Infrastructure overview

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.

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.

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.

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.

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

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

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.

 

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

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

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

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. 

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).