Sealab Current Research Trends: Maritime Unmanned Systems for Dual-Use Applications

2019 IMEKO TC-19 International Workshop on Metrology for the Sea Genoa, Italy, October 3-5, 2019

SEALab current research trends: Maritime Unmanned Systems for dual-use applications

Daniele S. Terracciano1,3, Vincenzo Manzari1, Mirko Stifani1, Benedetto Allotta2,5, Andrea Caiti2,3,4, Giuseppe Casalino2,6

1 Naval Support and Experimentation Centre of Italian Navy (CSSN), La Spezia, Italy 2 Interuniversity Center of Integrated Systems for the Marine Environment (ISME), Italy 3 Department of Information Engineering (DII), University of Pisa, Italy 4 Research Center “E. Piaggio”, University of Pisa, Italy 5 Department of Industrial Engineering, University of Florence, Italy 6 Department of Communication, Computer and System Sciences, University of Genoa, Italy

Abstract – The technological potential offered by of GPS signal, the impossibility of radio transmission, the Maritime Unmanned Systems (MUS) is recognized by limitations of light penetration, all concur to pose severe many countries as an effective tool for both military challenges to the operation of autonomous marine robots. and civilian applications. The increasing use of MUS In addition, wireless acoustic communication among robots brought substantial and new challenges to the Test and is still at development stage, with respect to all the Evaluation process that becomes significantly more capabilities available on land and in air [4]. From [5], it complicated than traditional systems. Unmanned emerges that the technological potential offered by systems have continuously increasing complexity and Maritime Unmanned Systems (MUS) is recognized by all capabilities and can be at different maturity levels. Navies as an effective tool for Mine CounterMeasures These technologies necessitate for specific Test and (MCM), AntiSubmarine Warfare (ASW) and Intelligence, Evaluation tools throughout the whole program life Surveillance and Reconnaissance (ISR) missions. cycle. For the above reasons, the Naval Support and Moreover, this potential can be exploited also for civilian Experimentation Centre (CSSN) of the Italian Navy applications, such as marine flora and fauna survey and and the Italian Interuniversity Center on Integrated protection missions. Despite their great potential, MUS use Systems for the Marine Environment (ISME) founded to have a marginal role in these missions due to their a joint laboratory in 2015, called SEALab (Laboratory limitations in persistence, interoperability, modularity, on marine heterogeneous and autonomous systems), costs, scalability, autonomy and information assurance. with the main goal to jointly develop and manage Finally, decision makers and operators perceive applied research and experimentation activities of expectations higher than actual technology development common interest in the field of heterogeneous and capabilities may offer, due to customer versus supplier autonomous marine systems. personal interpretation of the “job to be done” [6]. Original expectations are thus mismatched by actual activities if not I. INTRODUCTION supported by a dedicated strategy. They result only in a little Robotics impact in the marine environment has been step toward the desired path requiring anyway a consistent GLVFXVVHGVLQFHDYHU\ORQJWLPHIRULQVWDQFHLQWKHYHU\ effort [7]. early reference [1], the author identified some benefits from These new technologies necessitate to be assessed by using Unmanned Systems: savings on personnel costs, specific Test & Evaluation (T&E) tools throughout their reduced workloads for personnel, reduced exposure to whole life cycle. Analyzing the gaps between base and dangerous tasks and improvement of decision-making in emerging technologies through the S-Curve behavior [8], stress conditions. Although many of the promises described an area where T&E capabilities are available at different in [1] have been largely met by the technological evolution stages can be identified. Indeed, these capabilities and (e.g. [2], [3]), the development in the maritime domain is related skills are already present at different levels in still lagging behind that of its air and land counterparts. The various Italian, European and international entities, but it is intrinsic hostility of the underwater environment, the lack extremely difficult to make the overall technological

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306 6RPH SUHOLPLQDU\ WULDOV KDYH EHHQ FRQGXFWHG WR WHVW WKH Over the years, SEALab acquired deep expertise in the HIIHFWV RI WKH ZDYH PRWLRQ RQ WKH YHKLFOH DQG UHILQH WKH field of MUS and its sensors. This allows the members of SRVLWLRQRIWKHZLQJVRQLW7HVWVZLOOFRQWLQXHLQWKHQH[W the laboratory to approach the problem of robust, well- IXWXUH structured and cost-effective T&E process. This means that MUS systems are not only the object of a T&E F. $QWL6XEPDULQH:DUIDUH:RUNVKRSV process, but they become fundamental to test and evaluate 7KDQNVWRWKH6($/DEDVHULHVRIZRUNVKRSVKDYHEHHQ other systems, whether they are unmanned or not. FRQGXFWHGLQZKLFKVPDOODQGPHGLXPHQWHUSULVHV All the preparatory and research activities mentioned in XQLYHUVLWLHV UHVHDUFK FHQWHUV WKH ,WDOLDQ 1DY\ DQG WKH Section III are illustrative of how they are necessary to &05(SDUWLFLSDWHG carry out all those evaluations in a controlled environment 7KHLQLWLDODLPZDVWRSURPRWHWKHH[FKDQJHRILGHDVDQG that if not done would entail high risks of failure in the FRPSHWHQFHVRQWKH086VXEMHFWEHWZHHQWKHSDUWLFLSDWLQJ open sea during operational activities. They have been the LQVWLWXWLRQVWU\LQJWRSURYLGHDFRPPRQGLUHFWLRQWRGHILQH starting point to providing the laboratory T&E capabilities WKHUHTXLUHPHQWVRIWKH,WDOLDQ1DY\¶V$6:GRFWULQH7KH on different interconnected topics (Fig. 8). JDSVDQGLVVXHVHPHUJHGIURPWKHVHZRUNVKRSVDUHIXOO\ UHIOHFWHG LQ WKH 6($/DE DFWLYLW\ 7KH ILQDO JRDO ZDV WR Open RXWOLQH WKH SULRULW\ JDSV WR EH ILOOHG LQ WKH XQGHUZDWHU architecture GRPDLQ VXFK DV VHQVRUV DXWRQRPRXV GHFLVLRQ GHSOR\PHQW UHFRQILJXUDELOLW\ FRPPXQLFDWLRQV DQG FRPPDQGDQGFRQWURO7KLVOHGWRWKHFUHDWLRQRIDQDWLRQDO Persistence Signal Modularity and QHWZRUNFRPSRVHGE\DOOWKHSDUWLFLSDQWVLQWKHZRUNVKRS and Long Sonar Reconfigurability UHDG\ WR EH LQYROYHG DW LQWHUQDWLRQDO OHYHOV LQ 086 Endurance Processing SURMHFWV

IV. 6($/$%$67(67$1'(9$/8$7,21&(175( Underwater The increasing use of MUS brought substantial and new Communications challenges to the T&E community. In particular, the T&E for unmanned systems is significantly more complicated )LJ6($/DE7HVW (YDOXDWLRQFDSDELOLWLHV$FHQWUDO than the T&E for conventional systems because of their UROH LV JLYHQ WR WKH 0RGXODULW\ DQG 5HFRQILJXUDELOLW\ complexity and evolving maturity. FRQFHSW$OORIWKHVH7 (FDSDELOLWLHVDUHLQWHUFRQQHFWHG $VDOUHDG\PHQWLRQHGWKHVHQHZWHFKQRORJLHVQHFHVVLWDWH WR EH DVVHVVHG E\ VSHFLILF WHVW DQG HYDOXDWLRQ WRROV The first fundamental T&E capability is the Modularity WKURXJKRXWWKHLUZKROHOLIHF\FOHT&E can be defined as and Reconfigurability of autonomous systems where the the process by which a system and its subsystems are basic idea is the possibility to have a single macro-vehicle compared against some requirements (Fig. 7). This is done that can have multiple testing and evaluation capabilities. through testing, that cannot occur only at the end of This is only possible thanks to the WAVE project which development, but it should be addressed continuously allowed the SEALab to have a platform (eFolaga) where throughout the entire life cycle. one can install a big quantity of different module payloads, such as the WAVE module, vector sensor, acoustic modems, CTD probes, solar panels and so on. In addition, we can develop independently or together with SEALab partners a software for each module. This is possible thanks to the open-architecture (both hardware and software) of the vehicle which allows changes with extreme flexibility. Persistence and Long Endurance capabilities have been addressed thanks to the SeaWHAM project. A good expertise in the Underwater Communications has been achieved thanks to the experimentations carried out during the Underwater Navigation tests where the use of acoustic modems with particular type of communications has been fundamental. )LJ7KH6&XUYHFRQFHSWRIWHFKQRORJ\OLIHFLFOH7KH Finally, the development of the acoustic payload hosting HYDOXDWLRQ SURFHVV EHFRPHV IXQGDPHQWDO LQ WKH the vector sensor gave us the possibility to test the vehicle GHYHORSPHQWDQGXVHGWRUHGXFHULVNWKURXJKRXWWKHHQWLUH in multistatic scenarios and increase the signal sonar

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307 V. CONCLUSION [6] M.C. Clayton, A.D. Scott, G. Berstell, D. Nitterhouse, This paper has outlined the recent developments in “Finding the Right Job For Your Product”, MITSloan SEALab studies on the use of MUS for military and dual- Management Review, Spring, Vol. 48 no, 3, 2007. use applications, ranging from ASW to marine mammal [7] T. G. Lechler, T. Gao, "Explaining Project Success with detection and protection. To carry out such heterogeneous Client Expectation Alignment: An Empirical missions, the SEALab Program Matrix has been designed Study", Research and Education Conference, pp. 1-41, to address a detailed methodological analysis in various 2012. fundamental research fields. Finally, SEALab's current [8] P.A. Geroski, “Models of technology diffusion”, program of work covers a number of key issues, including Research Policy, 29 (4-5), pp. 603-625, Elsevier Ltd., 2000. the implementation of an Underwater Test Range for the [9] D. Fenucci, A. Caffaz, R. Costanzi, E. Fontanesi, V. Verification and Validation of Autonomous Underwater Manzari, L. Sani, M. Stifani, D. Tricarico, A. Turetta, A. 1DYLJDWLRQWKHDW-sea assessment of an innovative system Caiti, “WAVE: A wave energy recovery module for long for the exploitation of wave and solar energies to move endurance gliders and AUVs”, OCEANS 2016 MTS/IEEE MUS endurance from hours to months for a persistent Monterey, Institute of Electrical and Electronics Engineers monitoring FDSDELOLW\ WKH HQKDQFHPHQW RI DXWRQRPRXV Inc., 2016. behaviors in IXOO\SDVVLYHDFRXVWLFPRQLWRULQJDSSOLFDWLRQV [10] A. Caffaz, A. Caiti, V. Calabrò, et al., “The enhanced the concept of reconfigurability from a single system to a Folaga: a hybrid AUV with modular payloads”, in G.N. system of systems. Roberts, R. Sutton (Eds.), Further Advances in Unmanned The SEALAb overview given in this paper shows how a Marine Vehicles, IET, 2012. virtuous example of collaboration between academia and [11] A. Mantouka, P. Felisberto, P. Santos, F. Zabel, M. the Navy may be strategic for national technological Saleiro, S.M. Jesus, L. Sebastiao, “Development and development. This is fundamental to create a shared testing of a dual accelerometer vector sensor for AUV background reference aligning the expectations of the acoustic surveys,” Sensors, vol. 17, no. 1328, pp. 1 – 12, customer (e.g. military end-user and university researchers) 2017. to the actual technology supplier capabilities. [12] D. Terracciano, R. Costanzi, P. Guerrini, V. Manzari, L. Troiano, M. Stifani, A. Tesei, A. Caiti, “Bearing REFERENCES estimation in very shallow waters with an AUV mounted Acoustic Vector Sensor”, Oceans’19 Conference, [1] S. Leibholz, "Trends In Robotics And Implications For Marseille, June 17th -20th , 2019. The Marine Environment", Proceedings of IEEE [13] D. Terracciano, R. Costanzi, V. Manzari, M. Stifani, A. OCEANS’ 83-1983, Pages 100-105, 1983. Tesei, K. LePage, L. Troiano, “Passive detection and [2] E. Zereik, M. Bibuli, N. Miškoviü, P. Ridao, A. Pascoal, bearing-only tracking of large-time bandwidth signals “Challenges and future trends in marine robotics”, Annual using an AUV mounted vector sensor”, UACE’19 Reviews in Control, 46, pp. 350-368, Elsevier Ltd, 2018. Conference, Crete, July 1th - 5th , 2019. [3] G.N. Roberts, R. Sutton, “Further Advances in [14] R. Costanzi, D. Fenucci, V. Manzari, A. Caiti, R. Unmanned Marine Vehicles”, The Institution of Petroccia, “Towards an autonomous underwater vehicles Engineering and Technology, 2012. test range: At-sea experimentation of bearing-only tracking [4] A. Ridolfi, D. Spaccini, F. Fanelli, M. Franchi, N. algorithms”, Annual Reviews in Control, Volume 46, Pages Monni, L. Picari, C. Petrioli, B. Allotta, “An autonomous 304-314, ISSN 1367-5788, 2018. underwater vehicle and SUNSET to bridge underwater [15] R. Costanzi, D. Fenucci, V. Manzari, M. Micheli, L. networks composed of multi-vendor modems”, Annual Morlando, D. Natale, M. Stifani, A. Tesei, A. Caiti, “At-sea Reviews in Control, 46, pp. 295-303, Elsevier Ltd, 2018. NATO operational experimentation with interoperable [5] R. Been, G. Grenon, K. Van Thiel, A. Maguer, A. Berni, underwater assets using different robotic middlewares”, D. Merani, A. Tremori, A. Bruzzone, “Scoping Review on NAV International Conference on Ship and Shipping CMRE Future S&T Regarding Persistente Autonomous Research, Associazione Italiana di Tecnica Navale, 2018. Reconfigurable Capabilities for Maritime Unmanned [16] F. Roncallo, T. Reboli, V.A. Santamaria, E. Canepa, A. Systems”, PARC, internal document, 2014. Traverso, “The Seaspoon Wave Energy Converter: performance characterization of different blade geometries”, Conference Paper OCEANS, Aberdeen, 2017.

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