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This research is sponsored by NATO's Emerging Security Challenges Division in the framework of the Science for Peace and Security Programme as Multi Year Project under G. A. number 984807, named Unmanned system for maritime security and environmental monitoring - MORUS.

Published: 2017-12-21 at 21:15
Edited: 2017-12-22 at 17:37
The first flight of the MORUS UAV!

The maiden flight of the MORUS aerial vehicle powered by four internal combustion enginees took place in a military base in Udbina on November 17, 2017. The team (Stjepan Bogdan, Matko Orsag, Tomislav Haus, Antun Ivanović, Marko Car) spent a week in the base preparing the vehicle for experiments. In the final experiment, the vehicle was piloted through RC controller, with height, yaw, roll and pitch manually controlled by the pilot. This first flight demonstrated that the concept proposed within the project is feasible. There have been many lessons learned throughout the week spent in the base, which will be used to improve the vehicle design and performance.


Tomislav Haus
Published: 2017-10-08 at 13:15
MORUS project meeting at Breaking the...

The MORUS project meeting was held during the Breaking the Surface 2017 workshop on 6th October 2017 in Biograd na Moru, Croatia. The meeting was attended by Stjepan Bogdan (project manager), Ivana Mikolić, Nikola Mišković, Nadir Kapetanović (all LABUST), Matko Orsag, Tomislav Haus, Marko Car, Antun Ivanović (all LARICS), Ivana Palunko (UNIDU), Edin Omerdić (UL), Nedim Osmić and Almir Salihbegović (both UNISA). Each project partner gave a review of its activities for the previous period and presented working plans for forthcoming period.

Alan Vukić
Published: 2018-07-03 at 14:27
Poster exhibition at MED'18

We had a poster presentation at the 26th Mediterranean Conference on Control and Automation – MED 2018. The conference held tutorials, workshops, presentations, and lectures that covered a wide range of topics on control systems, automation, and robotics. The conference was held from 19 to 22 June 2018 in Zadar, Croatia.

Alan Vukić
Published: 2018-07-03 at 11:15
Nadir Kapetanović presented the...

Nadir Kapetanović participated at MED’18 conference (June 19-22, 2018) where he presented the scientific paper named "Information Gain-Guided Online Coverage Path Planning for Side-Scan Sonar Survey Missions". The authors of the paper are Kapetanović, Nadir (UNIZG-FER), Mišković, Nikola (UNIZG-FER), and Tahirović, Adnan (Faculty of Electrical Engineering Sarajevo). Their research was funded by MORUS, CroMarx, and BLUEMED project.

Alan Vukić
Published: 2018-06-28 at 09:45
Edited: 2018-06-28 at 09:45
MORUS presented at EMRA'18

MORUS project was presented at EMRA'18 workshop by Prof. Stjepan Bogdan from Laboratory for Robotics and Intelligent Control Systems. EMRA'18 workshop brought together a diverse range of speakers, from ongoing FP7/H2020 projects, industry, end-users, and stakeholders. The interdisciplinary event provided an excellent opportunity for networking and exchange of ideas in marine robotics, enabling technologies and applications. 

Alan Vukić
Published: 2017-12-21 at 20:04
Edited: 2017-12-21 at 20:09
MORUS presented at Dronefest 2017

LARICS part of the MORUS team (Stjepan Bogdan, Matko Orsag, Marko Car, Antun Ivanović, Tomislav Haus) presented the MORUS aerial vehicle at Dronefest 2017, held at Plaza Event Center Zagreb on March 31, 2017. Dronefest is the largest conference in Croatia on unmanned aerial vehicles technology and applications and this year has attracted more than 300 attendees.

The team presented hardware-in-the-loop simulation. The UAV, mounted on a 2DOF gimbal, was free to rotate in roll and pitch axis, which were controlled through the moving mass concept. The attitude achieved on the gimbal was mapped into the vehicle model in simulation, where vehicle was free to move in 3D space. The visitors were able to control the UAV through the RC controller.


Tomislav Haus
Published: 2017-02-16 at 16:00
2nd MORUS worskop held for 10th till...

2nd workshop took place at the University of Zagreb Faculty of Electrical Engineering and Computing, from 10th to 16th February 2017. All partners participated in preparation and execution of the workshop.

The goal of the 2nd workshop was twofold: first, UAV roll and pitch control loops, implementing a moving mass concept, were tested, together with low-level state machine; and second, integration of the Human Machine Interface with high-level state machine and overall system communication have been done. Upon successful integration of hardware, software and communication components of MORUS system, major functionalities have been tested through the HMI. Gazebo simulator was used as virtual world where UUV and UAV models executed missions by mimicking inputs from real vehicles, while in the same time high level controllers on real vehicles received positions from the simulator.

Ivana Mikolić
Published: 2016-11-17 at 13:30
UL researcher Dr Edin Omerdić...

Dr Edin Omerdić from the University of Limerick attended the 14th International Conference on Control, Automation, Robotics and Vision - ICARCV 2016. The conference took place in Phuket, Thailand from 13th till 15th November 2016.

Edin presented a paper User Interface for Interaction with Heterogeneous Vehicles for Cyber-Physical Systems. ICARCV 2016 conference, organized by Nanyang Technological University and technically co-sponsored by IEEE Control Systems Society, was focused on both theory and applications, covering control, automation, robotics, vision and emerging technologies, including cyber-physical systems. The paper provides a brief overview of research activities about development of user interfaces for interaction with heterogeneous vehicles in smart cyber-physical systems.

Ivana Mikolić
Published: 2016-10-20 at 12:32
MORUS Demo at BTS2016 (Biograd na...

Another MORUS activity took place at the Breaking the Surface 2016 Workshop. For the first time, the fully assembled unmanned aerial vehicle (UAV) developed within MORUS project was demonstrated by Prof. Stjepan Bogdan, Assist. Prof. Matko Orsag and Tomislav Haus from LARICS. The MORUS UAV presents a novel concept in the design of a large-scale multirotor aerial vehicle, bringing together internal combustion engines (ICEs) and new attitude control concept based on shifting the vehicle’s center of gravity. Within the demo, MORUS researchers presented the mechanical construction of the vehicle, made mostly of carbon fibers, and the moving mass control concept. In addition, they prepared a simulator which allowed the guests the operate the UAV equipped with four ICEs and moving masses. The unmanned underwater vehicle (UUV), which is used within the MORUS project, was also exhibited next to the UAV. The demo has drawn significant attention from the Workshop attendees, attracting more than 50 researchers.

Tomislav Haus
Published: 2016-10-20 at 12:27
Prof. Bogdan presented the MORUS UAV...

Prof. Stjepan Bogdan held a lecture within Breaking the Surface 2016 Workshop on design and development of an Unmanned Aerial Vehicle (UAV) being developed within the MORUS project. Prof. Bogdan presented design and construction of the UAV, made of mostly carbon fibers, and a novel concept of a multirotor UAV which utilizes internal combustion engines (ICEs) and the shift of vehicle’s center of gravity (CoG) to enhance vehicle’s dynamical performance. A detailed stability and sensitivity analysis of the proposed control scheme was given and prof. Bogdan discussed its underlining effect on the construction design parametrization. At the end, simulation results from a Gazebo based simulator were given.

Tomislav Haus
Published: 2016-10-20 at 12:26
MORUS consortium meeting at BTS2016...

The MORUS project meeting was held on the margins of the Breaking the Surface 2016 Workshop. The meeting was attended by Ivana Mikolić (UNIZG – project management), Prof. Nikola Mišković (UNIZG-LABUST), Prof. Adnan Tahirović, Phd student Nadir Kapetanović, PhD student Armin Dajić, PhD student Mehmed Brkić (all UNISA), Dr. Sc. Edin Omerdić, Dr. Sc. Daniel Toal (UL), Assist. Prof. Ivana Palunko, Dr. Sc. Domagoj Tolić, (UNIDU), Prof. Stjepan Bogdan, Asst. Prof. Matko Orsag and PhD Student Tomislav Haus (all UNIZG-LARICS). Each project partner gave a review of its activities in the last 4 months and presented working plans for the forthcoming period.

Tomislav Haus
Published: 2016-10-21 at 20:13
UNISA atttended SMC2016 confererence

Multiple MORUS researchers attended the 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016). The conference was held in Budapest, Hungary during October 9-12, 2016. Mr. Nedim Osmić presented the paper "Detailed octocopter modeling and PD control"  by N. Osmic and M. Kuric. Mr. Osmić is a research associate at the ETF Sarajevo (University of Sarajevo) and he is a PhD student at the FER (Univeristy of Zagreb). He works on mission planning task within the MORUS project.

Another paper titled "A Receding Horizon Scheme for Constrained Multi-vehicle Coverage Problems " by A. Tahirović, M. Brkić, A. Bostan and B. Seferagić was presented at the conference. Mr. Tahirovic, an associate professor at the ETF and a co-director of the MORUS project, lead the session, while Mr. Brkić, a PhD student at the ETF Sarajevo working on the multi-vehicle coverage problem, presented the paper.



Tomislav Haus
Published: 2016-10-20 at 12:59
Edited: 2016-10-20 at 13:02
LABUST participated in the Conference...

Prof. Nikola Mišković presented a paper at the Conference on Underwater Communications and Networking (UCOMMS'16) that took place on 30 August - 1 September 2016 in Lerici, Italy. The conference series is focussed on working towards an adequate physics-based understanding of the propagation of communication signals underwater and the performance of necessary higher-level protocols with the objective of supporting the intelligent choice of standards, as a foundation for interoperability.

Tomislav Haus
Published: 2016-10-20 at 12:56
LABUST participated in IFAC...

MORUS reserchers Prof. Zoran Vukić, Prof. Nikola Mišković and PhD Student Đula Nađ participated in the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16) that took place from 13-16 September 2016 in Trondheim, Norway. LABUST research activities were presented in a form of 7 scientific papers. Prof. Vukić gave a plenary talk entitled "State and Perspectives of Underwater Robotics". The next CAMS'18 will be organized by LABUST in Croatia!

Tomislav Haus
Published: 2016-10-20 at 12:41
MORUS and UL researchers at CAMS2016

Dr Daniel Toal and Dr Edin Omerdic attended the 10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016). The conference took place in Trondheim, Norway, from 13th to 16th September 2016. Edin gave a talk on "Measurement of Network Latency in Remote Presence Applications". Results from this paper are used to optimise LabVIEW code and minimize latency in using shared variables for data exchange. CAMS 2016 provided an excellent opportunity for the presentation and discussion of research results and development in the areas of control applications for surface & underwater vessels, floating & sub-sea structures, and other marine systems. Apart from that, it also served as a meeting place for all interested in marine technologies to share ideas, experiences, and new perspectives resulting from recent innovation.

Tomislav Haus
Published: 2016-10-16 at 10:29
Prof. Stjepan Bogdan attended ICUAS2016

Prof. Stjepan Bogdan attended The 2016 International Conference on Unmanned Aircraft Systems (ICUAS), Washington DC, USA, where he presented the paper "Design Consideration for a Large Quadrotor with Moving Mass Control", by Tomislav Haus, Matko Orsag and Stjepan Bogdan. In this paper, MORUS researchers extend their analysis on the moving mass control concept, which they aim to apply on the UAV being developed within the project.

Tomislav Haus
Published: 2016-10-16 at 09:46
Edited: 2016-10-16 at 09:46
MORUS internal workshop

Internal workshop of the MORUS project was held from 20.06. – 24.06.2016. at Faculty of Electrical Engineering and Computing, Zagreb, Croatia. The main purpose of the workshop was the knowledge transfer between the project partners as well as integration of developed software modules, particularly, the system state machine, models for Gazebo simulator and communication modules. On Thursday, 23.06.2016. the project partners visited lake Jarun where LABUST team demonstrated unmanned underwater vehicle behavior in real world conditions.

Tomislav Haus
Published: 2016-10-16 at 09:35
Edited: 2016-10-16 at 10:30
MORUS researcher Tomislav Haus...

Tomislav Haus from Laboratory of Robotics and Intelligent Control Systems attended The 24th Mediterranean Conference on Control and Automation held on 21-24 June 2016 in Athens, Greece. He presented the paper "A novel concept of attitude control for large multirotor-UAVs based on moving mass control", coauthored by T. Haus, N. Prkut, K. Borovina, B. Marić, M. Orsag and S. Bogdan. The concept presented in this paper is considered to be used for controlling the multirotor-UAV powered with gasoline internal combustion engines, being developed within the MORUS project.

Tomislav Haus
Published: 2016-10-21 at 20:04
Edited: 2016-10-21 at 20:06
UNISA at ECC2016

MORUS researcher Mr. Almir Salihbegović attended the the European Control Conference (ECC 2016),  that tool place on 29.6.-1.7.2016. in Aalborg, Denmark. He presented the paper "Multivariable Sliding Mode Approach with Enhanced Robustness Properties Based on the Robust Internal-Loop Compensator for a Class of Nonlinear Mechanical Systems" during . Mr. Salihbegović  is a research associate at the ETF Sarajevo (University of Sarajevo) and he is a PhD student. He is working on developing a low level controller for the UAV within the MORUS project.

Tomislav Haus
Published: 2016-10-20 at 12:43
Edited: 2016-10-20 at 12:44
Dr. Edin Omerdic stay at University...

MORUS researcher Dr. Edin Omerdic visited University of Tuzla as a part of Erasmus+ staff exchange programme in July 2016. During the 2 week exchange, Edin established stronger collaboration links between researchers at UL and FET (Faculty of Electrical Engineering Tuzla). In lectures on Marine Technologies for Challenging Off-Shore Applications, Control Allocation & Fault Tolerant Control, and User Interaction Interface & Remote Presence; and a hands-on tutorial on ROV Control Systems, Edin shared theoretical and practical knowledge with students and staff of the FET in the effort to increase both UL's and FET's scientific excellence and innovation capacity in marine robotics field.

Tomislav Haus
Published: 2016-10-20 at 12:38
MORUS at the Pint of Science,...

Pint of Science is an event where scientist and engineers ditch the lab coats and deliver their research tales in a fun, engaging and approachable way by bringing them to the local pub. Some of the most interesting and knowledgeable scientists and engineers gathered in Limerick on the 25th of May 2016 where people were invited to sit back, listen and engage with the presenters over a pint. One of the engineers presenting was MMRRC's Dr. Joseph Coleman with the talk titled "Marine robotics: explorers and workhorses of our oceans". His talk was an overview of ongoing projects in MMRRC (including MORUS), UL and challenges for marine robotics in the field of renewable ocean energy.

Tomislav Haus
Published: 2016-10-20 at 12:24
MORUS presented at the CityOS...

During the CityOS Conference 2016, that took place in Dubrovnik, Croatia, on April 09-10, 2016 Assist. Prof. Ivana Palunko gave Invited Talk and presented the MORUS project. The CityOS brought together the region's brightest developers, makers and engineers to build a better smarter future for their city using smart technologies.

Tomislav Haus
Published: 2016-10-20 at 12:17
Edited: 2016-10-20 at 12:18
MORUS presented at DroneFest2016...

Prof. Stjepan Bogdan presented the MORUS project at DroneFest2016 conference – first ever conference in Croatia dedicated to commercial UAV applications. Conference was organized by Croatian IT company IN2 and prof. Bogdan was invited to present LARICS research activities in the UAV field. In front of more than 100 attendees, prof. Bogdan presented heterogeneous robotic system, comprised of a UAV and UUV, which we bring together in the MORUS project to perform inspection tasks in maritime environment. The presentated robotic application was unique among the conference attendees and exhibitors and certainly attracted a lot of attention. The conference photos can be found in a web gallery.

Tomislav Haus
Published: 2016-10-20 at 11:25
IEEE Lecture - “Load transport with...

MORUS researcher Assist. Prof. Ivana Palunko held an IEEE lecture organized by Faculty of Electrical Engineering, Computer Science and Information Technology Osijek and Croatian IEEE Section. Prof. Palunko presented her research results on the topic of load transportation with unmanned aerial vehicles (UAVs). She has also presented the MORUS project and addressed how to transfer existing knowledge and techniques to an application of transporting an unmanned underwater vehicle (UUV) by a UAV, which is an important topic of the ongoing MORUS project.

Tomislav Haus
Published: 2016-04-18 at 12:14
MORUS presented in front of more than...

The Laboratory for Robotics and Intelligent Control Systems - LARICS and the Laboratory for Underwater Systems and Technologies - LABUST presented MORUS project at European Robotics Forum - ERF 2016 in front of more than 650 visitors. ERF2016 was held from 21st until 23rd March 2016 in Ljubljana (Slovenia). At ERF2016, MORUS was presented on laboratories' booth where UUV and surface platform were exhibited.

MORUS was also presented through presentation in the scope of Robotics in the Western Balkans session by Dr. Sc. Matko Orsag (LARICS), Dr. Sc. Adnan Tahirović (UNISA) and Asst. Prof. Nikola Mišković (LABUST); and Aerial Robotics for Inspection and Maintenance (ARIM) by Prof. Stjepan Bogdan (LARICS).

Ivana Mikolić
Published: 2016-10-20 at 12:54
Staff exchange: Project Manager Ivana...

Morus project manager Ivana Mikolić visited AMOS - Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology (NTNU), Norway from 23 until 27 November 2015.AMOS is Centre of Excellence that brings together NTNU’s Departments of Marine Technology and Engineering Cybernetics. They have a highly developed management office that leads national and international research projects and Ivana Mikolić has worked alongside them for a week in other to get a broader insight in running a sustainable research centre.

Tomislav Haus
Published: 2016-10-20 at 12:47
Edited: 2016-10-20 at 12:50
Filip Mandić (LABUST) visited ViCOROB

PhD student and MORUS researcher Filip Mandić (LABUST) went for 2 months (February-March 2016) to work with ViCOROB research institute at the University of Girona (Spain) specialized in Computer Vision and Robotics. He was working in the field of surface and underwater marine robotics. In particular, he was focused on developing algorithms for improving underwater vehicle localization.

Tomislav Haus
Published: 2016-10-20 at 12:13
Edited: 2016-10-20 at 15:40
MORUS at the IDDE conference 2015.

Prof. Zoran Vukić (UNIZG-LABUST) gave invited talk titled “Unmanned Underwater Robotics in Dual Use Applications” at the "Innovation Driven Defence Enterprising" (IDDE) conference held at Croatian Military Academy on 19-20 October 2016. Prof. Vukić presented the research activities and projects within which LABUST is involved. The goal and scope of the MORUS project were also presented.

Another MORUS researcher, PhD Student Tomislav Haus (UNIZG-LARICS), gave talk at the same conference titled “Aerial Robots – Mobile Manipulation using Unmanned Aerial Vehicles”. He presented LARICS research results in the field of unmanned aerial vehicles and their application in mobile manipulation. He has also presented LARICS role in the MORUS project.

Tomislav Haus
Published: 2016-10-20 at 11:24
Edited: 2016-10-20 at 16:12
IEEE lecture – Introduction of new...

Prof. Bogdan was invited by IEEE Robotics and Automation Section Croatia to present the MORUS project. The lecture was held at the Faculty of Electrical Engineering and Computing (FER) on 21th December 2015 as a part of several presentations introducing new robotic projects at FER. The MORUS project brings together two FER research laboratories, namely LABUST and LARICS, working together on the development of a cooperative robotic system comprised of an unmanned aerial vehicle (UAV) and unmanned underwater vehicle (UUV).

Tomislav Haus
Published: 2015-09-06 at 21:29
Edited: 2015-09-06 at 22:30
MORUS was kicked-off on 10th of April...

Project Unmanned system for maritime security and environmental monitoring - MORUS was kicked-off on a meeting held at Faculty of Electrical Engineering and Computing in Zagreb on 10th of April 2015.

During meeting representatives of MORUS partners presented their Universities, team and projects they work on along with MORUS.



Attended representatives:

The kick-off meeting was opened and coordinated by project coordinator and NATO country Director (NPD) Prof. Stjepan Bogdan. 

Vicedean Prof. Gordan Gledec held welcome note in the name of Faculty of Electrical Engineering and Computing.

Ivana Mikolić