Robotics and Cultural Heritage - ENEA — it · Robotics and Cultural Heritage ... Robotics for Aesthetics and History? Robotics a very horizontal ... Venus european project

Robotics and Cultural Heritage

Technology as a service for

History and Culture preservation

TECHITALY 04/10/2012

Robotics for Aesthetics and History?

Robotics a very horizontal technology

• Appreciation of a masterpiece? Maybe, in some future... Other tasks

• Support to humans in lenghty, boring or potentially dangerous jobs

• Support to humans in perception and fruition

Which are and how can be offered these services?

Cultural Heritage needs

• Discovery

• Fruition

• Access • Restoration and Preservation

• Surveillance • Defense and Protection

Discovery • Despite of a very large and intensive reseach carried out along

the last centuries there are few doubts that many evidences of past civilisations are still hidden along the world. Robotics can be highly helpful to detect and explore those sites and this is especially true if the environmental conditions raise the costs for the quest at very high levels.

Submerged Antirhodus Island – Cleopatra palace

Yonagumi-Jima 8000 years old Riuns - Megalith

Fruition

• Many Historical and archeological finds needs to identify means and technologies allowing the cultural tourism without the associated harm, the safety problems and the access difficulties

Access • Access to Cultural Heritage sites is a fundamental need, not

only for the visitor, but also for the researcher.

• Underwater relics are a never ending challenge for their access costs, for the technical difficulties that arise as soon as the depth of the find goes beyond 50-60 meters and for the need of high level skills and physical integrity.

Venus european project Virtual ExploratioN of Underwater Sites

Underwater excavations on HMS Pandora shipwreck

Preservation

• Many sites needs for special cures in maintaining their integrity. Use of automation in monitoring tasks, remote measurements and possible emergency operations can save money and offer a greater duration of the relics

Baia Scenery

Pompei historical site

Cultural Heritage finds are unfortunately a very striven stuff. It is well known the problem represented by the thefts on the historical and artistic sites all over the world. If this is a serious problem on the terrain excavations and museums proection it becomes almost an Impossible Mission for goods lying on the seabed. Surveillance carried out by underwater automatic and autonomous monitors could be a possible answer to this very difficult situation.

Venus 1

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Surveillance, defence and protection

ENEA and Cultural Heritage

• ENEA is active in the technologies in support of the art since 25 years and is working on the application of robotics to the Cultural Heritage fruition and preservation since ten years with the development of its large TECSIS national project.

• TECSIS, had the participation of many national research centers, including CNR and several Academies, and was focused on the new peculiar concept of “remote museum”, where robots represent the intermediate agent between the cultural tourist and the Cultural site whenever the site itself cannot be visited by the tourists because of the hostility of the site or to protect them against threats brought by the presence of the people itself.

• Let see about some developments of Robotics Laboratory…

RESTORATION Augmented Reality applied to Cultural Heritage

A cooperation among laser technology and robotics interfaces

Optical see-through displays show virtual information merged into the real world

Case Study – how to support a restoration action on the book, affected by an invisible

biological attack Multispectral Data acquired with LIF (Laser Induced Fluorescence) laser scanning

After a postprocessing the results are registered on the paint to get a precise geometric mapping under every possible perspective

• The operator can see informations precisely located on the paint. The overlay of the multiple layers of information is robust and be seen independently by the movement of the operator and by its orientation owing to predictive filtering and 3D remapping

Applications: Restoration history sheets, damages characteristics, etc..

Access to archeo sites: mobile robotics to follow caves

Robotic search of a still unmapped paleolithical cave under fields and roads

Cultural Heritage and the Sea

• A very great number of Human History rests remains on the sea beds all over the world. Most of them remains unknown and a great number are not the results of shipwrecks, but precious time capsules of past times, when portions of the current sea bed were inhabited by ancient populations

• Technology to unveil the time barrier remains a very important achievement and we devote part of our activity to this important target.

Problems and technologies for Underwater Archaeology • Exploring the seabed for relics below the

depths accessible to humans

The communication Problem….

The authonomy need….

Most currently used approach

Underwater ROV inspection

AUV exploration

The Swarm idea

• A swarm is a multiple body robotic system with societal rules that allow its control like a single but complex system.

• How can be applied the societal rules? – Perceiving its neighbours with the sensing of the

robots – Robots can talk with the neighbours by means of a

communication network – Robot can helping each other depending on the

peculiar task assigned to the school/swarm

The Swarm idea - 2

• How can be a swarm more effective of a single robot? – It occupy a much larger volume (parallel

operation) – It is more reliable (vessel failures don’t crash the

mission) – It can have a much more effective environmental

reconstruction (parallel sensing) – It can have a much better communication

capability

Laser comm. beams

Large areas covered Continuous connection with human operators Simple control because the swarm can be seen as a single device

Surface vessel with GPS

Surface vessel with GPS

The ENEA UC-Swarm project Development Frame

• Self funded project, born by means of a cooperation agreements among ENEA, Tor Vergata University and Perugia University, supported by suggestions of many end users, including the national marine army

• 1 National project “Harness” – overall value about 1.5 Meuros. Cofunded by IIT (foreseen ending beginning of 2014)

• 1 FP7 project under submission

Design and realisation of a swarm vessel demonstrator

• VENUS – As cheap as possible (around 7000 euros without special sensors)

– Moderate depths (less than 300 mt) – Oriented to technology development – Long autonomy (of course depending on the mission)

Basic features of the current fleet (4 units)

• Max Speed = 2 knots/hr • Max depth = 200 mt. • Foreseen authonomy = 8 hrs • Foreseen comm. band pass = up to 100 Khz peak • Endowed sensors

– 3D cameras – Pan sonar – Inertial platform – Acoustic modem – Optical Livrea

ICT Architecture

Actuators Sensors

Swarm perception

Local and Swarm learning

Neighbours HSI

Both acoustical and optical (next development)

ICT Architecture

• Current Venus generation – 3 CPU’s – 1 cpu 1 GHz for actuators control, path following,

manoeuvre performing – 1 cpu 1 Ghz for sensing, data fusion, perception

and target recognition, formation control – 1 Cpu for modem / “ad hoc network”

management, “communication to swarm” interaction

• Next Venus generation – 2 more CPU’s – 1 Cpu for swarm perception and swarm level data

fusion – 1 Cpu for swarm learning

Operation Principle Simulation of a large swarm • There is no control at alll

by the operator that just established a target at the beginning

• Each vessel has its own controller working as in a true operation

• Each vessel is simulated with regards to its hidrodynamics

• Each vessel simulates sensing/communication with its neighbours (or all the swarm)

• Internal ICT structure with relevant message passing is not yet simulated

Communication Strategy

• Short distances (3-20 m.)

• High carrier frequencies (400 Khz – 2 Mhz)

• Double carrier (broadcast communication / local neighbours communication)

• Optical sync lamps (optional)

Laser comm. beams

Surface vessel with GPS

Surface vessel with GPS

Venus 1

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Venus 3

Venus 2

Overthreshold Feature detection

OBSERVE request

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