Periodic Reporting for period 3 - ENDURUNS (Development and demonstration of a long-endurance sea surveying autonomous unmanned vehicle with gliding capability powered by hydrogen fuel cell)
Periodo di rendicontazione: 2021-11-01 al 2023-07-31
The ENDURUNS project is financed by the European Commission through the Horizon 2020 programme and the Korean Government. The ENDURUNS project has researched, developed and demonstrated of an Unmanned Surface Vehicle (USV) in combination with an Autonomous Underwater Vehicle (AUV) with gliding capability for Ocean Exploration which remains a key issue for the society. Both vehicles are powered using hydrogen fuel cells combined with Lithium-ion batteries installed onboard. The prototype USV has been designed to operate as mothership for the AUV glider, which is capable of docking and undocking using a special mechanism installed at the stern. Thus, the USV can carry the AUV glider at the location where the mission is going to take place, and subsequently recover it and return it to the port. The USV like the AUV glider is powered using electrical power, using Li-ion batteries that are recharged using photovoltaic panels and the PEM hydrogen fuel cell installed omboard. With the help of an acoustic modem the USV can communicate with the AUV glider when the latter is underwater in order to exchange data and provide the location information required since GPS signals do not travel underwater. Through satellite and radio links installed on the USV, it is possible to remotely control it or reprogramme it so it can follow a predesignated route which can be updated dynamically and in real time when and if required. The route updates can be communicated to the AUV glider using the acoustic modem or when it is on the surface through wireless telecommunication. The ENDURUNS project, signals a new era in ocean research capability, and highlights the international trend in the maritime industry towards the use of sustainable energy sources.
During the 57 months, the consortium executed all duties according to the technical annex.
All deliverables up to M57 were submitted either in-time or with an acceptable level of delay.
The consortium carried out successfully the demonstration activities envisaged in WP8 as described in the technical annex. A major success achieved within ENDURUNS was the exhibition of the two complete vehicles, AUV glider and USV, in the major event of Salone Nautico Venezia 2023 between end of May and start of June 2023, including the participation of the consortium in the joint workshop hosted by CNR-ISMAR in parallel to the exhibition. The delegates of the workshop also had the opportunity to see the two vehicles from up close and examine their key characteristics. The participation at Salone Nautico Venezia 2023 was a venue where thousands of people attended the event every day, enabling the consortium to disseminate the project activities to the general public as well as key stakeholders including, policy makers and public authorities, such as the Italian Coastguard. Further dissemination coverage of the project was achieved through the invitation of Archipelagos.gr which also generated a number of videos from the exhibition of the two vehicles, the joint workshop, as well as their presentation including their functionalities and key characteristics. Furthermore, demonstration activities followed directly after the exhibition at Salone Nautico Venezia 2023 in the Venice Lagoon giving a further boost to the visibility of the research activities carried out within the ENDURUNS project. Demonstration actions took place under actual operating conditions at various parts of the Venice Lagoon, including the world-renowned Modulo Sperimentale Elettromeccanico (MOSE), at Punta Sabbioni, and during the second stage of the demonstration in the Northern Adriatic Sea. Mission operations included seabed mapping, environmental observations of flora and fauna and infrastructure inspection (e.g. the MOSE superstructure). The final demonstration activities were carried out at the Port of Klaipeda, which included again seabed mapping using the multibeam, infrastructure inspection and environmental observations using the optical camera. There was an intention to also carry out multibeam measurements and optical inspection of a World War Soviet Navy shipwreck just outside the mouth of the Klaipeda Port but due to weather conditions and strong currents it was decided by the consortium that it was too risky to proceed with this activity. Thus, the mission remained as originally planned within the area of the Port. In addition, the data bubble developed was successfully demonstrated and data transmitted.
All deliverables up to M57 were submitted either in-time or with an acceptable level of delay.
The consortium carried out successfully the demonstration activities envisaged in WP8 as described in the technical annex. A major success achieved within ENDURUNS was the exhibition of the two complete vehicles, AUV glider and USV, in the major event of Salone Nautico Venezia 2023 between end of May and start of June 2023, including the participation of the consortium in the joint workshop hosted by CNR-ISMAR in parallel to the exhibition. The delegates of the workshop also had the opportunity to see the two vehicles from up close and examine their key characteristics. The participation at Salone Nautico Venezia 2023 was a venue where thousands of people attended the event every day, enabling the consortium to disseminate the project activities to the general public as well as key stakeholders including, policy makers and public authorities, such as the Italian Coastguard. Further dissemination coverage of the project was achieved through the invitation of Archipelagos.gr which also generated a number of videos from the exhibition of the two vehicles, the joint workshop, as well as their presentation including their functionalities and key characteristics. Furthermore, demonstration activities followed directly after the exhibition at Salone Nautico Venezia 2023 in the Venice Lagoon giving a further boost to the visibility of the research activities carried out within the ENDURUNS project. Demonstration actions took place under actual operating conditions at various parts of the Venice Lagoon, including the world-renowned Modulo Sperimentale Elettromeccanico (MOSE), at Punta Sabbioni, and during the second stage of the demonstration in the Northern Adriatic Sea. Mission operations included seabed mapping, environmental observations of flora and fauna and infrastructure inspection (e.g. the MOSE superstructure). The final demonstration activities were carried out at the Port of Klaipeda, which included again seabed mapping using the multibeam, infrastructure inspection and environmental observations using the optical camera. There was an intention to also carry out multibeam measurements and optical inspection of a World War Soviet Navy shipwreck just outside the mouth of the Klaipeda Port but due to weather conditions and strong currents it was decided by the consortium that it was too risky to proceed with this activity. Thus, the mission remained as originally planned within the area of the Port. In addition, the data bubble developed was successfully demonstrated and data transmitted.
Ocean exploration remains a sector where evolution has been slow. This is largely due to the technical challenges arising from operating at high depths for prolonged periods of time. State-of-the-art systems used in ocean exploration are based either on Remotely Operated Vehicles (ROVs) that are operated from a manned mothership, or Autonomous Underwater Vehicles (AUVs) which are launched and retrieved by a mothership in the areas of interest. AUVs due to the depths that they operate are powered using li-ion batteries. Unfortunately, such batteries have limited energy storage capacity and therefore, the endurance of AUVs is inadequate for long-term operations. Gliders on the other hand which can operate for longer periods of time are dedicated to simple measurements that require low power and move in a hacksaw tooth motion to avoid using a significant amount of energy for propulsion. However, they are not capable of carrying out more complex activities such as seabed mapping or inspections of offshore facilities.
The USV can deploy and retrieve the AUV as well as exchange information between the AUV glider and the ENDURUNS Remote Monitoring and Control Center (RMCC) that the consortium has also developed. When operating underwater communication between the USV and the AUV glider is achieved via acoustic modem. When docked the AUV can exchange data with the USV using a Maelstrom advanced wireless communication system which also permits recharging of the batteries onboard the AUV. Hence, even when the hydrogen has been used, the mission can be further extended if required by recharging the battery when the AUV glider docks with the USV. The USV itself is completely autonomous employing advanced radio and satellite communication systems that allow it to maintain constant contact with the ENDURUNS RMCC. The power of the USV is generated from a combination of advanced marinised solar panels spread in the free areas on the top side of the vessel, a PEM FC supplied by hydrogen stored onboard in gas cylinders or liquid hydrogen storage tank and Li-ion batteries.
The AUV glider features an advanced data management system incorporating special data bubbles that can be ejected in an emergency or if it is required by the mission. The data bubbles have their own power supply and can communicate wirelessly when near the USV. The ejection of a bubble requires the re-balancing of the weight of the AUV glider through the release of additional weight from the bottom so nominal buoyancy parameters can be maintained during the rest of the operation. The AUV is designed to be modular in nature so the sensor kits can be adapted as required by the mission profile.
Both the AUV and USV were successfully demonstrated in the Venice Lagoon, North Adriatic Sea and Klaipeda Port. The two vehicles were also exhibited at Salone Nautico Venezia 2023 and were the subject of extensive coverage by media including national outlets.
The USV can deploy and retrieve the AUV as well as exchange information between the AUV glider and the ENDURUNS Remote Monitoring and Control Center (RMCC) that the consortium has also developed. When operating underwater communication between the USV and the AUV glider is achieved via acoustic modem. When docked the AUV can exchange data with the USV using a Maelstrom advanced wireless communication system which also permits recharging of the batteries onboard the AUV. Hence, even when the hydrogen has been used, the mission can be further extended if required by recharging the battery when the AUV glider docks with the USV. The USV itself is completely autonomous employing advanced radio and satellite communication systems that allow it to maintain constant contact with the ENDURUNS RMCC. The power of the USV is generated from a combination of advanced marinised solar panels spread in the free areas on the top side of the vessel, a PEM FC supplied by hydrogen stored onboard in gas cylinders or liquid hydrogen storage tank and Li-ion batteries.
The AUV glider features an advanced data management system incorporating special data bubbles that can be ejected in an emergency or if it is required by the mission. The data bubbles have their own power supply and can communicate wirelessly when near the USV. The ejection of a bubble requires the re-balancing of the weight of the AUV glider through the release of additional weight from the bottom so nominal buoyancy parameters can be maintained during the rest of the operation. The AUV is designed to be modular in nature so the sensor kits can be adapted as required by the mission profile.
Both the AUV and USV were successfully demonstrated in the Venice Lagoon, North Adriatic Sea and Klaipeda Port. The two vehicles were also exhibited at Salone Nautico Venezia 2023 and were the subject of extensive coverage by media including national outlets.