Sea-UA : Sea-UE Autonomous vehicle

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This work is funded by the ANR «Investissements d'avenir» number ANR-19-GURE-0001 in the framework of the ERASMUS+ SEA UE consortium.

In the framework of SEA-UE, SEA-UA is a collaboration between the Univ. of Split (University Department of Professional Studies, and Faculty of Sciences), University of Gdansk, and the University of Brest (Computer science department/Faculty of Sciences and Lab-STICC). This collaboration has been initiated in 2020 with the first SEA-UE funding call of the UBO.

The University of Split has designed a ROV (or Remotely Operated Underwater Vehicle) for marine infrastructure inspection. This ROV is not autonomous: it is operated by hand and is wired and connected to a control ground station for the energy and communication facilities. The current ROV also has a limited computation capability. A new version is currently designed by the University of Split to provide enough computing resources for intensive computing applications such as image processing or artificial intelligence algorithms. Embedding computing-intensive software may contribute to making the ROV autonomous but raises challenges to managing computing resources. Indeed, a ROV, autonomous or not, has safety and real-time constraints to meet. Computing resources have to be managed to both enforce safety and real-time constraints and also to run computing-intensive applications enough to deliver useful results in the context of a limited amount of energy. In the ROV-Operate project, the consortium will investigate 1) how to design and optimize with AADL the architecture of the ROV software integrating both control and payload and 2) how to handle underwater image processing and object detection algorithms with the ROV’s cameras and computing resources.

Several teaching exchanges are planning between University of Split and Brest during SEA-UA. Here are the materials of those teaching activities:

• Teaching week at UBO in October 2022.
• Lectures and labs about "Introducing critical real-time software design and programming", Frank Singhoff, at University of Split.
• Lectures and labs about "Multi-Objective Optimization and applications", Laurent Lemarchand, at University of Split.
• Lectures and labs about "Introduction to Fuzzy Logic", Vincent Rodin, at University of Split.
• Lectures and labs about "Sorting algorithms", Valérie-Anne Nicolas, at University of Split.

• SEA-UA Teaching week : SEA-UA is organizing a teaching week between the 11th and the 14th of October 2022. The teaching week will cover software engineering and hardware design for embedded systems, and more specifically for underwater autonomous vehicle.

• Software development for an underwater ROV using PIXHAWK technology and AADL modeling. Jure Antinovic, Master thesis of the University of Split, June 2023
• Increasing the autonomy of an underwater ROV. Marko Vukšić, Tonko Kovacevic, Barbara Džaja, Predrag Đukić, Slaven Šitić, Hai Nam Tran, Vincent Rodin, Laurent Lemarchand, Valérie-Anne Nicolas, Alain Plantec, Frank Singhoff. Poster presented during the Sea Tech Week, Brest, France, September 2022.
• Evaluation of Underwater Image Restoration Algorithms. Alan Le Boudec, Artur Mkrtchyan, Barbara Dzaja, Vincent Rodin, Hai Nam Tran. Published in the proceedings of the 6th international conference on Smart and Sustainable Technologies. SpliTech conference, Split, Croatia, September 2021.
• Multi-objective optimization between real-time and energy of a ROV. Nikolina Amižić, Tina Baleta. Masther thesis of the university of Split, June 2021.
• Évaluation des algorithmes de traitement d’images et de vidéos sous-marines. Master 2 informatique LSE, Brest, Artur Mkrtchyan, septembre 2021
• Etudes d'algorithmes pour améliorer une image sous l'eau. Alan Le Boudec. Master 2 informatique LSE, Brest, septembre 2021

The SEA-UA project has been funded by ANR (Agence Nationale de la Recherche) in the framework of "Investissements d'avenir" program number ANR-19-GURE-2001 under the funding proposals ROV-Operate, TARO and IA-AUV.

Involved permanent staffs: Tonko Kovacevic, Marko Vukšić, Barbara Džaja, Predrag Dukic, Roko Rogulj, Hrvoje Turić, Jakub Zdroik, Laurent Lemarchand, Alain Plantec, Hai Nam Tran, Jakub Zdroik, Laurent Lemarchand, Alain Plantec, Valérie-Anne Nicolas, Vincent Rodin, and Frank Singhoff

Involved Students : Jure Antinovic, Alan Le boudec, Nikolina Amižić, Tina Baleta, Artur Mkrtchyan.

Coordinators : Marko Vukšić, Frank Singhoff, Laurent Lemarchand.