Robotica e patrimonio culturale

1. Ramiro dell’Erba dellerba@enea.it Robotica e patrimonio culturale Una rapida esposizione delle attività del laboratorio di robotica per il patrimonio culturale

2. Who are we?ENEA robotics Laboratory Head: Claudio Moriconi Speaker: Ramiro dell’Erba (dellerba@enea.it) Robotics Laboratory Casaccia Research Centre (Rome) Italy http://robotica.casaccia.enea.it/

3. Some of the submarine robotics device • SARA (Autonomous AUV) Venus Low cost Rov-Auv Stereoscopic head for archeological application • Falcon (Teleoperation)

4. Our greater experience: Tecsis project To develop base research and technology to lead to the “remote museum” concept in hostile environment. Enhancement of the virtual museum concept. Basic concept of the project Virtual museum digital representation of the goods. New concept: Remote museum Virtual museum merged robotic possibilities by a extended presence. Motivations 1 – Climate conservation 2 – Hostile environmental (submarine site, cave) 3 – Site of difficult availability “Remote museum” require technological development on: 1 – Diagnostic function 2 – Heritage conservation 3 – Mobility 4 – Remote heritage telepresence Development of autonomous robot to support archeologist in exploration, inspection, digital reconstruction of the sites; tele operated presence. Villa di Agrippa Postumo (Sorrento): part of the Villa is under the sea and of difficult availability http://robotica.casaccia.enea.it/

5. Relitto dei Marmi Geo referenced pictures of the “Relitto dei marmi” by ROV. Bathymetry shaded color, shaded relief and sonar

6. Augmented Reality applied to Cultural Heritage Optical see-through displays show virtual information (in this case by LIF) merged into the real world

7. Classification: example of work developed in ENEA Aim: classification supervised (if database exist) or unsupervised (automatic clustering) of the characteristics of low resolution ultrasonic images produced by a stereoscopic ultrasonic submarine camera. Methodology: Center of Gravity (CG), High order Moment, Spectral Angle Mapper (SAM), Spectral correlation mapper (SCM), Support vector machine (SVM), Self organizing Mapper (SOM), neural network. The ultrasonic camera Selection of the acoustic signal to classify. Amphora. We select two kind of spectra (black square) and looking for similar The results of classification by SVM. Identification of external/internal volumeof Anfora

8. Cylinder shape obtained by the internal rules of a swarm adaptation of a bird swarm to environmental need (food hunting) Harness project: Example from the Nature • The core of Harness project is therefore aimed at the integration of the individual, collective and communication control levels in a multi robot system in order to ensure the full operation capabilities both from the point of view of the network efficiency and under the aspect of mission efficiency (adaptation to the environment). Natural examples are in the following pictures represented for a couple of typical situations.

9. Target detection example

10. Functional example of self organization linked to application job Some sketches of swarm geometries that in our mind are functional to typical environmental adaptation that we have in minds and that will be better discussed in the following. • This one on the right side is the “pipe”, where the communication is the main objective of the geometrical shape to transport data on long distances at the maximum allowed speed. • “Ellipse” is a quite typical shape used in fish schools probably aimed at giving the most impressive “footprint” to possible predators, but also the result of the dynamical processes of arrangement of the school itself during its movement.

11. Application Great number of applications: - Cultural heritage discovering and surveillance - Port surveillance (high rate data transmission - Fast exploration of marine environment (parallelism and high band pass) - Discovering and control of source pollution - Monitoring of algal blooming - Underwater pipes control - High data rate channel transmission

12. The challenges of the Research • Overcoming of the problem of low data transmission band pass, associated to practically every signal propagation inside the marine water; • Drastically improve the monitoring capability for a number of tasks requested in sea areas (discovering archeological sites, intrusion surveillance); • Get an easy and fast supervised control by a human operator, to introduce high level decision capability in the loop. Dialing with the swarm; • Capability to optimize the system behavior in different environments to improve the robustness and the reliability of the system;

13. Research topics key points • Communication: Adaptive multihop communication network; new special underwater modem; Very high frequency underwater transducer • Control: Dialing with the swarm • Localization: new concepts for rough, precise and relative localization. Use of alternative methods to USBL; Cooperative localization • Teleoperation: cooperation between the elements and delay problems Each one of these topics could be a reasonable research target

14. Grazie per l’attenzione