This paper presents the Marinarium, a modular and stand-alone underwater research facility designed to provide a realistic testbed for maritime and space-analog robotic experimentation in a resource-efficient manner. The Marinarium combines a fully instrumented underwater and aerial operational volume, extendable via a retractable roof for real-weather conditions, a digital twin in the SMaRCSim simulator and tight integration with a space robotics laboratory. All of these result from design choices aimed at bridging simulation, laboratory validation, and field conditions. We compare the Marinarium to similar existing infrastructures and illustrate how its design enables a set of experiments in four open research areas within field robotics. First, we exploit high-fidelity dynamics data from the tank to demonstrate the potential of learning-based system identification approaches applied to underwater vehicles. We further highlight the versatility of the multi-domain operating volume via a rendezvous mission with a heterogeneous fleet of robots across underwater, surface, and air. We then illustrate how the presented digital twin can be utilized to reduce the reality gap in underwater simulation. Finally, we demonstrate the potential of underwater surrogates for spacecraft navigation validation by executing spatiotemporally identical inspection tasks on a planar space-robot emulator and a neutrally buoyant \gls{rov}. In this work, by sharing the insights obtained and rationale behind the design and construction of the Marinarium, we hope to provide the field robotics research community with a blueprint for bridging the gap between controlled and real offshore and space robotics experimentation.

翻译：本文介绍Marinarium——一个模块化、独立运行的水下研究设施，旨在以资源高效的方式为海事及空间类比机器人实验提供真实测试平台。该设施集成了全仪器化的水下与空中作业空间（可通过可伸缩顶棚扩展至真实天气条件）、SMaRCSim模拟器中的数字孪生系统，以及与空间机器人实验室的深度集成。这些特性均源于旨在弥合仿真、实验室验证与实地条件之间差距的设计决策。我们将Marinarium与现有类似基础设施进行比较，并通过四个野外机器人学开放研究领域的实验案例阐明其设计优势。首先，我们利用水池高保真动力学数据，展示基于学习的系统辨识方法在水下航行器应用中的潜力。继而通过水下、水面与空中异构机器人集群的协同交会任务，突显多域作业空间的通用性。随后说明所提出的数字孪生系统如何用于缩小水下仿真的现实差距。最后，通过在平面空间机器人模拟器与中性浮力ROV上执行时空完全一致的检测任务，验证水下替代平台用于航天器导航验证的潜力。本研究通过分享Marinarium设计与建造的核心理念及实践经验，旨在为野外机器人学界提供弥合受控环境与真实海上/空间机器人实验间鸿沟的范式参考。