel wall gets transported into the machine. It then gets extruded by melting it and steering the viscous material into the right shape, finally being cooled down to achieve its intended tunnel wall structure. This mechanism has been optimized since last year - especially in terms of reliability. Additionally, an external testing system was designed to make isolated testing of this subsystem’s functionality possible. In the end, a 15mm thick tunnel wall is produced, being able to withhold the intense forces of machine and earth pressure.</p><p dir="ltr"><span class="fr-img-caption fr-fic fr-dib" style="width: 790px;"><span class="fr-img-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNzEzNzExOTc1MDE2LURTQzA2NDY1LmpwZyIsImVkaXRzIjp7InJlc2l6ZSI6eyJ3aWR0aCI6OTUwLCJmaXQiOiJjb3ZlciJ9fX0=" style="width: 100%px;" class="fr-fic fr-dib" alt="groundhog-beta-tunnel-lining"><span class="fr-inner" spellcheck="false">Fig. 3: Polymer starting to come out of the tunnel lining component on the right</span></span></span></p><h2 dir="ltr">Achievements Over the Years</h2><p dir="ltr">In addition to refining the engineering processes, the Swissloop Tunneling team has consistently participated in every Not-a-Boring Competition an event aimed at fostering innovation in tunneling technologies. Not-a-Boring Competition is organized each year in the USA by The Boring Company, founded by Elon Musk.</p><p dir="ltr"><span contenteditable="false" draggable="true" class="fr-video fr-deletable fr-fvc fr-dvb fr-draggable"><iframe width="640" height="360" src="https://www.youtube.com/embed/OJ0tIHHXuS4??si=AofBJ4PDGhPfTxmg&amp;wmode=opaque&amp;rel=0&amp;enablejsapi=1&amp;origin=https://www.wevolver.com" frameborder="0" allowfullscreen="" class="fr-draggable" data-lf-form-tracking-inspected-kn9eq4roawkarlvp="true" data-lf-yt-playback-inspected-kn9eq4roawkarlvp="true" data-lf-vimeo-playback-inspected-kn9eq4roawkarlvp="true"><span class="fr-mk" style="display: none;">&nbsp;</span></iframe></span></p><p dir="ltr"><span contenteditable="false" draggable="true" class="fr-video fr-deletable fr-fvc fr-dvb fr-draggable"><iframe width="640" height="360" src="https://www.youtube.com/embed/osnFHy8KeYI?&amp;ab_channel=SwissloopTunneling&amp;wmode=opaque&amp;rel=0&amp;enablejsapi=1&amp;origin=https://www.wevolver.com" frameborder="0" allowfullscreen="" 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></span><br>The team has exhibited its excellence by winning awards for innovation and design at the first two competitions, held in Las Vegas (NV) in 2021 and Bastrop (TX) in 2023. Ahead of the 2024 competition in Bastrop, the team dedicated significant efforts to optimizing their machine and making key adaptations. These efforts paid off spectacularly at the Not-a-Boring Competition 2024, where Swissloop Tunneling triumphed by winning 1st Place Overall and the Champion Award.</p><p dir="ltr"><span class="fr-img-caption fr-fic fr-dib" style="width: 790px;"><span class="fr-img-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNzEzNzEyMDY1NjgyLURTQzA2MDg4LmpwZyIsImVkaXRzIjp7InJlc2l6ZSI6eyJ3aWR0aCI6OTUwLCJmaXQiOiJjb3ZlciJ9fX0=" style="width: 100%px;" class="fr-fic fr-dib" alt="swissloop-tunneling-team-picture"><span class="fr-inner" spellcheck="false">Fig. 4: The Swissloop Tunneling Team</span></span></span></p><p dir="ltr">With these achievements, the team remains committed to pushing the boundaries of innovation. Swissloop Tunneling will continue to enhance and refine its machinery, further developing its capabilities to fully realize the remarkable potential of advanced tunneling technology.</p><h2 dir="ltr">Conclusion</h2><p dir="ltr">The advancements in tunneling technology showcased by the recent developments of the micro tunnel boring machines are reshaping the landscape of construction and infrastructure. By integrating innovative 3D-printing-like methods for tunnel lining, these machines are setting new benchmarks for efficiency, cost-effectiveness, and environmental sustainability in tunnel construction.&nbsp;</p><p dir="ltr">Such technological breakthroughs promise to revolutionize urban development and the future of transportation, making the once-distant dreams of projects like the Hyperloop increasingly attainable.</p>

Innovative micro tunnel boring technologies are revolutionizing underground construction, setting new standards in efficiency and sustainability, and paving the way for future transformative infrastructure projects like the Hyperloop.

Transforming Underground Construction with Swissloop Tunneling

Sonar scan overlay with camera image in background.

Discover how sonar makes search and recovery missions safer and more effective, and explore the benefits of integrating Deep Trekker ROVs with sonar.

Sonar for Search and Recovery ROVs

Deep Trekker ROV controller with video feed and sonar overlay.

Learn more about what sonar is and its many uses. Read about its applications, technologies, principles, and more.

Sonar Systems: All You Need to Know

Deep Trekker ROV controller and software interface.

Learn about the software used by ROV companies. See how Deep Trekker uses its software to benefit the users of its products. 

What Types of Software Are Commonly Used For ROVs?

Deep Trekker PIVOT ROV investigating a shipwreck.

Discover how creating digital twins using ROVs enables efficient monitoring, and maintenance of underwater assets by exploring the capabilities of advanced modeling techniques.

Improving Underwater Asset Management with ROVs

Stantec 3D map model of a dam structure from the 1800's.

Discover how Deep Trekker ROVs are capable of conducting quality photogrammetry missions to create 3D models with unparalleled accuracy. 

Making a 3D Model with Deep Trekker ROVs

<section id="isPasted"><h2>A Brief Introduction to Photogrammetry</h2><p>Photogrammetry, a word derived from "photo" (light) and "metry" (measurement), is the art and science of creating precise 3D models using 2D images. It's a technology that allows us to turn photographs into detailed and accurate spatial representations. In this article, we'll explore the fundamentals of photogrammetry and how it's transforming the way we perceive and measure the world around us.</p><h3>The Photogrammetry Process</h3><p>The photogrammetry process involves capturing multiple images of an object or scene from various angles and then digitally stitching them together to form a 3D model. To achieve this, specialized cameras or remotely operated vehicles (ROVs) with high-resolution sensors are often used. This section delves into the step-by-step process of acquiring the necessary images and the subsequent software-driven transformation into a 3D model.</p><h3>Why Use Photogrammetry</h3><p>Photogrammetry enables the creation of highly accurate 3D models and measurements, offering a versatile and efficient solution for capturing, analyzing, and visualizing spatial data. Its applications span across many industries such as:</p><ul><li><p><strong>Revolutionizing Surveying and Mapping</strong> Surveying professionals are increasingly turning to photogrammetry for its ability to create precise and detailed maps, improving the accuracy of measurements and simplifying the surveying process.</p></li><li><p><strong>Reshaping Architectural Design</strong> Architects and designers now rely on photogrammetry to bring their creations to life in a more detailed and accurate way, transforming architectural design processes and the benefits it offers in creating immersive 3D models.</p></li><li><p><strong>Preserving Cultural Heritage</strong> Photogrammetry has become an indispensable tool for the preservation of cultural heritage. By turning historical artifacts and sites into 3D models, we're not only preserving our past but also enabling future generations to explore and appreciate it.</p></li><li><p><strong>Entertaining with Precision</strong> In the entertainment industry, photogrammetry is revolutionizing special effects and game development, transforming the entertainment world and the incredible realism it brings to movies, games, and virtual environments.</p></li><li><p><strong>Forensics</strong> Forensic investigators are using photogrammetry to piece together crime scenes in remarkable detail, making a significant impact in the world of forensics and crime scene analysis.</p></li></ul><p><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1708454085651-1708454085650.png" alt="photogrammetry castle capture " class="fr-fic fr-dii"></p><p>Epic Games bringing the Ethiopian UNESCO site into 3D</p></section><section><h2>Acquiring Photogrammetry Footage: From Planning to Precise Capture</h2><p>Acquiring photogrammetry footage involves a structured process that varies depending on the specific application and available tools. To illustrate this process, let's explore underwater mapping as a specific example.</p><h3>Planning for Precision</h3><p>Before the cameras start rolling, meticulous planning is the cornerstone of a successful photogrammetry project. It begins by defining the target area or object, determining optimal camera positions and angles, and taking into account variables such as lighting conditions, water clarity, and turbidity. Effective planning sets the stage for accurate data capture.</p><h3>The Art of Capturing Images</h3><p>With a well-defined plan in place, the next step is to capture the images. In underwater mapping, this can be achieved through the use of remotely operated vehicles (ROVs) equipped with high-definition cameras or by deploying dive teams. The Deep Trekker ROV, for example, offers the convenience of the Mission Planner feature, enabling autonomous navigation along a predefined route while capturing images from multiple perspectives.</p><h3>Navigating the Perfect Path</h3><p>The chosen route for image capture can vary, from a spiral or wave pattern to straight paths, but the ultimate goal is to cover the largest possible area.</p><p><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1708454067087-1708454067087.png" alt="ROV possible route chart " class="fr-fic fr-dii"></p><p>Achieving the best footage often requires a complete 360-degree rotation around the object. For precision, maintaining substantial overlap (50% or more) between successive photos is crucial. Close-up shots enhance texture detail, while shots from a distance aid in seamlessly stitching the object together.</p><p><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1708454069683-1708454069683.png" alt=" ROV 360-degree rotation around a object" class="fr-fic fr-dii"></p><h3>Mastering Image Quality</h3><p>To ensure high-quality images, several factors come into play. Consistency in color balance is essential for accurate modeling. It's crucial to minimize movement of the ROV during image capture to prevent blurring and to avoid disturbing debris from the seabed. Utilizing fast shutter speeds minimizes motion blur, adjusting the aperture (high f-number) provides a broad depth of field, and lowering the ISO reduces noise in the images.</p><h3>Processing the Captured Images</h3><p>Once the images are in the can, the next step involves merging and processing them using specialized modeling software. This software employs algorithms to retain the details from each individual image, allowing it to create a point cloud—precise data about the size, area, and position of objects, like ship hull fragments. This point cloud serves as the foundation for mapping nodes or vertices onto a solid surface, ultimately forming the intricate mesh of the 3D model.</p></section><section><h2>How Does Photogrammetry Software Work</h2><p>Think of photogrammetry software as similar to putting together a 3D model. The computational task of photogrammetry is completed automatically in the background by the software, which analyzes the footage and identifies key features in each frame, including patterns or shapes. The first step, of course, is to ensure your image files are supported by the software you are using. From there, the process of turning images into a 3D model can be broken down into four primary steps:</p><h3>Step 1: Aligning the Visual Pieces</h3><p>The software's first task is to align the images in your dataset, precisely calculating their relative positions. This results in a set of images carefully coordinated to provide a clear and coherent perspective. It's during this step that the software begins to estimate depth information, assigning X, Y, and Z coordinates that will serve as the building blocks for the 3D model.</p><h3>Step 2: Constructing a Dense Point Cloud</h3><p>Once the images are aligned, the software creates a dense point cloud. This cloud is a virtual representation of the subject, populated with countless points, each holding both location and color information. These points collectively capture the intricate details of the subject, forming the foundation for a precise 3D model.</p><h3>Forging the Mesh</h3><p>Building on the point cloud, the software utilizes mesh generation techniques to connect the individual points together. Imagine this as a network of triangular polygons weaving the points into a coherent structure. This process is pivotal in shaping the subject's geometry within the 3D space.</p><h3>Crafting Photorealistic Texture</h3><p>Now bring the 3D model to life. The software draws upon color and texture data from the original images. It refines the model through texture mapping, infusing it with the hues and nuances of the real subject. This final step ensures that the 3D model not only captures the physical structure but also boasts a photorealistic appearance.</p><h2>Finding Footage for Photogrammetry</h2><p>Acquiring the right imagery for photogrammetry is a crucial aspect of creating accurate 3D models. The number of images needed depends on the subject's characteristics, including its size, shape, scale, and complexity. While intricate subjects demand hundreds of images captured from multiple angles, simpler objects may require only a handful.</p><p>Image resolution is a key determinant of photogrammetry quality. The resolution impacts the number of points that the photogrammetry algorithm can analyze, directly influencing the 3D model's precision and detail.</p><h3>Optimizing Image Requirements for Flawless 3D Modeling</h3><p>Achieving flawless 3D modeling through photogrammetry requires a meticulous approach to image requirements. Several factors come into play, including image resolution, overlap, camera settings, lighting conditions, and image acquisition angles. One critical factor is the subject's physical characteristics. Photogrammetry software excels with textured, multi-colored, and organic subjects. In contrast, smooth, shiny, single-colored, transparent, or mirrored subjects pose challenges for proper image reconstruction.</p><h3>The Crucial Role of High-Resolution Imagery</h3><p>Ultimately, the goal is to capture photographs (or video) in the highest quality possible, since it will directly impact the quality that the 3D model will be rendered in. Images with high pixel count ensure clarity and sharpness in the image capture, which will result in the creation of higher quality 3D models, so you’ll want to select video and image footage that is high resolution and clear to capture the finer details and ensure accuracy.</p><h3>Exploring Various Angles for Detailed Representation</h3><p>When capturing images for photogrammetry to achieve a detailed representation, it's necessary to explore various angles and viewpoints of the object or scene. To achieve a detailed representation of an object, you’ll want to cover a wide range of perspectives. A detailed representation necessitates covering an array of perspectives, including but not limited to:</p><ul><li><strong>Top-Down View:</strong> This perspective offers a unique vantage point, capturing the subject from above, revealing its intricate details.</li><li><strong>Front-Facing View:</strong> A straightforward view that presents the subject in its entirety, focusing on its frontal features.</li><li><strong>360-Degree Rotation:</strong> Circling the subject from all angles ensures that no facet is left unexamined, yielding a comprehensive view.</li><li><strong>Close-Up Shots:</strong> Zooming in to capture intricate nuances and fine details that may otherwise be missed.</li><li><strong>Diagonal Views:</strong> Offering a dynamic angle, diagonal viewpoints can accentuate the subject's shape and characteristics.</li><li><strong>Varying Heights:</strong> Experimenting with different heights allows you to capture your subject from various elevations, adding depth to the representation.</li></ul><p><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1708454070526-1708454070526.png" alt="ROV Various Angles for Detailed Representation" class="fr-fic fr-dii"></p><p>Remember, it's not just about capturing these perspectives in isolation; it's equally important to ensure substantial image overlap (50% or more) between consecutive photos. This overlap is the linchpin of the final 3D model's quality, ensuring that no detail is left uncovered and that your model emerges with the utmost precision and accuracy.</p><h3>How Does Proper Lighting Improve Quality of the Model</h3><p>The quality of your photogrammetry model is significantly impacted by the lighting conditions during image acquisition. Adequate illumination of the subject is key to reducing the chances of distortion. Achieving the right lighting involves controlling external light sources, using diffusers or reflectors to soften and evenly distribute light, and avoiding extreme contrasts. Consistency in lighting throughout the entire shoot is paramount, making overcast days a preferred choice for outdoor shooting.</p><h3>Factors to Consider When Choosing the Right Camera for Image Acquisition</h3><p>When choosing the right camera for image acquisition in photogrammetry requires careful consideration of several key components to ensure the best results. Factors to weigh include:</p><ul><li>Image resolution</li><li>Sensor size</li><li>Lens quality</li><li>Lens focal length</li><li>Manual controls</li></ul><p>Most importantly, you’ll want a camera with a high resolution sensor, and manual control over settings to capture the highest quality images. It is also essential to calibrate the camera to correct any lens distortion.</p><p>Some other features to consider include stability, image format, and time-lapse and interval shooting. Many cameras now come with built in image stabilization, which will aid in capturing crisp, highly detailed images, and most digital cameras also support common file formats such as jpeg, which is supported by most photogrammetry software. Time-lapse capabilities also simplify the process and ensure consistent image capture.</p><h3>Maximizing Precision in Reconstruction with Image Overlap</h3><p>To achieve accurate and detailed 3D models in photogrammetry, image overlap is a critical factor in the process. It is essential to capture a significant number of images with overlap for precise reconstruction. The overlap is useful for matching features and establishing correlations to allow the photogrammetry software to stitch the images together and create an accurate 3D model.</p><p>An overlap of anywhere from 50% up to 80% is generally recommended for best results of feature detection and matching, to improve the accuracy of the reconstruction. You’ll also want to keep in mind both side-to-side and back-to-front overlaps to help accurately align and triangulate features, and ensure optimal coverage of the subject from multiple angles. The more information you provide, the more accurate the reconstruction will be.</p><p>Varying camera orientations and multiple passes are also incredibly useful for providing additional coverage and overlap, leading to more precise reconstructions. Additionally, you’ll want to minimize occlusions or obstructions which can prevent accurate feature matching and hinder the reconstruction process. If occlusions are unavoidable, capturing additional images from different viewpoints or angles can help compensate for the missing information.</p></section><section><h2>Utilizing Deep Trekker ROVs for Photogrammetry</h2><p>Deep Trekker offers portable, intuitive, and affordable underwater drones, with enhanced 4K cameras, powerful LED floodlights, and unmatched stability, making them perfect for photogrammetry projects.</p></section><section><h3>Customer-Driven Innovation</h3><p>At Deep Trekker, we are dedicated to designing industry-leading ROVs that excel in diverse underwater tasks. Listening to customers and continuously improving our ROVs to meet their specific needs is how we learn and grow.</p><p>Our team of innovators, creators, expert engineers, technologists, and underwater enthusiasts understand the value of customer feedback and use it to drive our product development, ensuring that our ROVs are engineered to meet the many demands of real-world applications.</p><h3>Unmatched Support and Expertise</h3><p>You get more than an industry-leading ROV when you choose Deep Trekker - you also gain access to our experienced, best-in-class senior robotics team members. Just an email or phone call away, our team is ready to provide guidance, answer questions, and offer technical support whenever you need it.</p><p>We believe in being a partner to our customers, providing more than a premium quality product, but also the expertise, ideas, and vision necessary to succeed in your underwater operations.</p><h3>Expert Guidance for Your Projects</h3><p>Our team of industry professionals is <a href="https://www.deeptrekker.com/contact-us" target="_blank" rel="noopener">always available to offer expert guidance</a> and address any questions you may have regarding the integration of submersible robots into your next project.</p><p>When you are ready to acquire your own Deep Trekker vehicle, reach out to us for a <a href="https://www.deeptrekker.com/request-quote" target="_blank" rel="noopener">customized quote</a> tailored to your requirements.</p><p><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1708454143712-Group+Glamor+Shot+2.jpg" style="width: 766px;" class="fr-fic fr-dib"></p><p><br></p></section>

ROV photogrammetry - 3D model of canoe underwater.

Discover how to find the best footage for your photogrammetry projects to create 3D models with unparalleled accuracy. 

Photogrammetry 101: Getting Started With 3D Modeling

<p dir="ltr" id="isPasted">Engineering Space is an in-depth documentary series that unveils the new generation of space technologies and the people and companies developing them. Engineers and entrepreneurs are democratizing access to space. Our goal is to enable you to understand the cutting-edge, be inspired, and discover practical insights to apply to your own engineering endeavors.</p><p dir="ltr">In the first episode of Engineering Space we meet two engineers from Pittsburgh-based Astrobotic; Principal Mechanical Engineer Kerry Quinn and Lead Software Engineer Taylor Whitaker. The space company aims to make space missions feasible and more affordable for science, exploration, and commerce. They define themselves as a lunar logistics company, intending to provide end-to-end delivery services for payloads to the Moon.</p><p dir="ltr">Astrobotic works out of the largest private facility in the world dedicated to lunar logistics. In this impressive 47,000-square-foot complex, The company builds and operates its lines of landers, rovers, autonomous spacecraft navigation systems, and other space technologies. Once operational, payloads will be controlled directly from the Astrobotic Mission Control Center inside their headquarters located in the heart of Pittsburgh&rsquo;s North Side.</p><h2 dir="ltr">Developing lightweight moon rovers</h2><p dir="ltr">The team is developing two rovers specifically for Moon exploration. The <span style="background-color: transparent;">CubeRover&reg; is a super-light modular vehicle designed to provide affordable mobility for scientific instruments and other payloads to operate on the surface of the Moon. Because CubeRover&reg; can be as light as just four kilograms &mdash; it can contribute to reduced flight costs, making the Moon more accessible.</span><br><span style="background-color: transparent;">&nbsp;<span class="fr-img-caption fr-fic fr-dib" style="width: 302px;"><span class="fr-img-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjgzNjIzNTg3MTUwLVJvdmVyMi5wbmciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 300px;" class="fr-fic fr-dib"><span class="fr-inner" spellcheck="false">The Astrorobotics CubeRover&reg;. Image credit: Astrobotics.</span></span></span></span></p><p dir="ltr" id="isPasted">The Polaris rover was designed to accommodate diverse lunar payloads with distinct mission profiles, like lunar regolith digging or water ice harvesting. Polaris can support up to 90 kg of payload mass, traverse long distances, and provide direct-to-Earth (DTE) communication. Companies, governments, universities, non-profits, and individuals can send payloads to the Moon on Polaris for $4.5M per kilogram of payload. For every kilogram of payload, Astrobotic can provide 0.5 W of continuous power and 10 kbps of bandwidth.</p><p dir="ltr" id="isPasted">In this episode of Engineering Space, we follow along with Astrobotic engineers as they do mobility testing on the engineering model of their CubeRover&reg;. It&#39;s the first time the team has tested the rover with its MLI (Multilayer Insulation) and electronics package. The testing will compare the engineering model with other models in development.&nbsp;</p><h2 dir="ltr">Mimicking the Moon&#39;s surface</h2><p dir="ltr">Testing rovers intended for the moon requires the careful creation of an environment that resembles the moon&#39;s surface as closely as possible. The tests are conducted in their test pit of lunar regolith, a material that mimics the fine powdery material covering the moon. Almost all of the moon&#39;s surface is covered in this fine, white powdery material, with only small areas of hard bedrock on the walls of very steep moon craters.&nbsp;</p><p dir="ltr">Regolith materials are developed by NASA or other space companies. For example, the majority of the regolith used in the Astrobotic testing is made by the <a href="https://www.nasa.gov/centers/glenn/home/index.html" target="_blank">Glenn Research Center</a>. The regolith, known as GRC-1<sup>[1]</sup> is made from four kinds of quartz silica.&nbsp;</p><p dir="ltr">Lunar regolith has compactibility properties<sup>[2]</sup>, which means when it is agitated, it dilates or becomes lower in volume as the small particles fall between the larger particles. You can imagine this clearly by thinking of a container of flour that compacts when you tap it on a table. This is also how the iconic astronaut footprints were formed on the Moon.&nbsp;</p><p dir="ltr"><span class="fr-img-caption fr-fic fr-dib" style="width: 302px;"><span class="fr-img-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjgzNjIyMzQwNzUzLTEwLmpwZyIsImVkaXRzIjp7InJlc2l6ZSI6eyJ3aWR0aCI6OTUwLCJmaXQiOiJjb3ZlciJ9fX0=" style="width: 300px;" class="fr-fic fr-dib"><span class="fr-inner" spellcheck="false">The rover prototype during testing in the lunar regolith material.</span></span></span></p><p dir="ltr">This quality of the regolith means that the lightweight rovers developed by Astrobotic are expected to sink down slightly when they are on the moon, rather than moving across its surface like a small rover would on sand on Earth.&nbsp;</p><p dir="ltr">To mimic the moon without simulating in zero gravity, super lightweight versions of the rovers are developed that account for the difference in gravitational acceleration. Lunar gravitational acceleration is 1.62 m/s^2 (meters per second squared) while Earth&rsquo;s gravitational acceleration is 9.807 m/s^2 (meters per second squared). &nbsp;The moon rover weighs about 6 kg, so the testing version weighs just 1 kg.&nbsp;</p><h2 dir="ltr">Design of a lunar rover wheel that sinks and turns&nbsp;</h2><p dir="ltr">The moon surface tests enable the Astrobotic engineering team to look at each aspect of the rover, including its grip on the lunar regolith and the way it traverses different types of terrain, such as flat, ascents, and descents.&nbsp;</p><p dir="ltr">A really critical part of the rover is the design of its wheels. They must be lightweight, robust to the extreme temperatures of the moon as well as suitable for the fine, flour-like conditions of the lunar surface. The Astrobotic rover has been tested with multiple types of wheels, sizes, widths, and materials.</p><p dir="ltr">The current design of the wheel is fairly narrow, with regular perforations and grousers (protrusions similar to those on a tank) that allow the rover to move through the powdery surface. This design also enables the rover to complete movements such as figure-eights without the rover having a complex drive system such as articulated directional steering that would add extra weight.&nbsp;</p><p dir="ltr">The engineering model of the rover being tested is reserved for special testing as it&#39;s the closest prototype to the finished product. To protect the high-value prototype, simultaneous testing happens on other simpler versions of the rover. These tests are often specific to a single task such as hill climbing.&nbsp;</p><p dir="ltr"><span class="fr-img-caption fr-fic fr-dib" style="width: 302px;"><span class="fr-img-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjgzNjIyMzgzODgzLTUuanBnIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" style="width: 300px;" class="fr-fic fr-dib"><span class="fr-inner" spellcheck="false">The perforations and trousers enable the rover to navigate the soft terrain.&nbsp;</span></span></span></p><h2 dir="ltr">A mission to make the moon accessible</h2><p>Astrobotic was founded in 2007 and currently has more than 130 employees. It has won several large contracts from NASA and has critical missions with the space agency planned. In addition to the rovers described above, Astrobotic has developed moon landers, a moon power grid, and vision technology.&nbsp;</p><p dir="ltr">The company&#39;s first mission is set to be the first commercial mission to land on another planetary body. The Peregrine Rover will land on the Gruithuisen Domes of the moon and deliver a range of scientific instruments, technologies, mementos, and other payloads from six different countries, dozens of science teams, and hundreds of individuals. The date of the mission will be announced shortly.&nbsp;</p><p dir="ltr">In 2024, Astrobotic will undertake the Griffin Mission One (GM1) &nbsp;to the Lunar South Pole. It will deliver NASA&rsquo;s Volatiles Investigating Polar Exploration Rover (VIPER). Griffin will land at the South Pole and deploy VIPER to conduct the first widespread ground truth measurements of lunar water ice. Such ice may one day be used for life support and propellant that could assist future deep space explorers. Some of the instruments on PM1 will be operated as a dress rehearsal for their use on VIPER. This GM1 contract was awarded under the <a href="https://www.nasa.gov/commercial-lunar-payload-services" target="_blank">NASA Commercial Lunar Payload Services &nbsp;(CLPS) &nbsp;initiative.&nbsp;</a></p><h2 dir="ltr">Learn more about cutting-edge space companies and technologies</h2><p dir="ltr">The Engineering Space documenatry series is a collaboration between engineering community platform Wevolver, and two independent Californian filmmakers and producers; <a href="https://flipbirdfilms.com/" target="_blank">Flipbird Films</a> and Green Run Productions. This first episode is sponsored by <a href="https://www.wevolver.com/profile/duro" rel="noopener noreferrer" target="_blank">Duro</a>, which develops Product Lifecycle Management software for hardware engineering teams.</p><blockquote><blockquote><p dir="ltr">Having previously worked at SpaceX, I know how tough it can be to create technology that can withstand the harsh environment of space. We&#39;re proud to sponsor this Engineering Space episode and help inspire engineers everywhere!</p></blockquote></blockquote><blockquote><blockquote><p><em id="isPasted">Kellan O&#39;Connor, COO and Co-founder of Duro</em><em><br></em></p></blockquote></blockquote><p dir="ltr">Sign up below to get updates when a new &#39;Engineering Space&#39; episode gets released!</p><p dir="ltr"><span class="fr-video fr-deletable fr-fvc fr-dvb fr-draggable fr-active" contenteditable="false" draggable="true"><iframe src="https://c8056756.sibforms.com/serve/MUIEALrRLDzuUm9n0ZOf8rXFzimkYs9rS_nCzav7CGHGM8USNRBoKa4J5jwLh7jPqbBt7DQ-iIzGhsx_wFSBXNb4KPhpppkyJ93mD2PZJvl1pMCE9zXvsMc7hBtlPYgaIBDpec1zdrmpcCW6xuqC94Suy4YcAasZMu8t7DxX1EoakY6Xqdk8WBelkzJyrbq88OKqzHv_8A0UDOlT" scrolling="auto" allowfullscreen="" style="display: block;margin-left: auto;margin-right: auto;max-width: 100%;" class="fr-draggable" data-lf-form-tracking-inspected-kn9eq4roawkarlvp="true" data-lf-yt-playback-inspected-kn9eq4roawkarlvp="true" data-lf-vimeo-playback-inspected-kn9eq4roawkarlvp="true" width="540" height="305" frameborder="0"></iframe></span><br></p><h2 dir="ltr"><span style='font-family: "PT Sans", serif; font-size: 26px; font-weight: 700; background-color: transparent; color: rgb(0, 0, 0);'>References</span></h2><p id="isPasted">1. Oravec HA, Zeng X, Asnani VM. Design and characterization of GRC-1: A soil for Lunar Terramechanics testing in earth-ambient conditions [Internet]. Pergamon; 2010 [cited 2023 May 9]. Available from: https://www.sciencedirect.com/science/article/abs/pii/S0022489810000388&nbsp;</p><p id="isPasted">2. Oravec HA, Zeng X, Asnani VM. Design and characterization of GRC-1: A soil for Lunar Terramechanics testing in earth-ambient conditions [Internet]. Pergamon; 2010 [cited 2023 May 9]. Available from: https://www.sciencedirect.com/science/article/abs/pii/S0022489810000388</p>

Space startup Astrobotic mimics the moon's surface material and tests various designs of new moon rovers.

Engineering Space. Episode 1: Developing lightweight rovers for lunar surface exploration

<section id="isPasted"><p><strong>Team Polar, a student team at Eindhoven University of Technology (TU/e), took their first rover to perform research in the Norwegian snow in the first week of January. The team is dedicated to developing an independent rover that can perform Antarctic research. This is their first working prototype and the team is eager to set a benchmark for future developments. They will present their findings and the rover itself on the reveal event, January 20, 2023.</strong></p></section><section tabindex="-1"><p>The Earth is facing its biggest problem in centuries: climate change. To fight climate change, we need to understand better the factors behind climate change. However, understanding it requires gathering information about our planet in places where nature is still pristine and more or less unaffected by climate change, as well as places where the consequences of global warming and climate change can be observed first-hand. Circumstances like that are usually found in extremely cold, and remote environments like the Arctics, Antarctica, and the oldest glaciers. At the moment, research is often carried out inefficiently and in very expensive and unsustainable ways.</p><p><a href="https://teampolar.org/" target="_blank">Team Polar</a> wants to create an alternative way to do all kinds of environmental, extensive research in the coldest places of our planet by developing an unmanned rover. This rover will eventually operate and perform research all by itself - similar to how the Martian rovers operate on the surface of Mars - and collect invaluable data about the effects of climate change. The team started its mission in 2018 and now presents its first working prototype: the rover &lsquo;Ice Cube&rsquo;.</p><h2><strong>Research in the snow</strong></h2><p>Development of the rover took place at the Eindhoven University of Technology in the Netherlands, a country notoriously devoid of deep snow most winters these days. That&rsquo;s why the team took their rover to Trondheim in Norway, to see how their first rover &lsquo;Ice Cube&rsquo; performs in the snow. &ldquo;We can test a lot of things in our lab, but not how the rover drives in the snow, how the solar panels handle the snow and temperatures, and how cold it will get inside the rover and how quickly it becomes very cold,&rdquo; explains team manager Laurenz Edelmann.</p><p>&ldquo;We have built our first rover with off-the-shelf components. That may or may not present some challenges for us. And, we may find that certain components will need to be custom-made and designed for future rover models. That&rsquo;s why this rover will be a benchmark for us and for future teams.&rdquo; The rover will be remote controlled for now, allowing the team to hand-pick the locations they want to study on this trip. This allowed the team to gather essential insights that can help the team to ensure that their next rover will be fit for a mission to Antarctica.</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1674079732566-csm_740c39b4-f736-414a-9c37-377bf1b2a7b9_368fa77a48.jpg" style="width: 300px;" class="fr-fic fr-dib"><span class="fr-inner">Rover Ice Cube. Photo: Laurenz Edelmann, team POLAR&nbsp;</span></span></span></p><h2 id="isPasted"><strong>Inspiring other teams</strong></h2><p>The team was in Norway to run their experiments from January 4<sup>th</sup> until January &nbsp;8<sup>th</sup>. There, they saw their rover drive through the snow like a natural. They also gained a insights in which components worked fine, and the handful of items that broke and needed replacing. &ldquo;Overall, we were super impressed with the way Ice Cube tackled the snow and handled itself,&rdquo; says Edelmann. &ldquo;We gathered valuable data, and great footage to present at our event.&rdquo; There was also time set aside on the return journey to the Netherlands to visit other universities. &ldquo;We love to maintain good relations with other student teams at technical universities in Europe. That&rsquo;s why we made sure to present our rover at the universities of Trondheim (NTNU), Kopenhagen (DTU), and Braunschweig (NFF),&rdquo; explains Edelmann.</p><p>&ldquo;We hope to inspire and inform local student teams how to tackle an ambitious goal, such as building an Antarctic research rover, successfully. And, of course, to forge new alliances and collaborations with our colleagues at other institutions.</p><p>In Eindhoven, student teams get access to a lot of facilities. We were happy to build our rover in the Innovation Space workshop, with its excellent facilities and experts to coach us. Our partners also helped make this possible with funds and materials. This trip wouldn&rsquo;t have been possible without sponsoring from the University Fund Eindhoven (UFe) and EuroTech Universities.&rdquo;</p><h2><strong>Meet the team and their rover</strong></h2><p>On Friday January 20<sup>th</sup>, the team presents their rover &lsquo;Ice Cube&rsquo; to the world after 2 years of design and development. This is a unique opportunity to see the rover up close, meet the team, and ask the researchers, scientists, adventurers, and explorers questions about their work on the rover. The reveal will take place at 4 pm in the Blauwe Zaal in the Auditorium building on the TU/e campus&nbsp;<a href="https://www.tue.nl/en/our-university/calendar-and-events/20-01-2023-teampolarprototyperevealevent/" target="_blank">and tickets are already available</a>.</p><p>&ldquo;We have a great event planned and are looking forward to showcasing the rover, sharing footage of our trip, and discussing opportunities for collaboration with those present at the launch event,&rdquo; says Nikolett Marton, team Polar&rsquo;s marketing manager.</p><hr><p>This article was first published here:&nbsp;<a href="https://www.tue.nl/en/news-and-events/news-overview/12-01-2023-antarctic-rover-performs-research-in-the-snow/" id="isPasted" rel="noopener noreferrer" target="_blank">https://www.tue.nl/en/news-and-events/news-overview/12-01-2023-antarctic-rover-performs-research-in-the-snow/</a></p></section>

Team POLAR's rover Ice Cube in the Norwegian snow. Photo: Laurenz Edelmann, team POLAR

On January 20, Team POLAR showcases its first vehicle for independent climate research in icy, inhospitable regions such as the North and South Poles.

Antarctic rover performs research in the snow

<p id="isPasted">The origin of Mars&rsquo; two moons, Phobos and Deimos, is still unclear. To unravel this mystery, the <a href="https://global.jaxa.jp/" target="_blank" title="External link Japanese space agency JAXA">Japan Aerospace Exploration Agency (JAXA)</a> Martian Moons eXploration (MMX) mission is scheduled to launch in 2024. A German-French rover will be on board to explore the surface of the 27-kilometre-diameter Phobos in detail. The German Aerospace Center (Deutsches Zentrum f&uuml;r Luft- und Raumfahrt; DLR) has now completed a major part of the rover. The CFRP structure, which was created in collaboration with several DLR institutes, including the uprighting and locomotion system, was delivered this week from <a href="https://www.dlr.de/content/en/sites/bremen.html" target="_blank" title="Bremen">Bremen</a> to the French space agency CNES in Toulouse. Here it will be completed by the summer of 2023 with the installation of all instruments and systems. The MMX rover will then also be equipped with its miniRAD radiometer and RAX spectrometer. Both instruments were built at the DLR site in <a href="https://www.dlr.de/content/en/sites/berlin.html" target="_blank" title="Berlin">Berlin</a> and sent to Toulouse beforehand.</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1668515096146-cfrp-structure-of-the-mmx-rover-with-uprighting-and-locomotion-system.jpg" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner">CFRP structure of the MMX rover with uprighting and locomotion system. Credit: &copy; DLR. All rights reserved</span></span></span></p><p>&quot;With the MMX rover, we are breaking new ground in terms of technology, because never before has an exploration vehicle with wheels travelled on a small celestial body with only one-thousandth of the Earth&#39;s gravitational pull,&quot; says Dr Markus Grebenstein from the <a href="https://www.dlr.de/content/en/institutes/institute-of-robotics-and-mechatronics.html" target="_blank" title="Institute of Robotics and Mechatronics">DLR Institute of Robotics and Mechatronics</a> in Oberpfaffenhofen. &quot;As the rover free-falls onto Phobos following separation from the spacecraft, it will perform several &lsquo;somersaults&rsquo; upon touchdown without damage and come to rest in an unpredictable position. From this situation, it must autonomously upright itself with the help of the propulsion system and unfold its solar panels,&quot; Grebenstein, DLR&#39;s project manager for the MMX rover, continues. &quot;Finally, it will travel very carefully at only a few millimetres per second in order to retain contact with the ground with its special wheels despite the low gravity,&quot; adds Stefan Barthelmes from the <a href="https://www.dlr.de/content/en/institutes/institute-of-system-dynamics-and-control.html" target="_blank" title="Institute of System Dynamics and Control">DLR Institute of System Dynamics and Control</a> in Oberpfaffenhofen. The uprighting and locomotion system was developed and built at DLR&#39;s <a href="https://www.dlr.de/content/en/institutes/robotics-and-mechatronics-center.html" target="_blank" title="Robotics and Mechatronics Center">Robotics and Mechatronics Center</a> in Oberpfaffenhofen. The <a href="https://www.dlr.de/content/en/institutes/institute-of-composite-structures-and-adaptive-systems.html" target="_blank" title="Institute of Composite Structures and Adaptive Systems">DLR Institute of Composite Structures and Adaptive Systems</a> contributed the particularly lightweight carbon structure.</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1668514945612-the-raman-spectrometer-rax.jpg" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner">The Raman spectrometer RAX (RAman spectroscopy for MMX) is a development led by the DLR Institute of Optical Sensor Systems with the participation of JAXA and the Spanish space agency INTA. RAX will determine the mineralogical composition of Phobos&#39; surface along the rover&#39;s route. Credit: DLR (CC BY-NC-ND 3.0)</span></span></span></p><h2 id="isPasted">Measuring surface porosity and composition</h2><p>Upon separation from the MMX spacecraft, the 25-kilogram rover will descend about 50 metres to the surface of Phobos. This <a href="https://www.dlr.de/content/en/articles/news/2020/03/20200930_in-free-fall-to-the-martian-moon-phobos.html" target="_blank" title="First tests for landing the Martian Moons eXploration Rover">has already been tested in initial drop tests</a> at the <a href="https://www.dlr.de/content/en/institutes/institute-of-space-systems.html" target="_blank" title="Institute of Space Systems">DLR Institute of Space Systems</a>, where integration has now also taken place. The rover will explore the physical and mineralogical properties of the moon&rsquo;s surface for 100 days. The two DLR instruments miniRAD and RAX will be used for this purpose. The miniRAD radiometer from the <a href="https://www.dlr.de/content/en/institutes/institute-of-planetary-research.html" target="_blank" title="Institute of Planetary Research">DLR Institute of Planetary Research</a> will determine the surface temperature using infrared measurements. It will also allow conclusions to be drawn about the porosity of the surface material for comparison with other asteroid and comet samples. The Raman spectrometer RAX (RAman spectroscopy for MMX) is a development under the leadership of the <a href="https://www.dlr.de/content/en/institutes/institute-of-optical-sensor-systems.html" target="_blank" title="Institute of Optical Sensor Systems">DLR Institute of Optical Sensor Systems</a> with the participation of JAXA and the Spanish Instituto Nacional de T&eacute;cnica Aeroespacial (INTA). RAX will determine the mineralogical composition of Phobos&rsquo; surface along the rover&#39;s route. The minerals of a celestial body are closely related to its formation and history, and comparisons with measurements taken by other rovers on Mars will help scientists to better understand the martian system with its moons.</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1668514985799-the-radiometer-minirad.jpg" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner">The radiometer miniRAD from the DLR Institute of Planetary Research will determine the surface temperature using infrared measurements. In addition, it will allow conclusions to be drawn about the porosity of the surface material in order to compare it with asteroid and comet samples. Credit: DLR (CC BY-NC-ND 3.0)</span></span></span></p><p id="isPasted">In addition to the two DLR instruments, two cameras attached to the wheels to keep an eye on the wheels and the ground, as well as two cameras for navigation, will be installed at CNES in Toulouse over the next few months. The engineering teams are also installing the solar panels, the power system, the radio system for contact with Earth, and the on-board computer in the rover. Then, the complete rover will undergo extensive testing with regard to its functionality and its resistance to the vibrations of the rocket launch and the extreme temperature fluctuations of more than 200 degrees Celsius on Phobos. The MMX rover will complete the tests under space conditions together with the Mechanical and Electrical Connection and Support System (MECSS) to the spacecraft, which is also provided by DLR.</p><h2>Bringing a martian moon sample to Earth</h2><p>The MMX spacecraft consists of three modules. The exploration module has landing legs, samplers and some instruments as well as the MMX rover on board. The exploration module is connected to the return module with the sample return capsule, which in turn is connected to a propulsion module housing propellant tanks and rocket engines. The launch of the Japanese spacecraft is currently planned for 2024 with an H-3 rocket from the Japanese Space Center in Tanegashima. Approximately one year after leaving Earth, the probe will enter orbit around Mars in 2025 to observe Phobos and Deimos. This will be followed by a quasi-orbit around the martian moon Phobos, where it will collect scientific data, set down the MMX rover it carries and take a sample from the lunar surface. After taking the sample, the spacecraft will return to Earth with the material collected on Phobos. The landing of the MMX rover on Phobos is planned for 2027, and the return to Earth with the samples in 2029. The rover&#39;s measurements and images on the Phobos surface will also serve as a reference for the orbiter instruments and help prepare the landing of the exploration module for sampling.</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1668515147660-integration-of-the-mmx-rover.jpg" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner">Integration of the MMX rover. Credit: &copy; DLR. All rights reserved</span></span></span></p><h2>The origin of fear and terror</h2><p>In Greek mythology, Phobos and Deimos were the companions of Ares, the god of war, who in Roman antiquity had his counterpart in Mars, the god of war. They were discovered in 1877 by the American astronomer Asaph Hall. Due to their small size (Phobos is 27 kilometres in diameter and Deimos 15 kilometres), both moons are irregularly shaped and resemble asteroids. Thus, one theory is that Mars simply captured the two moons in the past, possible in the asteroid belt. However, both moons orbit Mars near the ecliptic plane on which all planets and most of their moons move around the Sun. In addition, both orbits are almost circular. Such a coincidence would be difficult to account for under the &#39;captured asteroids&rsquo; theory. This could be explained if Phobos and Deimos were remnants of a huge meteorite impact on Mars. MMX aims to solve this long-discussed mystery of planetary science. The formation of the Mars system is also key to better understanding the processes of planet formation in the Solar System. In any case, traces of Martian rocks are likely to be found on the surface of Phobos, which landed on Phobos as ejecta from later asteroid impacts. This means that the samples from Phobos could also bring material from Mars to Earth in the return capsule and thus into terrestrial laboratories.</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1668515034341-mars-with-its-moons-deimos-and-phobos.jpg" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner">Mars&#39; two moons, Deimos (above) and Phobos, are the targets of the MMX mission. Due to their small size (Phobos 27 kilometres, Deimos 15 kilometres), both moons are irregularly shaped. Their origin is still an unsolved mystery in planetary research. (image montage) Credit: DLR (CC BY-NC-ND 3.0)</span></span></span></p><hr><p id="isPasted"><strong>MMX &ndash; Martian Moons eXploration</strong></p><p>MMX is a mission of the Japanese space agency JAXA with contributions from NASA, ESA, CNES (the French space agency) and DLR. CNES (Centre National d&#39;&Eacute;tudes Spatiales) and the German Aerospace Center (Deutsches Zentrum f&uuml;r Luft- und Raumfahrt; DLR) are jointly contributing a 25-kilogram rover to the Martian Moons eXploration Mission (MMX). The Franco-German MMX rover is being designed and built under the joint leadership of CNES and DLR. In particular, DLR is responsible for the development of the rover&#39;s landing gear, including the lightweight body, as well as the entire uprighting and locomotion system. DLR is also contributing the connection adapter to the MMX spacecraft and providing a Raman spectrometer and a radiometer as scientific experiments. These will analyse the surface composition and texture on Phobos. CNES is making significant contributions with camera systems for spatial orientation and exploration on the surface, as well as for the study of mechanical soil properties. CNES is also developing the rover&#39;s central service module, including the on-board computer and the power and communications system. After the launch of the MMX mission, the rover will be operated by CNES control centres in Toulouse (France) and DLR in Cologne (Germany).</p><p>For DLR, the institutes of System Dynamics and Control, Composite Structures and Adaptive Systems, of Space Systems, of Optical Sensor Systems, of Planetary Research, for Software Technology and the Microgravity User Support Center (MUSC) are also involved under the leadership of the DLR Institute of Robotics and Mechatronics.</p><p>The MMX mission is a continuation of an already long-standing successful cooperation between JAXA, CNES and DLR. It builds on the previous mission <a href="https://www.dlr.de/content/en/missions/mascot.html" target="_blank" title="MASCOT on board Hayabusa2">Hayabusa2</a>, in which JAXA sent a spacecraft to the asteroid Ryugu with the German-French MASCOT lander on board. <a href="https://www.dlr.de/content/en/articles/news/2018/4/20181003_mascot-lands-safely-ruygu.html" target="_blank" title="MASCOT lands safely on asteroid Ryugu">On 3 October 2018, MASCOT landed on Ryugu</a> and sent spectacular images of a landscape ridden with boulders and rocks, and virtually no dust. Hayabusa2 collected samples from Ryugu and brought them to Earth on 6 December 2020.</p>

The origin of Mars’ two moons, Phobos and Deimos, is still unclear. To unravel this mystery, the Japan Aerospace Exploration Agency (JAXA) Martian Moons eXploration (MMX) mission is scheduled to launch in 2024.

A rover for Mars' moon Phobos

<p id="isPasted">An ROV camera is any visual imaging system that can be used on <a href="https://blueprintlab.com/blog/what-is-an-underwater-rov/" target="_blank">underwater ROVs</a> to provide the operator with a perception of the operating environment. The depth rating for an <a href="https://blueprintlab.com/products/underwater-rov-camera/" target="_blank">ROV camera</a> usually starts at 300m.</p><p>Most ROVs have a main forward-facing camera for control of the vehicle. Some ROVs will then have additional, auxiliary cameras to provide another point of view. These cameras are sometimes mounted on another point of the vehicle or extended out from the vehicle using a &lsquo;boom mount&rsquo; (e.g. a camera on a pole sticking out to the side). If an ROV manipulator is in use, this manipulator will sometimes have a camera at the end-effector providing yet another point of view of the workspace. One should remember that underwater vision systems are usually monocular and therefore do not provide distance information (try catching a ball with one eye closed); development in this area using stereo vision and other sensors is a hot topic in underwater robotics and is currently being pursued by Blueprint Lab to enable more advanced use of <a href="https://blueprintlab.com/products/manipulators/" target="_blank">manipulator arms</a> and <a href="https://blueprintlab.com/products/rov-grippers/" target="_blank">ROV grippers</a>.</p><h2><style type="text/css" id="isPasted"></style><style type="text/css"></style><span data-sheets-formula="=PROPER(R[-1]C[0])" data-sheets-userformat='{"2":320,"9":2,"11":3}' data-sheets-value='{"1":2,"2":"What Are The Different Types Of Rov Camera?"}'>What Are The Different Types Of ROV Camera?</span></h2><p>There are two main types of underwater or ROV camera:</p><h3><strong>1. Main ROV Camera</strong></h3><p>The main ROV camera is the primary means of providing visual information to the ROV operator. These cameras are generally selected to be High-Definition and to have exceptional performance in low-light conditions. They are the primary camera used to pilot the vehicle and are forward-facing. Depending on the size of the vehicle, this camera may also be used for looking at objects of interest or there may be an additional camera for that purpose to deconflict from piloting operations.</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1649419090826-image.png" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner">An image from the forward-looking camera on the ROV SuBastian of the Schmidt Ocean Institute</span></span></span></p><p>Sometimes they are fixed&hellip;&nbsp;</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1649419133804-image-1.png" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner">An HD camera by ROV Innovations suitable for forward-facing main ROV camera use</span></span></span></p><p id="isPasted">&hellip;other times they are attached to mechanisms (<a href="https://blueprintlab.com/products/underwater-rotator/" target="_blank">rotators and pan/tilt units</a>) to enable them to move left/right and up/down, providing a greater field of view to the operator.</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1649419168373-image-2.png" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner"><em id="isPasted">The main ROV camera with tilt-function &ndash; the DTR-100Z from Bowtech</em>&nbsp;</span></span></span></p><h3 id="isPasted"><strong>2. Auxiliary ROV Camera</strong></h3><p>Auxiliary cameras are used to provide additional perspectives to that provided by the main, front ROV camera. Examples of where these are used are:</p><ul><li>A camera facing rearward to check the ROV tether condition or ensure the tether is not tangled during a complex manoeuvre.</li><li>A camera mounted on a corner of the ROV, or out on a boom and looking in towards the front of the ROV to provide a sense of distance when flying the ROV or using an ROV gripper or ROV manipulator.</li><li>A camera mounted on a manipulator arm to enable close vision of what the manipulator is being used for such as in <a href="https://blueprintlab.com/blog/top-uses-for-underwater-manipulators/" target="_blank">close visual inspections or complex interventions</a>.</li><li>A camera mounted on the side of the ROV to enable inspection of a structure while flying alongside it.</li></ul><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1649419205930-image-3.png" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner"><em id="isPasted">One of the auxiliary cameras on the ROV SuBastian provides an additional perspective of the ROV workspace.</em>&nbsp;</span></span></span></p><p>Auxiliary cameras often do not need to meet the same specifications as the main ROV camera and may additionally be limited by size constraints. Hence, they are often selected to be <a href="https://blueprintlab.com/products/underwater-rov-camera/" id="isPasted" target="_blank">pencil-style subsea cameras</a>. These cameras have the advantage of lower cost and smaller size.&nbsp;</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1649419238477-image-4.png" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner"><em id="isPasted">The Micro IP Camera from Blueprint Lab (Outer Diameter 2.4cm, length ~9cm)</em>&nbsp;</span></span></span></p><h2 id="isPasted"><style type="text/css" id="isPasted"></style><style type="text/css"></style><span data-sheets-formula="=PROPER(R[-1]C[0])" data-sheets-userformat='{"2":320,"9":2,"11":3}' data-sheets-value='{"1":2,"2":"Considerations In Selecting An Rov Camera"}'>Considerations In Selecting An ROV Camera</span> </h2><p>If you are selecting a camera for your underwater ROV or ROV manipulator, you should consider the following:</p><ul><li>Quality</li><li>Size (check out our <a href="https://blueprintlab.com/products/underwater-rov-camera/" target="_blank">miniature subsea camera</a> if this is a factor in your design)</li><li>Water Weight</li><li>Connector</li><li>Protocol</li><li>Performance in Low Light (sometimes additional illumination should be considered by adding <a href="https://blueprintlab.com/products/subsea-light/" target="_blank">ROV lights</a>, or selecting a camera with integrated LEDs)</li><li>Viewing Angle</li><li>Whether actuation (pan, tilt, complex motion) is required (if so, take a look at Blueprint Lab&rsquo;s<a href="https://blueprintlab.com/products/underwater-rotator/" target="_blank">&nbsp;rotator</a> and <a href="https://blueprintlab.com/products/manipulators/" target="_blank">manipulator</a> solutions)</li></ul>

An ROV camera is any visual imaging system that can be used on underwater ROVs to provide the operator with a perception of the operating environment. The depth rating for an ROV camera usually starts at 300m.

What is an ROV camera?

<p id="isPasted">Doing things underwater has always been challenging. Human divers brave the pressures of the deep subsea environment, dealing with low light, poor visibility, and little room for error. Since the 1970s, technology developments gave rise to ROVs with robotic arms (aka &lsquo;<a href="https://blueprintlab.com/products/manipulators/" target="_blank">underwater manipulator arms&rsquo;</a>) to start accomplishing tasks underwater.</p><p>Industries that use ROV manipulators include offshore energy, military, search and rescue, and marine science.</p><p>Whilst not as dexterous as humans, these ROV manipulator systems are stronger and can go deeper than humans can dive. This ushered in a new era for offshore oil companies who could now install and maintain deeper installations.</p><p>Originally, ROV manipulators were large and hydraulically powered. Today, whilst large hydraulic manipulators are still the workhorse of the ROV industry, electric systems have started to be released to the market. In particular, smaller electric ROV manipulators that are still highly dexterous have opened up new possibilities for the ROV community.</p><p>Here are the top 9 uses of underwater ROV manipulators based on working with our clients here at Blueprint Lab.</p><h2>1. <style type="text/css" id="isPasted"></style><style type="text/css"></style><span data-sheets-formula="=PROPER(R[-1]C[0])" data-sheets-userformat='{"2":320,"9":2,"11":3}' data-sheets-value='{"1":2,"2":"Non-Destructive Testing"}'>Non-Destructive Testing</span> (NDT)</h2><p><a href="https://en.wikipedia.org/wiki/Nondestructive_testing" rel="noreferrer noopener nofollow" target="_blank">Non-Destructive Testing</a> (NDT), and sometimes called NDE or NDI for examination and inspection respectively, is the process of using non-invasive means to inspect a component or structure to detect cracking, corrosion, or other defects within the material.</p><p>Offshore oil rigs will sit in the water, braving the elements, salt corrosion, and marine growth for 20-30 years. To ensure that these structures and other water-based assets remain safe, there are regulations that govern their Inspection, Maintenance, and Repair (IMR). Disasters such as what happened to the<a href="https://www.offshore-technology.com/features/feature-the-worlds-deadliest-offshore-oil-rig-disasters-4149812/" rel="noreferrer noopener nofollow" target="_blank">&nbsp;Alexander L Kiellande oil platform in 1980</a> or more recent <a href="https://www.cbsnews.com/news/gulf-of-mexico-fire-ocean-burst-pipeline" rel="noreferrer noopener nofollow" target="_blank">near misses in the Gulf of Mexico</a> have been caused by cracking and corrosion of subsea structures left unchecked.</p><p>Manipulators and human divers routinely carry out inspections of structures for cracking or corrosion using<a href="https://en.wikipedia.org/wiki/Ultrasonic_thickness_measurement" rel="noreferrer noopener nofollow" target="_blank">&nbsp;Ultrasonic Thickness</a> (UT),<a href="https://en.wikipedia.org/wiki/Cathodic_protection" rel="noreferrer noopener nofollow" target="_blank">&nbsp;Cathodic Protection</a> (CP), or<a href="https://en.wikipedia.org/wiki/Alternating_current_field_measurement" rel="noreferrer noopener nofollow" target="_blank">&nbsp;Alternating Current Field Measurement</a> instruments. ROV manipulators that are dexterous, more compact, and have advanced software control (including being able to precisely control the position and orientation of the instrument) have enabled small ROVs to <a href="https://blueprintlab.com/blog/degrees-of-freedom-vs-functions-of-a-robotic-arm/" target="_blank">carry out these tasks completely remotely</a>. Companies such as Fugro are<a href="https://www.fugro.com/about-fugro/our-expertise/remote-and-autonomous-solutions/remote-and-autonomous-vessels" rel="noreferrer noopener nofollow" target="_blank">&nbsp;pioneering remote operations</a> where an Unmanned Surface Vehicle (USV) hosting an ROV can deploy and inspect infrastructure using dexterous manipulators.</p><p><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ4NzE2Njk5OTc0LXBhc3RlZCBpbWFnZSAwLnBuZyIsImVkaXRzIjp7InJlc2l6ZSI6eyJ3aWR0aCI6OTUwLCJmaXQiOiJjb3ZlciJ9fX0=" style="width: 766px;" class="fr-fic fr-dib"></p><h2 id="isPasted">2. <style type="text/css" id="isPasted"></style><style type="text/css"></style><span data-sheets-formula="=PROPER(R[-1]C[0])" data-sheets-userformat='{"2":320,"9":2,"11":3}' data-sheets-value='{"1":2,"2":"Dexterous (Human-Like) Intervention"}'><strong>Dexterous (Human-Like) Intervention</strong></span><strong>&nbsp;</strong></h2><p>Achieving the same (or better) level of dexterity as a human is the holy grail of dexterous robotic manipulation. Huge progress has been made in recent years in terms of the size and joint dexterity of robotic manipulators above and below the water. One current limitation is the ability to achieve precise, small-scale dexterity. Land robots have demonstrated the use of robotic hands with fingers; successfully manufacturing similar technologies underwater is far more difficult and yet to be commercially solved.</p><p>Some dexterous tasks such as tying a knot, attaching a carabiner, or fastening a nut to a bolt have all been demonstrated using underwater manipulator technology. This has allowed industries to use robotic manipulators for net repair in aquaculture settings, and conduct complex military tasks.</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ4NzE2NzM2MTM1LUFscGhhLTUtQ2xpcHBpbmctQ2FyYWJpbmVyLTc2OHg1NzAuanBnIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner"><em id="isPasted">Alpha 5 Manipulator attaching a carabiner underwater</em>&nbsp;</span></span></span></p><p><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ4NzE2Nzg0NjE3LXBhc3RlZCBpbWFnZSAwICgxKS5wbmciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 766px;" class="fr-fic fr-dib"></p><h2 id="isPasted">3. <style type="text/css" id="isPasted"></style><style type="text/css"></style><span data-sheets-formula="=PROPER(R[-1]C[0])" data-sheets-userformat='{"2":320,"9":2,"11":3}' data-sheets-value='{"1":2,"2":"Construction And Repair"}'>Construction And Repair</span></h2><p>With hydraulic and electric actuators able to exceed the capability of humans, underwater manipulator arms are used for moving large tools and instruments around to aid in the construction, maintenance, repair, and decommissioning of a whole range of subsea infrastructure. In the offshore energy industry, manipulators move large hooks attached to cables for deployment and recovery of subsea infrastructure and wield torque tools or welding torches.</p><p><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ4NzE2ODE1NTExLU1pY3JvLUlQLUNhbWVyYS1CYW5uZXItMi03Njh4NDMyLmpwZyIsImVkaXRzIjp7InJlc2l6ZSI6eyJ3aWR0aCI6OTUwLCJmaXQiOiJjb3ZlciJ9fX0=" style="width: 766px;" class="fr-fic fr-dib"></p><h2 id="isPasted">4. <style type="text/css" id="isPasted"></style><style type="text/css"></style><span data-sheets-formula="=PROPER(R[-1]C[0])" data-sheets-userformat='{"2":320,"9":2,"11":3}' data-sheets-value='{"1":2,"2":"Close Visual Inspection"}'>Close Visual Inspection</span></h2><p>Like NDT, Close Visual Inspection (CVI) is concerned with looking at infrastructure with <a href="https://blueprintlab.com/products/underwater-rov-camera/" target="_blank">HD subsea cameras</a> to detect any issues that need repair or follow up. Manipulators with good reach (length) and dexterity enable CVI in hard-to-reach areas such as inside pipe inlets and behind propellers.</p><p>This ability for confined space access is a value-add offered by more modern, compact, electric manipulators like Blueprint Lab&rsquo;s Reach Alpha and Reach Bravo. Leveraging HD CVI allows for Underwater Inspection in Lieu of Dry-docking (UWILD). UWILD, as the name suggests, is the CVI/NDT of a ship&rsquo;s hull that avoids needing to take the vessel out of the water; a huge cost and efficiency saving.</p><p><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ4NzE2ODQ1NDc1LUJyYXZvLVdyaXN0LUNhbWVyYS03Njh4NDI4LnBuZyIsImVkaXRzIjp7InJlc2l6ZSI6eyJ3aWR0aCI6OTUwLCJmaXQiOiJjb3ZlciJ9fX0=" style="width: 766px;" class="fr-fic fr-dib"></p><h2 id="isPasted">5. <style type="text/css" id="isPasted"></style><style type="text/css"></style><span data-sheets-formula="=PROPER(R[-1]C[0])" data-sheets-userformat='{"2":320,"9":2,"11":3}' data-sheets-value='{"1":2,"2":"Cleaning/Anti-Fouling"}'>Cleaning/Anti-Fouling</span>&nbsp;</h2><p>Over time, subsea infrastructure can become coated in marine growth (barnacles etc) and other biofouling substances. To properly inspect the condition of the infrastructure (using NDT or CVI methods), surfaces must be cleaned of any marine growth. This is generally done by using high-power water pressure, a cavitation blaster, or a rotary brush.</p><p>In some scenarios, this will be done using a fixed system on the ROV. In other cases, the dexterity of a manipulator is required or beneficial to adequately reach all areas that need to be inspected. This is especially relevant where the geometry of the inspection area is more complex, such as at the weld nodes of a jack-up rig.</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ4NzE2ODc1MDg5LU9pbF9SaWctNzY4eDU3Ni5qcGVnIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner"><em id="isPasted">Subsea steel joints</em>&nbsp;</span></span></span></p><h2 id="isPasted">6. <style type="text/css" id="isPasted"></style><style type="text/css"></style><span data-sheets-formula="=PROPER(R[-1]C[0])" data-sheets-userformat='{"2":320,"9":2,"11":3}' data-sheets-value='{"1":2,"2":"Sea Mine And Uied Intervention"}'>Sea Mine And UIED Intervention</span>&nbsp;</h2><p>Military clearance divers carry out dangerous tasks including deploying a shaped charge to disarm a mine or examining and disrupting a Waterborne Improvised Explosive Device (WBIED). These tasks are still done by humans because they require high fidelity perception and dexterous intervention capabilities not previously available through a remote solution. Recently, with the release of more dexterous, compact manipulator arms like the Reach Alpha, military organisations are investigating ways for ROVs to start to do some of these more dangerous tasks.</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ4NzE2OTEzMTM1LTEwMDU1MzczMDc1XzIxNmRkZTc3NWFfYy5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner">Image Source: Flickr</span></span></span></p><h2 id="isPasted">7. <style type="text/css" id="isPasted"></style><style type="text/css"></style><span data-sheets-formula="=PROPER(R[-1]C[0])" data-sheets-userformat='{"2":320,"9":2,"11":3}' data-sheets-value='{"1":2,"2":"Special Recovery Operations (E.G. Downed Aircraft, Drowning Victims)"}'>Special Recovery Operations (e.g. Downed Aircraft, Drowning Victims)</span></h2><p>Special Recovery Operations include scenarios such as recovering a downed aircraft from the seafloor or drowning victims from a lakebed. These sensitive tasks have historically been conducted by highly skilled military or civilian diver teams. Recently ROVs have been able to assist and in some cases take-over, these high-risk tasks.</p><p>Dexterous manipulators can be used to tie knots or attach carabiners to recover objects or for the recovery of forensic items without disturbing the lake/sea bed.</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ4NzE2OTYxMjYwLUhFQVJULXNpbXVsYXRpb24tNzY4eDQ4OS5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner"><em id="isPasted">Alpha Grabber during a simulated recovery mission &ndash; See the full video story below!</em>&nbsp;</span></span></span></p><p><span class="fr-video fr-deletable fr-fvc fr-dvb fr-draggable" contenteditable="false" draggable="true"><iframe src="https://www.youtube.com/embed/19V9YdC-ZOM?&wmode=opaque&rel=0&enablejsapi=1&origin=https://www.wevolver.com" frameborder="0" allowfullscreen="" class="fr-draggable" data-lf-yt-playback-inspected-kn9eq4roawkarlvp="true" style="width: 768px; height: 430px;"></iframe></span></p><h2 id="isPasted">8. <style type="text/css" id="isPasted"></style><style type="text/css"></style><span data-sheets-formula="=PROPER(R[-1]C[0])" data-sheets-userformat='{"2":320,"9":2,"11":3}' data-sheets-value='{"1":2,"2":"Oceanography And Hydrography (Sampling And Measurement)"}'>Oceanography And Hydrography (Sampling And Measurement)</span></h2><p>Understanding the condition of our marine environment is critical for building a global picture of the Earth&rsquo;s ecosystem. Scientists regularly take samples from the sea bed for analysis and collect marine organisms for biological study. In some cases, sampling and organism collection requires precise positioning of a sampling device as well as the ability to retrieve a sample without stirring up sediment from the seafloor. Additionally, measuring devices (rulers and callipers) are often used to properly characterize an object of interest. In these cases, a dexterous manipulator allows for the ROV to sit on the seafloor and for confined areas to be reached (such as amongst a coral reef)</p><p><span class="fr-img-caption fr-fic fr-dib" style="width: 768px;"><span class="fr-img-wrap"><img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1648717362455-EGM_5604_Credit_AIMS-EricMatson-2048x1367.jpeg" style="width: 766px;" class="fr-fic fr-dib"><span class="fr-inner">Image source: Scimex</span></span></span></p><h2 id="isPasted">9. <style type="text/css" id="isPasted"></style><style type="text/css"></style><span data-sheets-formula="=PROPER(R[-1]C[0])" data-sheets-userformat='{"2":320,"9":2,"11":3}' data-sheets-value='{"1":2,"2":"Autonomy And Custom Control"}'>Autonomy And Custom Control</span>&nbsp;</h2><p>Robotics and Autonomous Systems researchers around the world are pioneering the use of underwater robots in a variety of autonomous applications. Some examples of this are using manipulators to autonomously interact with a subsea control panel or using multiple robots to lift, carry, and place an object, thereby utilising the lift capacity of more than one underwater vehicle.</p><h2 id="isPasted"><style type="text/css" id="isPasted"></style><style type="text/css"></style><span data-sheets-formula="=PROPER(R[-1]C[0])" data-sheets-userformat='{"2":320,"9":2,"11":3}' data-sheets-value='{"1":2,"2":"Final Thoughts"}'>Final Thoughts</span> </h2><p>The uses of underwater ROV manipulators are varied and constantly expanding. As a company, Blueprint Lab is seeking not just to make incredible robotic arms, but to actually solve industry problems. We constantly discuss and explore the problems that our clients are trying to solve and have multiple projects in work regarding underwater manipulation, perception and control.</p>

The aim of this article is to provide a high-level answer to the question: “What do people use underwater robotic arms for?” If you’ve worked with Remotely Operated Vehicles (ROVs) before, this article probably isn’t for you. For everyone else, let’s go.

Top Uses of Underwater ROV Manipulators

A Quick Start Guide to Underwater ROVs. In this guide, you’ll learn about what defines a remotely operated vehicle, different types of ROVs, and what they are used for. Underwater ROVs are used to observe and interact underwater across a range of industries.

What are underwater ROVs & What can they be used for?

<p>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.</p><p>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.</p><p>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.</p><p><strong>Complete motion-tracking module speeds development of ROV</strong></p><p>Xsens’ 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.</p><p>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.</p><p>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.</p><p><strong>Maintaining stability in water</strong></p><p>The 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.</p><p><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"></p><p>Underwater Robotics decided to embed the MTi-3 in the GNOM-PRO ROV after exhaustive evaluation of the motion sensor market.&nbsp;</p><p>‘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.</p><p>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.’</p><p>Boris Rozman, CEO of Underwater Robotics</p><p><strong>Learn more about the Xsens MTi-3 AHRS<em>&nbsp;</em></strong></p><p>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.</p><p>Want to know more? Go to the <a href="https://www.xsens.com/mti-3" rel="noopener noreferrer" target="_blank">MTi-3 page</a>.</p>

remotely operated vehicles (ROVs)

Profiles