Infrastructure overview | EU Marine Robots

UPORTO

UVX testbed

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	Local Tesbed	AUV, ASV	6x UW Column-LAUV	AUV, 100m DP, 30kg WT
			4x Mapping-LAUV	AUV, 100m DP, 30kg WT
			2x VTOL Aircraft	VTOL Prototype
			6x X8 Aircraft	ASV, 4kg WT
			6x Manta Gateway	Allows multiple operators to control and monitor multiple vehicles in a networked environment over distinct platforms, including Android smart phones. The device is battery powered for full autonomy and portability.
				*Harbour Operations
2	Atlantic Testbed	AUV, ASV	6x UW Column-LAUV	AUV, 100m DP, 30kg WT
			4x Mapping-LAUV	AUV, 100m DP, 30kg WT
			2x VTOL Aircraft	VTOL Prototype
			6x X8 Aircraft	ASV, 4kg WT
			6x Manta Gateway	Allows multiple operators to control and monitor multiple vehicles in a networked environment over distinct platforms, including Android smart phones. The device is battery powered for full autonomy and portability.
				*Operations at sea

UNI BREMEN

EUMR

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	MARUM-TEC	vehicle array	SQUID 2000	2000m, HDTV, 7-function Orion
			Moth	Deep sea glider
			SV3	Wave glider
			SEAL 5000	AUV

IST ID

NSUV Testbed

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	Local Testbed	ASVs, AUVs and supporting instrumentation and infrastructures	2x MEDUSAS	Medusa-Class ASVs, 30 kg WT
			4x MEDUSAD	Medusa-Class AUVs, 100m DP, 30kg WT
			DELFIM	ASV
			DELFIMX	ASV
			ISeaTec	Research Vessel to support operations at sea
			IST-Test tank at Tagus park	Test tank for lab experiments with marine vehicles and equipment
			Testing Area - EXPO´98 site	Access to protected area (350x500m, water depth from 3 to 6m, directly from the quay, for small scale experiments and engineering tests
			Acoustic Comm. Network	Network of 6 acoustic modems
			Sensors, payloads	4 USBL, multibeam unit, gradiometer, sidescan sonar, subbottom profiler, 2 DVLs, 4 optical modems

UNIGE

Third Parties: UNICAS, UNIPI, UNIFI, UNIROMA, UNISALENTO, UNIVPM, UNICAL, UNIBO

I-EUMR

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	SeaLab	AUV, ASV, UAV	2x Typhoon	AUV, 300m depth rated, equipped with 675 kHz Tritech Side-Scan Sonar and video cameras
			Marta	AUV, 120m depth rated, equipped with M900-130 BlueView Multibeam - 900 kHz Frequency and 130 deg Field of View
			2x Folaga	AUV, 100 m
			Catamaran	ASV, approx 3x2 m
			8x multirotors	UAV, quadcopters
			2x 7DOF arms	underwater arm
			10x small boat	ASV, approx 1 meter length
			Phantom	ROV, 150 m
			VideoRay Pro4	microROV
			Sensors, payload	USBL, 2D-sonar, single beam scanning sonar, multi parameters probes, side scan sonar, acoustic and optical modem
			SeaLab	Access to traffic-restricted harbour area (300x300m, water depth from 5 to 20m), directly from the quay, for small scale experiment and engineering test.
				RHIB 4.20m with 20HP motor for support to harbour operations
				Indoor Laboratory close to the sea operational area (50m2)
				Ship time availability (R/V Alliance, R/V Leonardo)
				SeaLab is a research laboratory located inside a miltary area of Italian Navy. Access to SeaLab of civilian personnel therefore requires previous authorization from Italian Navy, and compliance with internal existing regulations within the Navy base

UNIZG-FER

LABUST

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	BUDDY AUV	AUV	BUDDY AUV	AUV; 70 kg WT; developed at UNIZG-FER for diver interaction applications, underwater tablet onboard the vehicle allows interaction with divers; equipped with ARIS multibeam sonar, DVL, USBL, 6 thrusters, etc
2	aPad USVs	USV	5 x aPads USVs	USV, each 20kg WT, developed at UNIZGFER used for various applications from diver tracking to marine monitoring, suitable for multivehicle control; X-configuration of thrusters; payload options to be mounted to the bottom: bathymetry sonar, multibeam sonar, stereo camera, USBL, acoustic cmodems

UdG

CIRS

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	WT-G500	HROV	GIRONA 500	AUV 500m DP, 150kg WT; developed at UdG and used for survey, inspection and mapping applications. Hovering capabilities and several payload options: multibeam and profiler sonar, stereo camera and acoustic modem. Imaging Sonar (ARIS) subjected to disponibility. Can connect custom payloads following power/connection specs.
1	WT-G500	HROV	CIRS Watertank	Test tank of 16x8x5m with direct view from control room.
2	WT-S2	AUV	SPARUS II	AUV 200m DP, 50kg WT; developed at UdG and used for survey and mapping applications. Hovering capabilities and multiple payload options: multibeam and profiler sonar, stereo camera and acoustic modem. Imaging Sonar (ARIS) subjected to disponibility. Can connect custom payloads following power/connection specs.
2	WT-S2	AUV	CIRS Watertank	Test tank of 16x8x5m with direct view from control room.
3	SEA-G500	HROV	GIRONA 500	AUV 500m DP, 150kg WT; developed at UdG and used for survey, inspection and mapping applications. Hovering capabilities and several payload options: multibeam and profiler sonar, stereo camera, acoustic modem and USBL positioning from boat. Imaging Sonar (ARIS) subjected to disponibility. Can connect custom payloads following power/connection specs.
3	SEA-G500	HROV	SEXTANT	7m rigid boat with an hydraulic crane for shoreline operations.
4	SEA-S2	AUV	SPARUS II	AUV 200m DP, 50kg WT; developed at UdG and used for survey and mapping applications. Hovering capabilities and multiple payload options: multibeam and profiler sonar, stereo camera, acoustic modem and USBL positioning. Imaging Sonar (ARIS) subjected to disponibility. Can connect custom payloads following power/connection specs.
4	SEA-S2	AUV	SEXTANT	7m rigid boat with an hydraulic crane for shoreline operations.
5	EU-G500	AUV	GIRONA 500	AUV 500m DP, 150kg WT; developed at UdG and used for survey, inspection and mapping applications. Hovering capabilities and several payload options: multibeam and profiler sonar, stereo camera, acoustic modem and USBL positioning from boat. Imaging Sonar (ARIS) subjected to disponibility. Can connect custom payloads following power/connection specs.
6	EU-S2	AUV	SPARUS II	AUV 200m DP, 50kg WT; developed at UdG and used for survey and mapping applications. Hovering capabilities and multiple payload options: multibeam and profiler sonar, stereo camera, acoustic modem and USBL positioning. Imaging Sonar (ARIS) subjected to disponibility. Can connect custom payloads following power/connection specs.

ULIM

MMRRC

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	I-ROV	ROV	I- ROV	Inspection class ROV, 150m tether, 130kg WT, Oceanrings control system, ROVINS Nano Inertial navigation system, high thrust-to-weight ratio ROV. 2 X single mode fibre optic cables through umbillical to ROV.
2	MRE-ROV	ROV	MRE- ROV	2000m rated Light-workclass Intervention ROV, 1.8T WT. Oceanrings control system, PHINS Inertial navigation system, high thrust-to-weight ratio ROV. 4 X single mode fibre optic cables through umbillical to ROV. Launch and recovery system with 1m foldable platform & 2200m of armoured umbillical. Tether managment system with 400m of umbillical. 3 x 4k UHD cameras, Laser, high resolution sonar imaging systems, dual 7P Schilling Manipulators, 12-station Smart Valve pack, Multiple SD cameras / ethernet ports / serial ports, submersible RTK GPS, 20ft control cabin, Free-swimming ROV capabilitiy with free swimming winch & 600m of neutral umbillical.

PLOCAN

VIMAS

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	Slocum	Glider, AUV	Slocum G2-1000	1000 m. depth Sensor Payload: CTD, Dissolved Oxygen, Chlorophyll and Turbidity. Endurance: 1-4 months (if alkaline or lithium batteries) Iridium Rudics telemetry Cruise speed: 0.25 m/s
1	Slocum	Glider, AUV	Test site (including harbour facilities)	The testing area of 23km2is located off the East coast of the island of Gran Canaria (Spain), at a distance between 2 and 5 km from the coast and with depths from 20 to 600m.
2	Wave Glider	ASV	Wave Glider	SV2 Model. Payload: CTD, dissolved oxygen, meteo station and PAM (passive acoustic module). Endurance: unlimited Iridium SBD telemetry Cruise speed: 1-1.5 kn
2	Wave Glider	ASV	Test site (including harbour facilities)	The testing area of 23km2is located off the East coast of the island of Gran Canaria (Spain), at a distance between 2 and 5 km from the coast and with depths from 20 to 600m.

NATO STO

LOON

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	T-LOON	Testbed	LOON	Permanent testbed deployed in the gulf of La Spezia, Italy and remotely accessible through the internet to conduct underwater communications experiments. The LOON is composed by 4 bottom-mounted tripods separated by ~500 m one from another. The tripods are fitted with different acoustic capabilities based on the Woods Hole Micro-Modem, EvoLogics S2S 18/34 and arbitrary waveform transmission and recording capability. An additional high-resolution, wideband acoustic recording capability (at frequencies above 1 kHz) from a tetrahedral array of hydrophones, a thermistor chain (measuring continuously the temperature in the water column + the sound speed in two points in the column) and an Acoustic Doppler Current are also available as part of the test bed to provide a correlation with the environmental conditions. A container lab. aggregates all support hardware and is the point of confluence for the underwater cables deployed in the Gulf. A weather station with automated data acquisition of rain, wind speed and wind direction is installed on the roof of the container lab and is also a part of the test bed to complement the environmental data capabilities. The access to this wide range of acoustic and non-acoustic sensors allows the unique capability of long-term (from hours to cross-seasonal variations) measurement of acoustic performance and its relation with oceanographic and meteorological parameters. The LOON has been explored in multiple ways since its first deployment in 2011. From the experience CMRE and partner institutions have had with the test bed, we can identify the following uses for the LOON: 1. As a communications testbed: This was the original purpose of the test bed and the one with which a wide range of trials can be performed, from testing and validation of acoustic waveforms to networking protocol. 2. As a software testing / hardware-in-the-loop tool: The LOON can provide a “world-in-the-loop” capability for communications software debugging and testing. From a functional perspective (and not a underwater communications R&D one), the nodes can be used to stress-test software over long periods of time and to validate query-reply schemes employed in underwater communications and underwater localisation. 3. As an AUV control / navigation testing facility: The ranging capabilities of the installed modems (as well as the arbitrary waveform capabilities) can been explored to develop schemes that support AUV formation keeping using ranging information as the only positional awareness.

Instl. nr.

Short name Instl.

Type

Assets/Facilities

Key characteristics

T-LOON

Testbed

LOON

Permanent testbed deployed in the gulf of La Spezia, Italy and remotely accessible through the internet to conduct underwater communications experiments.
The LOON is composed by 4 bottom-mounted tripods separated by ~500 m one from another. The tripods are fitted with different acoustic capabilities based on the Woods Hole Micro-Modem, EvoLogics S2S 18/34 and arbitrary waveform transmission and recording capability.
An additional high-resolution, wideband acoustic recording capability (at frequencies above 1 kHz) from a tetrahedral array of hydrophones, a thermistor chain (measuring continuously the temperature in the water column + the sound speed in two points in the column) and an Acoustic Doppler Current are also available as part of the test bed to provide a correlation with the environmental conditions.
A container lab. aggregates all support hardware and is the point of confluence for the underwater cables deployed in the Gulf. A weather station with automated data acquisition of rain, wind speed and wind direction is installed on the roof of the container lab and is also a part of the test bed to complement the environmental data capabilities.

The access to this wide range of acoustic and non-acoustic sensors allows the unique capability of long-term (from hours to cross-seasonal variations) measurement of acoustic performance and its relation with oceanographic and meteorological parameters.

The LOON has been explored in multiple ways since its first deployment in 2011. From the experience CMRE and partner institutions have had with the test bed, we can identify the following uses for the LOON:
1.       As a communications testbed: This was the original purpose of the test bed and the one with which a wide range of trials can be performed, from testing and validation of acoustic waveforms to networking protocol.
2.       As a software testing / hardware-in-the-loop tool: The LOON can provide a “world-in-the-loop” capability for communications software debugging and testing. From a functional perspective (and not a underwater communications R&D one), the nodes can be used to stress-test software over long periods of time and to validate query-reply schemes employed in underwater communications and underwater localisation.
3.       As an AUV control / navigation testing facility: The ranging capabilities of the installed modems (as well as the arbitrary waveform capabilities) can been explored to develop schemes that support AUV formation keeping using ranging information as the only positional awareness.

HWU

ROBOTARIUM

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	T-ROBO	AUV ROV ASV	2x IVER3	AUV
			Nessie	AUV
			C-Enduro	ASV, 4.2m x 2.4m x 2.8m, Weight: 350kg
			Sonobot	ASV, 0.45m x 0.92m x 1.32m, Weight: 30kg
			test tank	4m x 3m x 2m
			REMUS	AUV, weight 36 kg

NTNU

AUR-LAB

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	ROV SF30k	ROV	Sperre SUB-Fighter	ROV: Weight 1800 kgs. Dimensions: 2.6 x 1.6 x 1.1 m
			Sperre SUB-Fighter	20 ft ROV control container
			RV Gunnerus	31 x 10 meter Research vessel including DP and USBL system
2	ARTIC AUVs	ASV	REMUS 100	AUV, weight 37 kg, depth rating 100 meters
2	ARTIC AUVs	ASV	ASV Jetyak	Autonomous surface vehicle - 3 meters and 160 kgs petrol engine.
3	Small scale AUVs	AUV	L-AUV	Small AUV equipped for upper water column
3	Small scale AUVs	AUV	L-AUV	Small AUV equipped for seabed investigations

MI

MI_RV OPS

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	RV Celtic Explorer	VESSEL	RV CELTIC EXPLORER	Description of the infrastructure Length: 65.5 m / Breadth : 15 m / Draught : 5.8 m / Gross tonnage: 2425 T / Net Tonnage: 727 T. Operating cruising speed : Maximum speed 16 knots Service speed 10 knots / Max access of people : 21 The Celtic Explorer is a multipurpose research vessel with Dynamic Positioning which carries out a wide variety of survey operations in offshore as well as deep sea locations, including ROV Surveys, fisheries surveys, acoustic and oceanographic surveys, buoy and mooring handling operations, environmental sampling, and geological and hydrographic surveying. The vessel complies with the noise requirements of ICES CRR Report 209 for underwater radiated noise. The vessel has an adaptable drop keel which houses an array of instruments. It has the capacity on deck to carry 7 x 20 ft containerized laboratories on board. The on-board equipment, deck machinery and layout fulfill all the needs for state-of-the-art scientific marine research and training. The laboratory facilities on board are outstanding; large wet, chemistry and water labs, which are, fitted with a stainless steel fish sorting system, freezer room and refrigerators. The vessel is fitted out with high availability LAN and a Dry Lab of 75 m2. It is ideally configured to undertake acoustic surveys of pelagic fish. The vessel is adapted to accommodate a variety of Remotely Operated Vehicles including the Deepwater ROV Holland I, Kiel 6000 ROV and MEBO drill system. Specific Scientific equipment: Equipment available for: Physical/Chemical Oceanography Surveys, Marine Biology, Geology and Fisheries Research and Acoustic surveying. Permanent Scientific EquipmentGeneral: * Motion reference system Kongsberg Simrad Seapath 200; * Underway data logging Kongsberg Simrad MDM400; * USBL Systems IXSEA GAPS/ Sonardyne Ranger 2; * Weather system BATOS II;

DLTM

CENTRO HPC

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	HPC-IT	EDP Facilities	DLTM HPC&Cloud Center	Hardware, Operating System and Application Softwares and Services, to solve a variety of complex problems through parallel computing together with Modeling and Simulation advanced technology.
				Hw Configuration: 18 compute nodes (Dual CPU Intel E52695 V3) each with 28 core and 64 gb of RAM, for a overall of 504 core and more than 1TB of RAM; Infiniband FDR 56 Gb/s and 20 Gb/s Ethernet; 2 NVIDIA K40M for GPU Computing; 1 Head Node with 24 core and 384GB of RAM; High Performancer Storage with 21 TB; Computing Power: 18 Teraflops (GPU excluded)
				Software Configuration: Bright Cluster Manager; CentOS 7; PBS Pro; All main libraries and compilers (OpenMpi, Intel Parallel Studio XE 2017, Gcc, Fortran, ecc..)

Third Party: CNR

MaRob

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	Proteus	reconfigurable USSV/ROV/AUV + polar station	CNR-INM Proteus @ Dirigibile Italia	Proteus reconfigurable USSV/ROV/AUV + access and logistics at Dirigibile Italia Station in Ny Alesund, Svaalbard Islands, Norway
2	SWAMP	USV	CNR-INM	SWAMP modular reconfigurable USV: the robot is constituted by two single hull vessels, that mechanically linked makes a catamaran; each vessel is equipped with: AHRS+GPS, wi-fi link, bow & stern azimuthal pump-jet thruster

NOC

MARS

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	T-MARS	UUV, USV, ship	Submarine glider x 4	TW Slocum glider (deep or shallow) equipped with thrusters, CTD, chl-a and PAM sensors for long-endurance open ocean monitoring (EUMR mission length up to two weeks)
			USV x 3	C-Enduro, Autonaut and/or Wave Glider USVs, equipped with CTD, PAM, met station and cameras for long-endurance open ocean missions (EUMR misison length up to two weeks)
			AUV x 1	Autosub Long Range (ALR6000) equipped with CTD, chl-a and PAM for long-endurance open ocean and under-ice missions (EUMR mission length up to two weeks)
			AUV x 2	EcoSUB micro-AUV equipped with CTD and chl-a for short multi-vehicle open ocean missions (EUMR mission length hours to days)
			Support vessel	NRV Alliance (NATO-CMRE), for launch / recovery of unmanned vehicles and collection of supporting / calibaration data
2	NMEP	Glider and ship access	Submarine glider x 1	deep (1000m) or a shallow (200m) water
				RRS Discovery- Access is available to a planned trials cruise that will take place in the Rockall area of the North Atlantic as part of the UK’s National Marine Equipment Pool (NMEP) Trials aboard the RRS Discovery

3	Loch Ness	AUV and loch trials	AUV (EcoSUB micro) x 4	Mission length hours to 1-2 days
			AUV (EcoSUB millie) x 1	Mission length hours to 1-2 days
			AUV (SPARUS2)	Mission length 8 hours
			Support vessel	2 week Loch Ness Trial Campaign Q4 2020 – NOC will provide shore side facilities, support vessels, crane etc.

IFREMER

Third Party: Genavir

Ocean Science

Instl. nr.	Short name Instl.	Type	Assets/Facilities	Key characteristics
1	Ifremer Harbour tests	AUV	AUV asterX	AUV (max depth 3000m) with various payloads (multi-beam echosounder, sub-bottom profiler, environmental sensors such as ADCP, CTD, Fluorimeter, magnetometer), possibility of raman spectrometer, The vehicle is 4,5m long, xeighs 800kg in air, and is operated from coastal ships providing A-fraem or crane for the vehicle deployment.
1	Ifremer Harbour tests	AUV	Habour test facilities	300m x 150m dead-end harbour site (Ifremer controlled) with qai sides and mech/elec. Labs, sea-water and pressure tanks
2	Ifremer Sea Trials	AUV	AUV asterX	AUV (max depth 3000m) with various payloads (multi-beam echosounder, sub-bottom profiler, environmental sensors such as ADCP, CTD, Fluorimeter, magnetometer), possibility of raman spectrometer, The vehicle is 4,5m long, xeighs 800kg in air, and is operated from coastal ships providing A-fraem or crane for the vehicle deployment. USBL deep water positionning can be provided depending on surface vessel.
3	HROV Ariane	ROV	HROV Ariane	Hybrid ROV/AUV (max depth 2500m), equiped with high resolution multi-beam echo-sounder and still photo camera, vacuum sapmling devices, and two 5F & 7F electric manipulator arms.Ariane is based on communication through a unique fiber optic cable and can be deployed from smaller coastal vessels (>25m).