Nadir Kapetanović, Igor Kvasić, Kristijan Krčmar, Anja Babić
After the success of student-organized lectures and hands-on tutorials during the International Interdisciplinary Field Workshop of Maritime Robotics and Applications – Breaking the Surface in October 2020, IEEE OES University of Zagreb Student Branch Chapter (UNIZG SBC) has remained active and continued to emphasize the importance of professional experience and knowledge transfer not only among the SBC members but also to the wider IEEE community.
On November 26 and 27, 2020, our members formed a team to participate in the Smart shipping hackathon organized by De Vlaamse Waterweg nv, Antwerp Management School and EY (https://smartshipping-hackathon.com/). The hackathon was aimed at improving and finding innovative solutions for the inland waterway shipping sector, formed in four separate challenges: Crewless lock passage, Communication, Corridor management and Operations for the future. Our members, together with the other participants, had the chance to learn a lot about how the Belgian inland waterway system is organized and what the current state of the art is, as well as what the biggest issues currently are. The participants used their marine robotics background as well as problem solving skills and critical thinking to come up with innovative solutions. They had the chance to talk and discuss their ideas with leading experts and mentors from the field and to participate in very informative workshops such as Business Modeling and Pitching Workshop. They got excellent feedback from the organizers and did their part in finding better solutions towards automation, cost-effectiveness, safety and green energy transition to help unlock the enormous economic potential that lies in using our waterways. A great exercise for our members, encouraging teamwork, innovative thinking, entrepreneurship and inspiration!
On December 1st, 2020, Mr. Hanumant Singh, a Professor at Northeastern University and the chair of the Autonomous Marine Systems Technical Committee, gave a very interesting talk on the topic of “Field Robotics: Where are we, where we came from and where we are going.” The talk was co-organized by IEEE OES UNIZG SBC, IEEE Young Professionals and IEEE Region 8 Societies. The recording of the talk is available at IEEE Region 8 Young Professionals FB page and their YouTube channel https://www.youtube.com/c/IEEER8YoungProfessionals.
This talk examined how field robotics has evolved over the last 25 years. Looking at examples from expeditions around the world in the pursuit of Marine Archaeology, Marine Geology, Fisheries Science, and Polar Studies, the arc of engineering research was traced in the context of what we have accomplished and several open problems that remain.
Kristijan Krčmar, a member of UNIZG SBC and an employee of H2O-Robotics company (https://h2o-robotics.com), held a tutorial on December 7th, 2020, titled “Getting Started with 3D Printing: Case Studies and Best Practices.” The tutorial tackled many aspects of 3D printing, i.e., how to export a model from CAM/CAD program in good enough quality that after using 3D printing software the surface and mechanical properties of the printed model are of high quality. Various parameters such as “elephant foot”, z-seem, printing temperature, and their effects on the printed model properties were discussed. The participants had the chance to touch 3D printed models of the same object of various quality levels as well as go step-by-step through the 3D printing software that Kristijan uses.
On December 14th 2020, Igor Kvasić, IEEE OES UNIZG SBC Vice-Chair, held a very engaging tutorial “Virtual Reality Diving Glove Workshop.” The use of hand gestures is a natural form of communication among divers. As part of the ADRIATIC project, the Biomimetics lab of the University of Auckland is integrating wearable sensors into a dive glove to extend the capabilities of hand gestures. This could allow divers to interact regardless of orientation and visibility. In ADRIATIC project gesture recognition is implemented as a form of communication between a diver and underwater vehicles. Once recognized, a gesture is translated into a command and communicated through acoustic modems to an autonomous underwater vehicle (AUV).
The goal of this tutorial was to acquaint the audience with the latest prototypes of the gesture recognizing glove and the technology behind it, as well as give a hands-on experience in using the glove to control the underwater vehicle in an HTC Vive virtual reality simulator. The participants were presented an in-depth overview of setting up the glove and the basic gesture command list, which is going to be used as a feedback of repeatability and user friendliness, which could be used for further development purposes.
The environment of the ocean floor is still almost completely mysterious, yet is only a few kilometers from our coasts. The oceans and seas are difficult to reach for direct observation. Only in the last 20 to 30 years have we succeeded in exploring and mapping the Earth’s seabed, mainly through technological advances such as acoustic remote sensing, e.g., multibeam sonars. On this note, Nadir Kapetanović, the Secretary of the IEEE OES UNIZG SBC, organized a tutorial titled “Bathymetry Data Collection by an Autonomous Surface Vehicle and Post-Processing: Case studies” on January 11th, 2021. Two aspects of using multibeam sonar technology for bathymetric surveys were addressed: (1) bathymetric surveys of the seafloor and lake beds for hydrological/geological applications, and (2) bathymetric surveys of underwater cultural heritage sites. The attendees had a chance to go through the whole process of logistics planning for the survey missions, mission planning with respect to the sonar/vehicle/environment parameters, as well as post-processing of the collected data in WBMS and QPS Qimera software.
The last part of Nadir’s bathymetry tutorial was related to merging acoustical point clouds from bathymetry with camera-based point clouds from photogrammetry at underwater cultural heritage sites to form multi-resolution fully textured 3D opto-acoustic models. Following this topic, Nadir held another tutorial titled “Photogrammetry: From Photos to Scaled 3D Models” on January 18th, 2021.
Photogrammetry is the art, science, and technology of obtaining reliable information about physical objects and the environment through processes of recording, measuring, and interpreting photographic images and patterns of recorded radiant electromagnetic energy and other phenomena. Photogrammetry is nearly as old as photography itself. Since its development approximately 150 years ago, photogrammetry has moved from a purely analog, optomechanical technique to digital photogrammetry based on digital imagery and computer vision. This tutorial addressed two domains of photogrammetry applications for generating 3D models and orthophotos: (1) land/air: based on hand-held camera or unmanned aerial vehicle’s (UAV) camera, and (2) underwater: based on diver’s hand-held camera, as well as a camera mounted onto a remotely operated vehicle (ROV) or an autonomous underwater vehicle (AUV). The attendees had a chance to go through the whole process of mission planning for the survey missions, with respect to the camera/vehicle/environment parameters, as well as post-processing of the collected data in Agisoft Metashape software.
Suleman Mazhar has been working as a professor in Information & Communication Engineering at Harbin Engineering University (China) since July 2019. He did PhD from Tokyo University (Japan) and postdoctorate from Georgetown University (Washington DC, USA). He had BS-CS from FAST-NUCES (Lahore) and MS from GIK Institute (Pakistan). He is TYSP young scientist fellow (Ministry of Science & Technology China) and have won several research grants from international organizations such as DAAD (Germany), ICIMOD (Nepal), NRPU (Higher Education Commission Pakistan), WWF (Worldwide Fund for Nature) Pakistan. His research focus is deep learning and signal processing applications for environmental monitoring, with particular focus on underwater acoustics, and marine mammal conservation. He is a reviewer for professional journals such as Journal of Acoustical Society (America), IEEE Journal of Oceanic Engineering, IEEE Sensors Journal, Applied Acoustics, IEEE Transactions on Intelligent Transportation Systems.
Peng Ren is a full professor with the College of Oceanography and Space Informatics, China University of Petroleum (East China). He is the director of Qingdao International Research Center for Intelligent Forecast and Detection of Oceanic Catastrophes. He received the K. M. Scott Prize from the University of York, the Natural Science award (first rank) from China Institute of Electronics, and the Eduardo Caianiello Best Student Paper Award from 18th International Conference on Image Analysis and Processing as one co-author. He has served as an associate editor of IEEE Transactions on Geoscience and Remote Sensing.
Mohd Rizal Arshad is a full professor at the School of Electrical and Electronic Engineering at Universiti Sains Malaysia (USM), Malaysia, where he specializes in ocean robotics technology and intelligent system. He received his B.Eng. in Medical Electronics & Instrumentation and PhD in Electronic Engineering from University of Liverpool, UK in 1994 and 1999, respectively. He completed his MSc. in Electronic Control Engineering from the University of Salford, UK in Dec 1995. He has supervised many postgraduate students and published extensively in local and international publications. He is a senior member of the IEEE, and was awarded IEEE OES Presidential Award in 2019.
Itzik Klein is an Assistant Professor, heading the Autonomous Navigation and Sensor Fusion Lab, at the Charney School of Marine Sciences, Hatter Department of Marine Technologies, University of Haifa. He is an IEEE Senior Member and a member of the IEEE Journal of Indoor and Seamless Positioning and Navigation (J-ISPIN) Editorial Board. Prior to joining the University of Haifa, he worked at leading companies in Israel on navigation topics for more than 15 years. He has a wide range of experience in navigation systems and sensor fusion from both industry and academic perspectives. His research interests lie in the intersection of artificial intelligence with inertial sensing, sensor fusion, and autonomous underwater vehicles.
John R. Potter (IEEE M’94, SM’02, F’18) graduated in the previous century with a joint honours Mathematics and Physics Degree from Bristol and a PhD. in Glaciology and Oceanography from Cambridge, UK studying Antarctic ice mass balance, where he spent four consecutive summers. This work helped underscore the non-linear fragility of polar ice to climate change and led to him receiving the Polar Medal from Queen Elizabeth II in 1988.
Nick is a Visiting Fellow at the UK National Oceanographic Center, Southampton His nomination was endorsed by the Underwater Acoustics Technology Committee. He had worked as a Research Associate and Lecturer at University of Birmingham and has been working as a Research Scientist at the Applied Research Laboratory, University of Texas, Austin. He has also served as a Program Officer at the Office of Naval Research Global. He is a senior member of IEEE (OES) and a Fellow of Acoustical Society of America (ASA). Nick has also been serving as Assoc. Editor for IEEE JoE and JASA. He is widely acknowledged for his expertise are seabed acoustics, parametric array modeling, sonar beamformer, underwater signal processing.
Maurizio Migliaccio (M’91-SM’00-F’17) is Full professor of Electromagnetics at Università di Napoli Parthenope (Italy) and was Affiliated Full Professor at NOVA Southeastern University, Fort Lauderdale, FL (USA). He has been teaching Microwave Remote Sensing since 1994. He was visiting scientist at Deutsche Forschungsanstalt fur Lüft und Raumfahrt (DLR), Oberpfaffenhofen, Germany. He was member of the Italian Space Agency (ASI) scientific committee. He was member of the ASI CosmoSkyMed second generation panel. He was e-geos AdCom member. He was Italian delegate of the ESA PB-EO board. He was Member of South Africa Expert Review Panel for Space Exploration. He serves as reviewer for the UE, Italian Research Ministry (MIUR), NCST, Kazakhstan and Hong Kong Research board. He lectured in USA, Canada, Brazil, China, Hong Kong, Germany, Spain, Czech Republic, Switzerland and Italy. He was Italian delegate at UE COST SMOS Mode Action. He is listed in the Italian Top Scientists. He is an IEEE Trans. Geoscience and Remote Sensing AE, International Journal of Remote Sensing AE, and was IEEE Journal of Oceanic Engineering AE Special Issue on Radar for Marine and Maritime Remote Sensing, IEEE JSTARS AE of the Special Issue on CosmoSKyMed, Member of the Indian Journal of Radio & Space Physics Editorial board. His main current scientific interests cover SAR sea oil slick and man-made target monitoring, remote sensing for marine and coastal applications, remote sensing for agriculture monitoring, polarimetry, inverse problems for resolution enhancement, reverberating chambers. He published about 160 peer-reviewed journal papers on remote sensing and applied electromagnetics.
He has developed various types of Autonomous Underwater Vehicles (AUVs) and related application technologies including navigation methods, a new sensing method using a chemical sensor, precise seafloor mapping methods, a precise seabed positioning system with a resolution of a few centimeters, a new sensing system of the thickness of cobalt-rich crust; and more. He has shown, by using these technologies that AUVs are practicable and valuable tools for deep-sea exploration.
Donna Kocak has had an outstanding career in defense and scientific projects developing and applying solutions in subsea optics, imaging and robotics. She graduated with an M.Sc in Computer Science in 1997 from the University of Central Florida; an MBA in 2008 from the University of Florida; and M.Sc in Industrial Engineering in 2011 from the University of Central Florida. She is currently a Senior Scientist, Advanced Concepts Engineering, and Fellow at the Harris Corporation in Melbourne, Florida, where she has developed novel optical imaging and communication solutions for under-sea defense and scientific projects. Prior to 2008 Donna Kocak was Founder and President of Green Sky Imaging, LLC (GSI) who developed laser/video photogrammetry software for underwater inspection and survey. Her earlier career positions were with Naval Training Systems Center, Florida; Harbor Branch Oceanographic Institution, Florida; eMerge Interactive; and the Advanced Technologies Group in Florida.
John Potter has a Joint Honours degree in Mathematics and Physics from Bristol University in the UK and a PhD in Glaciology and Oceanography from the University of Cambridge on research in the Antarctic, for which he was awarded the Polar Medal in 1988. John has worked on polar oceanography, underwater acoustics, ambient noise (including imaging), marine mammals, communications, IoUT, autonomous vehicles and strategic development. He has 40 years’ international experience working at the British Antarctic Survey in the UK, NATO in Italy, SIO in California, NUS in Singapore and most recently at NTNU in Norway. John is a Fellow of the IEEE and MTS, an Associate Editor for the IEEE Journal of Oceanic Engineering, IEEE OES Distinguished Lecturer, PADI Master Scuba Diver Trainer & an International Fellow of the Explorer’s Club.
Dr. James V. Candy is the Chief Scientist for Engineering and former Director of the Center for Advanced Signal & Image Sciences at the University of California, Lawrence Livermore National Laboratory. Dr. Candy received a commission in the USAF in 1967 and was a Systems Engineer/Test Director from 1967 to 1971. He has been a Researcher at the Lawrence Livermore National Laboratory since 1976 holding various positions including that of Project Engineer for Signal Processing and Thrust Area Leader for Signal and Control Engineering. Educationally, he received his B.S.E.E. degree from the University of Cincinnati and his M.S.E. and Ph.D. degrees in Electrical Engineering from the University of Florida, Gainesville. He is a registered Control System Engineer in the state of California. He has been an Adjunct Professor at San Francisco State University, University of Santa Clara, and UC Berkeley, Extension teaching graduate courses in signal and image processing. He is an Adjunct Full-Professor at the University of California, Santa Barbara. Dr. Candy is a Fellow of the IEEE and a Fellow of the Acoustical Society of America (ASA) and elected as a Life Member (Fellow) at the University of Cambridge (Clare Hall College). He is a member of Eta Kappa Nu and Phi Kappa Phi honorary societies. He was elected as a Distinguished Alumnus by the University of Cincinnati. Dr. Candy received the IEEE Distinguished Technical Achievement Award for the “development of model-based signal processing in ocean acoustics.” Dr. Candy was selected as a IEEE Distinguished Lecturer for oceanic signal processing as well as presenting an IEEE tutorial on advanced signal processing available through their video website courses. He was nominated for the prestigious Edward Teller Fellowship at Lawrence Livermore National Laboratory. Dr. Candy was awarded the Interdisciplinary Helmholtz-Rayleigh Silver Medal in Signal Processing/Underwater Acoustics by the Acoustical Society of America for his technical contributions. He has published over 225 journal articles, book chapters, and technical reports as well as written three texts in signal processing, “Signal Processing: the Model-Based Approach,” (McGraw-Hill, 1986), “Signal Processing: the Modern Approach,” (McGraw-Hill, 1988), “Model-Based Signal Processing,” (Wiley/IEEE Press, 2006) and “Bayesian Signal Processing: Classical, Modern and Particle Filtering” (Wiley/IEEE Press, 2009). He was the General Chairman of the inaugural 2006 IEEE Nonlinear Statistical Signal Processing Workshop held at the Corpus Christi College, University of Cambridge. He has presented a variety of short courses and tutorials sponsored by the IEEE and ASA in Applied Signal Processing, Spectral Estimation, Advanced Digital Signal Processing, Applied Model-Based Signal Processing, Applied Acoustical Signal Processing, Model-Based Ocean Acoustic Signal Processing and Bayesian Signal Processing for IEEE Oceanic Engineering Society/ASA. He has also presented short courses in Applied Model-Based Signal Processing for the SPIE Optical Society. He is currently the IEEE Chair of the Technical Committee on “Sonar Signal and Image Processing” and was the Chair of the ASA Technical Committee on “Signal Processing in Acoustics” as well as being an Associate Editor for Signal Processing of ASA (on-line JASAXL). He was recently nominated for the Vice Presidency of the ASA and elected as a member of the Administrative Committee of IEEE OES. His research interests include Bayesian estimation, identification, spatial estimation, signal and image processing, array signal processing, nonlinear signal processing, tomography, sonar/radar processing and biomedical applications.
Kenneth Foote is a Senior Scientist at the Woods Hole Oceanographic Institution. He received a B.S. in Electrical Engineering from The George Washington University in 1968, and a Ph.D. in Physics from Brown University in 1973. He was an engineer at Raytheon Company, 1968-1974; postdoctoral scholar at Loughborough University of Technology, 1974-1975; research fellow and substitute lecturer at the University of Bergen, 1975-1981. He began working at the Institute of Marine Research, Bergen, in 1979; joined the Woods Hole Oceanographic Institution in 1999. His general area of expertise is in underwater sound scattering, with applications to the quantification of fish, other aquatic organisms, and physical scatterers in the water column and on the seafloor. In developing and transitioning acoustic methods and instruments to operations at sea, he has worked from 77°N to 55°S.
René Garello, professor at Télécom Bretagne, Fellow IEEE, co-leader of the TOMS (Traitements, Observations et Méthodes Statistiques) research team, in Pôle CID of the UMR CNRS 3192 Lab-STICC.
Professor Mal Heron is Adjunct Professor in the Marine Geophysical Laboratory at James Cook University in Townsville, Australia, and is CEO of Portmap Remote Ocean Sensing Pty Ltd. His PhD work in Auckland, New Zealand, was on radio-wave probing of the ionosphere, and that is reflected in his early ionospheric papers. He changed research fields to the scattering of HF radio waves from the ocean surface during the 1980s. Through the 1990s his research has broadened into oceanographic phenomena which can be studied by remote sensing, including HF radar and salinity mapping from airborne microwave radiometers . Throughout, there have been one-off papers where he has been involved in solving a problem in a cognate area like medical physics, and paleobiogeography. Occasionally, he has diverted into side-tracks like a burst of papers on the effect of bushfires on radio communications. His present project of the Australian Coastal Ocean Radar Network (ACORN) is about the development of new processing methods and applications of HF radar data to address oceanography problems. He is currently promoting the use of high resolution VHF ocean radars, based on the PortMap high resolution radar.
Hanu Singh graduated B.S. ECE and Computer Science (1989) from George Mason University and Ph.D. (1995) from MIT/Woods Hole.He led the development and commercialization of the Seabed AUV, nine of which are in operation at other universities and government laboratories around the world. He was technical lead for development and operations for Polar AUVs (Jaguar and Puma) and towed vehicles(Camper and Seasled), and the development and commercialization of the Jetyak ASVs, 18 of which are currently in use. He was involved in the development of UAS for polar and oceanographic applications, and high resolution multi-sensor acoustic and optical mapping with underwater vehicles on over 55 oceanographic cruises in support of physical oceanography, marine archaeology, biology, fisheries, coral reef studies, geology and geophysics and sea-ice studies. He is an accomplished Research Student advisor and has made strong collaborations across the US (including at MIT, SIO, Stanford, Columbia LDEO) and internationally including in the UK, Australia, Canada, Korea, Taiwan, China, Japan, India, Sweden and Norway. Hanu Singh is currently Chair of the IEEE Ocean Engineering Technology Committee on Autonomous Marine Systems with responsibilities that include organizing the biennial IEEE AUV Conference, 2008 onwards. Associate Editor, IEEE Journal of Oceanic Engineering, 2007-2011. Associate editor, Journal of Field Robotics 2012 onwards.
Milica Stojanovic graduated from the University of Belgrade, Serbia, in 1988, and received the M.S. and Ph.D. degrees in electrical engineering from Northeastern University in Boston, in 1991 and 1993. She was a Principal Scientist at the Massachusetts Institute of Technology, and in 2008 joined Northeastern University, where she is currently a Professor of electrical and computer engineering. She is also a Guest Investigator at the Woods Hole Oceanographic Institution. Milica’s research interests include digital communications theory, statistical signal processing and wireless networks, and their applications to underwater acoustic systems. She has made pioneering contributions to underwater acoustic communications, and her work has been widely cited. She is a Fellow of the IEEE, and serves as an Associate Editor for its Journal of Oceanic Engineering (and in the past for Transactions on Signal Processing and Transactions on Vehicular Technology). She also serves on the Advisory Board of the IEEE Communication Letters, and chairs the IEEE Ocean Engineering Society’s Technical Committee for Underwater Communication, Navigation and Positioning. Milica is the recipient of the 2015 IEEE/OES Distinguished Technical Achievement Award.
Dr. Paul C. Hines was born and raised in Glace Bay, Cape Breton. From 1977-1981 he attended Dalhousie University, Halifax, Nova Scotia, graduating with a B.Sc. (Hon) in Engineering-Physics.