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Rov Data Collection

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Underwater Archaeology Data Collection by means of ROVs
G. Conte, S. M. Zanoli, D. Scaradozzi and L. Gambella
(gconte, s.zanoli, d.scaradozzi)@univpm.it; gambella@diiga.univpm.it

Abstract
This work describes the procedures and methodology employed for gathering data from submerged sites of archaeological interest. Main objectives are to develop, test and validate solutions that simplify the work of archaeologist by employing unmanned robotic vehicles and automatic procedures that can be applied to deep water sites that are not reachable by divers. This activity is part of the European Research Projects VENUS and Newton UPGRADE and this work is about operations and tests carried out in the field of the Underwater Laboratory Project of Marlin Tremiti diving center in San Nicola Island, Tremiti Archipelago, Italy.

Problem Statement
The problem concerns the design, test and development of a set of Amphora procedures and best practices for collecting data from underwater archaeological sites by employing robotic vehicles and automatic devices under the supervision of archaeologists and engineers, possibly in cooperation, under some circumstances, with diROV vers. The kind of data one wants to get while navigating consists, essentially, of a set of geo-referenced pictures in photogrammetric quality in order to construct a 3D model of the explored area in a virtual environment with a specified level of precision.

LabView softwares and suitable dll function perform all this operation in order to increase the performances and the stability of the synchronous data gathering algorithm. This format has been used in the VENUS and Newton Upgrade European Projects and it is very useful for data portability, dissemination and post-processing tasks. Acquisition Procedure
Optic image

Survey

Acquisition procedure

Navigation data • GPS ROV position • bottom bathymetry • yaw, pitch and roll • IMU data • thrusters RPM

Exif method

ROV NCG Unit and Equipment
The ROV is a small class DOE Phantom S2. It is equipped with internal (IMU, depth and compass) and external sensor (two camcorders and a sonar) and four thrusters; in particular it also on board mounts an underwater acoustic positioning system that gives georeferenced vehicle position with an accuracy of about 1m. The control architecture of the ROV, from the hardware point of view, integrates a standard console together with a PXI/FPGA unit. The PXI/FPGA is directly connected to the navigation sensory system of the ROV and it also receives data from ROV sensors. PXI/FPGA unit controls, at low level, sensor devices and thrusters and, at high level, navigation tasks and synchronous data gathering. Navigation can be performed in autonomous or manual mode by PXI keyboard and mouse either by a commercial Sixaxis Wireless Controller or using analogical joystick on the standard console. The software for managing communication, implementing low and high level control and data processing has been developed in the LabView environment. ROV Framework
PXI - FPGA SIXAXIS Wireless Controller Navigation Instrument Management Data acquisition, processing and gathering

x=550545.84; y=4709760.37; z=-63.490616; dist=2.54; yaw=354.414400; pitch=0.961300; roll=-1.7606;

JPEG/Exif

Data Processing Procedure
Each one of the JPEG/Exif files described above represents an image of the sea bottom and contained position and attitude of the collected photo. These, together with calibration data, can be used to scale the picture, to orient it and to paste them together by using a mosaicking technique. The mosaic gives a preliminary, “flat”, pictorial image of the explored area. The 3D shape of the area can then be re-created by adding relief on the basis of bathymetry and of depth and sonar measurements taken by the ROV onboard instruments The result of this process is a virtual model of the explored area, consisting of a surface in a 3D space on which the mosaic is pasted. Mosaic samples

Conclusion
Communication and power supply Optical image acquisition Umbilical cable Bathymetric data acquisition Phantom S2 Deep Ocean Engineering Sonar

Scout USBL Monocular 3CCD PAL camcoder Conditions acquisition and navigation tasks ROV georeferencing Navigation data acquisition SonyDCR-TRV50E Compass, IMU, depth Optical image acquisition

The activity and methods developed in the field of European Projects VENUS an d Newton UPGRADE are tested during the mission in the in proximity of the Tremiti Islands in the Adriatic Sea at a depth between 50m and 60. These tests have produced a valuable know-how about the use of UUV in gathering georeferenced data from submerged sites of archaeological interest. In particular, it has been possible to explore the potentialities of the technology in providing a photogrammetric and acoustic coverage of areas of the sea bottom, suitable for constructing virtual 3D models. Practical procedures for collecting data have been established and suitable data format have been defined. Future work will be devoted to the development of automatic guidance procedures, that may facilitate further the task of the operator, and to tests and experiments in deeper water.

References
1. Caiti, A., 2002. Baratti 2001: Acoustic positioning systems and ROV navigation. In: The 1st Lerici Int. School on Marine Technologies (CD-ROM), Lerici, Italy. 2. Conte, G., Zanoli, S.M., Scaradozzi D. and Gambella L, 2006. Data Gathering in Underwater Archaeology by means of a Remotely Operated Vehicle. In: The 21st International CIPA Symposium. Athens, Greece. (in press). 3. Vettori, G., Gambogi, P., Rizzerio, A., Casalino, G., and Caiti, A., 2004. Recent experiences in archaeological surveys with remotely operated vehicles in the North Tyrrhemian Sea. In: The Conf. "Recent advances in underwater detection and survey techniques to underwater archaeology", Bodrum, Turkey.

Data Gathering Procedure
Experimental data have been collected during ROV survey on SCOUT Method an archaeological site near the San Nicola Island coast at 60m depth. The ROV was manually guided in the horizontal plane using video and positioning system information; during navigation the PXI unit registers, at 1Hz, ROV ROV Reference internal, external and georeferenced z data in JPEG/Exif format. This proceyaw dure consists in constructing a sex quence of pictures each one includes, in Exif metadata, acoustic image, georeference position and navigation pitch data; in particular each image contain its absolute UTM x, y coordinates and z depth and ROV yaw, pitch and roll i.e. roll y image absolute orientation.
Picture from “User Guide for Scout USBL”, page 11”

Acknowledgement
The authors gratefully acknowledge for the activity in Tremiti mission the support of the Soprintendenza per i Beni Archeologici per la Puglia, MarlinTremiti Diving Center and the Dipartimento dei Vigili del Fuoco (Italian Firemen Department).

CAMS’07

IFAC Conference on Control Applications in Marine Systems

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