Grasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water Intervention

Fernández, Julio César Ramos; Prats, Mario; Sanz, Pedro J.; García, Juan Carlos García; Marı́n, R.; Robinson, Michael G.; Ribas, David; Ridao, Pere

doi:10.1109/mra.2013.2248307

Cited by 93 publications

(50 citation statements)

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“…A new algorithm to correct this errors has been developed. This algorithm is able to control, in an autonomous way, the position and orientation of the end-effector of the Light-Weight ARM5E robotic arm [32] with respect to its base (see Fig. 2).…”

Section: Visually-guided Algorithm To Control a Robotic Armmentioning

confidence: 99%

Visually-guided manipulation techniques for robotic autonomous underwater panel interventions

Peñalver

Pérez

Fernández

et al. 2015

Annual Reviews in Control

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The long term of this ongoing research has to do with increasing the autonomy levels for underwater intervention missions. Bearing in mind that the specific mission to face has been the intervention on a panel, in this paper some results in different development stages are presented by using the real mechatronics and the panel mockup. Furthermore, some details are highlighted describing two methodologies implemented for the required visually-guided manipulation algorithms, and also a roadmap explaining the different testbeds used for experimental validation, in increasing complexity order, are presented. It is worth mentioning that the aforementioned results would be impossible without previous generated know-how for both, the complete developed mechatronics for the autonomous underwater vehicle for intervention, and the required 3D simulation tool. In summary, thanks to the implemented approach, the intervention system is able to control the way in which the gripper approximates and manipulates the two panel devices (i.e. a valve and a connector) in autonomous manner and, results in different scenarios demonstrate the reliability and feasibility of this autonomous intervention system in water tank and pool conditions.

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Section: Visually-guided Algorithm To Control a Robotic Armmentioning

confidence: 99%

Visually-guided manipulation techniques for robotic autonomous underwater panel interventions

Peñalver

Pérez

Fernández

et al. 2015

Annual Reviews in Control

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“…The major outcome of RAUVI was the implementation of the GIRONA 500 I-AUV ) which was (Fernandez et al (2013)). The AUV was also equipped with a stereo pair and was used to demonstrate autonomous object recovery in a water tank environment (Prats et al (2012c)).…”

Section: Swimmer 1999-01mentioning

confidence: 99%

Intervention AUVs: The Next Challenge

Ridao

Carreras

Ribas

et al. 2014

IFAC Proceedings Volumes

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While commercially available AUVs are routinely used in survey missions, a new set of applications exists which clearly demand intervention capabilities. The maintenance of: permanent observatories underwater; submerged oil wells; cabled sensor networks; pipes; and the deployment and recovery of benthic stations are but a few of them. These tasks are addressed nowadays using manned submersibles or work-class ROVs, equipped with teleoperated arms under human supervision. Although researchers have recently opened the door to future I-AUVs, a long path is still necessary to pave the way to underwater intervention applications performed in an autonomous way. This paper reviews the evolution timeline in autonomous underwater intervention systems. Milestone projects in the state of the art are reviewed, highlighting their principal contributions to the field. To the best of the authors knowledge only three vehicles have demonstrated some autonomous intervention capabilities so far: ALIVE, SAUVIM and GIRONA 500 I-AUV. Next, GIRONA 500 I-AUV is presented and its software architecture discussed. Recent results in different scenarios are reported: 1) Valve turning and connector plugging/unplugging while docked to a sub-sea panel, 2) Free floating valve turning using learning by demonstration, and 3) Free floating multipurpose multisensory based object recovery. The paper ends discussing the lessons learned so far and presenting the authors view of the future.

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“…The group has been doing research in underwater robotics since 2009 with the RAUVI project, although the members of the group have been working in robotic manipulation for a long time as part of the robotic intelligence laboratory (RobInLab). The group expertise focuses on underwater robotic manipulation as in [Prats et al, 2012c] or [Peñalver et al, 2015] using the 4 degrees of freedom lightweight ARM5E described in [Fernández et al, 2013]. …”

Section: Contextmentioning

confidence: 99%

“…The Intervention autonomous underwater vehicle is made up of the Girona 500 AUV [Ribas et al, 2012] with 6 degrees of freedom (DOF) and the light weight ARM5E [Fernández et al, 2013] with 4 DOF assembled on it. The vehicle will move using a free floating strategy that uses the DOF of the vehicle and the arm to control the movement of the dredge tool through a desired trajectory.…”

Section: Dredging Benchmarkingmentioning

confidence: 99%

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Visibility in underwater robotics: Benchmarking and single image dehazing

Soler¹

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A mis padres y hermanos. AcknowledgementsThis thesis is the result of more than 5 years of work and it would have been impossible without the support of family, friends and colleagues. May the reader forgive me the discourtesy of following my wish to acknowledge their support in my mother tongue.But before changing to my mother tongue, I want to thank professor Stefan Williams for hosting me at the Australian Centre for Field Robotics in Sydney for four months. Working with his group, and specially with Mitch Bryson and Dushyant Rao, was crucial for the development of the final chapters of this thesis. I also have to acknowledge the ACFR for providing and preparing the datasets used in the deep learning experiments.En primer lugar, me gustaría agradecer a mis directores Raúl Marín y Pedro Sanz la oportunidad de poder trabajar en un campo tan motivante y desafiante como la robótica submarina a través de distintos proyectos en la frontera del conocimiento como Trident, Triton o Merbots. Además de por la ayuda y los consejos desde la experiencia a la hora de introducirme en la investigación.Gracias a la Universitat Jaume I por haber financiado durante 4 años el desarrollo de esta tesis a través del plan de promoción de la investigación (referencia de la ayuda PREDOC/2012/47).También tengo que dar las gracias a todos los miembros del IRSLab de los que he podido aprender, y con los que he colaborado y trabajado como un verdadero equipo durante estos años. A todos quiero dar gracias, Juan Carlos por su disponibilidad a la hora de ayudar, Javi por su espíritu de equipo, Toni por su decisión a la hora de afrontar problemas, David por susánimos y voluntad, Jorge por su insistencia en publicar, José Bernabé por sus consejos y Diego por su entrega.Gracias también a Mario, pese al poco tiempo que coincidimos demostró ser un investigador sobresaliente y un compañero ejemplar que me ayudó en los primeros momentos de este trabajo. Además también tengo que agradecer al RobInLab, especialmente aÁngel, Carlos, Marco, Xavi, Gabriel, Majd y Gustavo, por su ayuda y discusiones en los descansos delante de una taza de café.Durante mi estancia en Sydney tuve la suerte de coincidir con un pequeño grupo de españoles que hizo la estancia mucho más amena. Por ello también quiero darles las gracias, en particular a Guillem y a Raúl con los cuales compartí mucho tiempo dentro y fuera del laboratorio visitando y conociendo Australia, y en general a todas las personas con las que coincidí durante esos meses.Gracias a mi familia y amigos de la Venta del Moro, siempre dispuestos a escuchar después de una larga semana de trabajo. Durante estos años han sido v una distracción necesaria a los problemas del día a día, haciendo el camino de esta tesis mucho más entretenido.Quiero también agradecer a Loli por ser una más de la familia y preocuparse y cuidar de mí día a día desde bien pequeño, ayudándome a convertirme en una persona mejor.Porúltimo, quiero agradecer especialmente la ayuda y el apoyo de mi familia. A mis padres Luis y MaríaÁngeles que m...

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Grasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water Intervention

Cited by 93 publications

References 16 publications

Visually-guided manipulation techniques for robotic autonomous underwater panel interventions

Visually-guided manipulation techniques for robotic autonomous underwater panel interventions

Intervention AUVs: The Next Challenge

Visibility in underwater robotics: Benchmarking and single image dehazing

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