This paper describes the application of using a submersible remotely operated vehicle (ROV) to map and explore
underground water cisterns during a series of expeditions to Malta and Gozo. The purpose of this project was to
create maps of ancient cisterns located under private homes, churches, and fortresses where passageways leading
to the cisterns are too narrow and dangerous for humans to enter. These cisterns were used as water storage
systems for hundreds of years, and many still contained water. The small ROV that was lowered into these cisterns
was equipped with a sonar module to enable the creation of maps, two cameras to record live video, a grabber-arm
for interacting with objects in the environment, and a Smart Tether to record additional positioning data of the ROV.
Each of these components are discussed in terms of functionality and appropriateness for use by archaeologists
wishing to explore and extract mapping information from narrow water-filled caverns. Additionally, three different
mapping and localization techniques are presented including 1) Sonar image mosaics using stationary sonar
scans, 2) Sonar image mosaics using stationary sonar scans with Smart Tether position data, and 3) Simultaneous
Localization and Mapping (SLAM) using stationary sonar scans. Each of the algorithms used in this project have
benefits in certain applications. During two expeditions in Malta and Gozo, 2-dimensional maps of 32 cisterns
were successfully constructed.peer-reviewe

10th International conference on Virtual Reality, Archaeology and Cultural Heritage

Buhagiar, Keith

Clark, Christopher M.

Gambin, Timmy

Hiranandani, Daniel

White, Cory

OAR@UM

The 10th International Symposium on Virtual Reality, Archaeology and Cultural Heritage VAST (2009) Short and Project PapersK. Debattista, C. Perlingieri, D. Pitzalis, and S. Spina (Editors)Underwater Robots with Sonar and Smart Tether forUnderground Cistern Mapping and ExplorationD. Hiranandani1, C. White1, C. Clark1, T. Gambin2, and K. Buhagiar31Computer Science Dept., Cal. Polytechnic State U., San Luis Obispo, USA2AURORA Special Purpose Trust, Malta3Dept. of Classics & Archaeology, University of MaltaAbstractThis paper describes the application of using a submersible remotely operated vehicle (ROV) to map and exploreunderground water cisterns during a series of expeditions to Malta and Gozo. The purpose of this project was tocreate maps of ancient cisterns located under private homes, churches, and fortresses where passageways leadingto the cisterns are too narrow and dangerous for humans to enter. These cisterns were used as water storagesystems for hundreds of years, and many still contained water. The small ROV that was lowered into these cisternswas equipped with a sonar module to enable the creation of maps, two cameras to record live video, a grabber-armfor interacting with objects in the environment, and a Smart Tether to record additional positioning data of the ROV.Each of these components are discussed in terms of functionality and appropriateness for use by archaeologistswishing to explore and extract mapping information from narrow water-filled caverns. Additionally, three differentmapping and localization techniques are presented including 1) Sonar image mosaics using stationary sonarscans, 2) Sonar image mosaics using stationary sonar scans with Smart Tether position data, and 3) SimultaneousLocalization and Mapping (SLAM) using stationary sonar scans. Each of the algorithms used in this project havebenefits in certain applications. During two expeditions in Malta and Gozo, 2-dimensional maps of 32 cisternswere successfully constructed.Categories and Subject Descriptors (according to ACM CCS): I.3.8 [Computer Graphics]: Applications—CisternVisualization1. IntroductionThis project concerns the use of an underwater robot systemcapable of mapping out and navigating underwater tunnelsystems where alternative equipment would be too large tofit through small access points. Such cisterns can be foundin the lower chambers of fortresses and churches. Archae-ologists looking to study and document such systems havefound it too expensive and difficult to use people. Further-more, the human exploration of these subterranean waterstorage systems is limited by safety and physical constraintsand could possibly result in irreversible damage to the siteunder study. Instead, a small underwater robot specifically aVideoRay Pro III Micro ROV [Remotely Operated Vehicle]is considered in this paper (see Figure 1).In addition to the work presented in this paper, otherrelevant work has been conducted in underwater robot lo-calization and mapping. One of the first instances includesthe work done in [WWN∗00] where sonar scans were usedto map and track features of the environment. More re-cently, successful 3D tunnel mapping in underwater environ-ments was demonstrated in [FKW06]. The mapping of mari-nas via underwater Simultaneous Localization and Mapping(SLAM) was successful as shown in [RRNT06]. Follow-ing this work, the most recent publications of underwaterrobots implementing SLAM in man-made structured envi-ronments has been studied in [RRNT07] and [RRTN08].In these works, a mechanically scanned imaging sonar wasused in combination with a line-feature extraction algorithmto gather information about the environment, and experi-ments were conducted in a marina in order to show feasi-bility of the approach.Unlike the work in [FKW06], [RRNT06] and [RRTN08],c© The Eurographics Association 2009.D. Hiranandani, C. White, C. Clark, T. Gambin & K. Buhagiar / Underwater for Underground Cistern Mapping(a) (b) (c)Figure 1: Shown in (a) is the VideoRay Pro with a sonarmodule and Smart Tether, along with the VideoRay controlbox in (b). The degrees of freedom for this robot are illus-trated in (c).this paper describes applications which only permit the pas-sage of small-scale robot systems (i.e. passage opening di-ameters on the order of 0.3m). Furthermore, the ROV wasequipped only with a depth sensor, compass, scanning sonar,and a KCF Smart Tether for cistern exploration.2. Equipment2.1. ROV Underwater RobotThe ROV to be considered is the VideoRay Pro III MicroROV robot. An ROV is a robot that is controlled by an op-erator, and can be connected to the control equipment usinga cable. In the case of the VideoRay, the tether is requiredfor communication to and from the control box. This tetherallows the transfer of control inputs to the robot as well assonar measurements and live video to be received from therobot and recorded.The VideoRay was selected primarily for its small size(i.e. 0.3m), which allows for passage and navigation throughthe constrained caverns and narrow access points commonlyfound in Malta.The VideoRay is equipped with two forward thrusters,one vertical thruster, one forward-facing color video cam-era, one rearward-facing black and white video camera, andtwo forward-facing lights. The forward thrusters are con-trolled with an analog joystick, and the depth thruster is con-trolled through a separate dial which can be seen in Figure1b. These thruster controls allow movement in three degreesof freedom in a local reference frame (forward and back-ward on the X axis, positive and negative depth on the Z axis,and rotation around the Z axis for yaw), as shown in Figure1c. Also, the control box can be interfaced with an externalcomputer for customized software control and processing ofsensor measurements.2.2. Scanning SonarThe sonar to be considered is the Tritech SeaSprite. A sonarmodule is a device used to acquire distance measurements ofnearby objects and walls. It works by sending an ultrasonicwave in a particular direction then measuring the time beforethe wave is reflected back from an object. Using this time offlight, the relative distance between the sonar module andthe object can be calculated. The sonar module then rotatesto acquire up to a full 360◦ scan.2.3. Micro ManipulatorThe Micro Manipulator arm from VideoRay was also usedfor this project (see Figure 2a). This arm allowed for grip-ping and retrieving objects while exploring the cisterns, asshown in Figure 2b. The arm is capable of lifting forty kilosunderwater, and has a closing strength of two kilos, whichgives the robot the capability to recover fairly large objectsduring a dive.(a) (b)Figure 2: Shown in (a) is the VideoRay equipped with theMicro Manipulator. The Micro Manipulator in (b) was usedto retrieve a piece of pottery found at the bottom of a cisternin Gozo.2.4. Smart TetherThe KCF Smart Tether has sensor nodes embedded in thecable which are used to determine the position of the ROV.These positions can be used to determine the scale of sonarmosaic maps in areas with few distinguishing features. Ad-ditionally, relative position data for each of the nodes can beused to determine the state of the tether in the event of snagsor tangles caused by obstacles in the external environment.2.5. Computer and JoystickIn addition to robot equipment, a laptop computer capableof running custom written C++ mapping software was inter-faced with the VideoRay control box. When connected, thesoftware recorded sonar, depth, compass, and control data tobuild cistern maps (see next section). Lastly, a joystick con-troller was connected with the laptop computer and used todrive the robot.c© The Eurographics Association 2009.D. Hiranandani, C. White, C. Clark, T. Gambin & K. Buhagiar / Underwater for Underground Cistern Mapping2.6. Equipment IntegrationThe VideoRay control equipment is shown in Figure 3which includes the VideoRay control box, laptop with joy-stick, Smart Tether, and Smart Tether control PC. The SmartTether control PC at 1© collects Smart Tether data sent fromthe Smart Tether control box at 2©. The ROV connects to theSmart Tether at 2©, and can be controlled by the VideoRaycontroller at 3© or by the laptop at 4© when connected to thejoystick at 6©. This laptop is also used for data collection,and the laptop at 5© is used for recording video.Figure 3: Shown above is the system used to navigate andcollect data from the robot.3. Experiment DescriptionThirty-two different sites in Malta and Gozo were visitedin total between 2006 and 2009. At each site, the ROV wasinitially lowered through a small opening and then down a 3-15 meter deep chute before submerging in the cistern water.As shown in Figure 4a, several layers of construction can beobserved with increasing depth. A reflection of ambient lightcan be seen on the water’s surface below as it descends downthe chute (see center of image).Once submerged, the ROV was piloted throughout the cis-tern, exploring any passageways and chambers. To accom-plish this, operators used video from the on board cameraand a joystick controller. An example of one such videoimage is shown in Figure 4b, where the ROV is travelingthrough a tight passage. Also note the water clarity in thisparticular cistern allowed for a reflection on the water sur-face (as seen in the top half of the image).After video images of the cistern were recorded, station-ary sonar scans were obtained. Each scan was taken whilethe ROV was sitting on the bottom of the cistern. Once asufficient number of overlapping stationary scans were ob-tained, sonar scans were recorded while the ROV was in mo-tion. Control signals, sonar, Smart Tether, depth, and head-ing measurement data were also recorded for use with map-ping techniques, which are described in the next section.(a) (b)Figure 4: For each site, the ROV was initially lowered downa deep narrow chute, 4a. An image obtained while movingthrough a narrow passage is shown in 4b.4. Mapping Techniques4.1. Sonar Image Mosaics with Stationary ScansThe first approach taken was to mosaic several overlapping360◦ sonar scans. Figure 5 displays an example mosaic cre-ated from six scans. Each scan on the mosaic has an obviouscircle of high-strength returns indicating the robot’s positionwithin the scan. Note the high quality of the images and ob-vious correspondence between the scans allows a human op-erator to easily fuse them.Figure 5: On the left are a collection of sonar scans obtainedfrom a Priory in Mdina. On the right is the mosaic createdfrom the scans.4.2. Stationary Sonar Image Mosaics Utilizing SmartTetherDuring the 2009 expedition, a KCF Smart Tether was uti-lized to accumulate additional position data of the ROV. TheSmart Tether records the position of the ROV using accelera-tion, magnetic, and rate-gyro sensors. Therefore, in additionto collection several overlapping 360◦ sonar scans, positiondata of the ROV can be recorded to assist in the location ofthe individual sonar scans in creating a final mosaic image.Such a methodology is beneficial for cisterns that contain no-tably long tunnels where wall features are absent and sonarmeasurements can not determine the distance travelled alonga tunnel. An example of this case is shown in Figure 6.c© The Eurographics Association 2009.D. Hiranandani, C. White, C. Clark, T. Gambin & K. Buhagiar / Underwater for Underground Cistern MappingFigure 6: This sonar mosaic is of a cistern located in a priorycourtyard in Rabat. This image was created through the useof the sonar scans and constructed to scale through the useof Smart Tether data.4.3. SLAM with SonarOne strategy that can be employed through the use ofthis hardware is the FastSLAM algorithm, as discussed in[COBG08]. This algorithm makes use of an occupancy gridwhich is used to represent the belief state of the environ-ment [TBF05] which can be described as discretizing thecistern model into square cells of equal size. Each cell is as-signed a probability that it is occupied (e.g. by a wall). Anexemplary occupancy grid map for a site in an Mdina Prioryis shown in Figure 7. Note the height of the cell indicatesprobability of occupation.Figure 7: This is an example of an occupancy grid repre-senting a cistern in a Priory in Mdina. The height of a cellindicates the likelihood that it is occupied by an object or awall.5. Archaeological Results and Future WorkAs shown in the previous figures, diverse archaeologicalstyles can be observed through the mapping techniques pre-sented. In Figure 8a, the semi-rectangular footprint of thecistern resembles the architectural style of either the Phone-cians or Romans–dating back as much as 2,300 years ago.In contrast, Figure 8b shows a two-chamber barbell-shape,which exemplifies a common shape found among the cis-terns explored. Furthermore, Figure 8c displays a multi-chamber system, and lastly Figure 8d shows a distinctly rect-angular floor plan, resembling that of a house or basementand likely dates more recently in the 14th century.In the future, additional trips are being planned for Maltaand potentially Italy as well. Future technological improve-ments will include the addition of a sonar module to be at-tached to the side of the ROV in order to acquire a verticalscan of the cistern to produce 3D maps.(a) (b)(c) (d)Figure 8: Shown above are sonar mosaics from several cis-terns in Malta and Gozo.References[COBG08] CLARK C. M., OLSTAD C. S., BUHAGIAR K.,GAMBIN T.: Archaeology via underwater robots: Mapping andlocalization within maltese cistern systems. In ICARCV (2008),pp. 662–667. 4[FKW06] FAIRFIELD N., KANTOR G., WETTERGREEN D.:Real-time slam with octree evidence grids for exploration in un-derwater tunnels. Journal of Field Robotics 24 (October 2006),3–21. 1[RRNT06] RIBAS D., RIDAO P., NEIRA J., TARDÓS J. D.: Slamusing an imaging sonar for partially structured underwater envi-ronments. In IEEE/RSJ Int. Conf. on Intelligent Robots and Sys-tems (Beijing, China, October 2006). 1[RRNT07] RIBAS D., RIDAO P., NEIRA J., TARDÓS J. D.:Underwater slam in a marina environment. In IROS (2007),pp. 1455–1460. 1[RRTN08] RIBAS D., RIDAO P., TARDÓS J. D., NEIRA J.: Un-derwater slam in man-made structured environments. Journal ofField Robotics 25, 11-12 (2008), 898–921. 1[TBF05] THRUN S., BURGARD W., FOX D.: ProbabilisticRobotics. MIT Press, 2005. 4c© The Eurographics Association 2009.D. Hiranandani, C. White, C. Clark, T. Gambin & K. Buhagiar / Underwater for Underground Cistern Mapping[WWN∗00] WILLIAMS S., WILLIAMS B., NEWMAN P., DIS-SANAYAKE D., DURRANT-WHYTE H.: Autonomous underwa-ter simultaneous localisation and map building. In IEEE Interna-tional Conference on Robotics and Automation (San Francisco,USA, April 2000). 1c© The Eurographics Association 2009.

Underwater robots with sonar and smart tether for underground cistern mapping and exploration

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Underwater robots with sonar and smart tether for underground cistern mapping and exploration

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