Underwater Intervention Robotics: An Outline of the Italian National Project MARIS

Casalino, Giuseppe; Caccia, Massimo; Caselli, Stefano; Melchiorri, Claudio; Antonelli, Gianluca; Caiti, Andrea; Indiveri, Giovanni; Cannata, Giorgio; Simetti, Enrico; Torelli, Sandro; Sperindé, Alessandro; Wanderlingh, Francesco; Muscolo, Giovanni Gerardo; Bibuli, Marco; Bruzzone, Gabriele; Zereik, Enrica; Odetti, Angelo; Spirandelli, E.; Ranieri, Andrea; Aleotti, Jacopo; Rizzini, Dario Lodi; Oleari, Fabio; Kallasi, Fabjan; Palli, Gianluca; Scarcia, Umberto; Moriello, Lorenzo; Cataldi, Elisabetta

doi:10.4031/mtsj.50.4.7

Cited by 34 publications

(16 citation statements)

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“…the vehicle thrusters, and nonactuated degrees of freedom are not properly taken into account, as the authors themselves underline. This work presents the major outcomes of the Italian MARIS project [21], which was coordinated by the Genova node of the Italian Research Center on Integrated System for the Marine Environment (ISME), with the participation of Bologna, Cassino, Salento and Pisa ISME nodes, CNR-ISSIA (Genova node) and University of Parma. The goal of the project was the development and integration of technologies and methodologies to automate underwater manipulation and transportation activities.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Simetti

Wanderlingh

Torelli

et al. 2018

IEEE J. Oceanic Eng.

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Autonomous Underwater Vehicles are frequently used for survey missions and monitoring tasks, however manipulation and intervention tasks are still largely performed with a human in the loop.Employing autonomous vehicles for these tasks has received a growing interest in the last ten years, and few pioneering projects have been funded on this topic. Among these projects, the Italian MARIS project had the goal of developing technologies and methodologies for the use of autonomous Underwater Vehicle Manipulator Systems in underwater manipulation and transportation tasks. This work presents the developed control framework, the mechatronic integration, and the project's final experimental results on floating underwater intervention.Index Terms underwater vehicle manipulator system; underwater gripper; underwater vision; floating underwater control; task priority control; underwater intervention.

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Section: Introductionmentioning

confidence: 99%

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Simetti

Wanderlingh

Torelli

et al. 2018

IEEE J. Oceanic Eng.

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“…The MARIS project is now focusing on the experimental trials of a single underwater manip-ulator system [58]. A video of one of these trials, with a successful grasp of the pipe can be seen at the following link: https://youtu.be/b3jJZUoeFTo.…”

Section: Discussionmentioning

confidence: 99%

Manipulation and Transportation With Cooperative Underwater Vehicle Manipulator Systems

Simetti

Casalino

2017

IEEE J. Oceanic Eng.

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Autonomous underwater manipulation has been a topic of interest since the early 1990s. In the past few years, several milestone projects such as SAUVIM and TRIDENT have demonstrated autonomy capabilities for a single underwater vehicle manipulator system (UVMS) in performing simple manipulation tasks, e.g., the recovery of an object from the seafloor. The Italian funded MARIS project aims to extend some of these results to multiple UVMSs performing a cooperative transportation task of a long object such as a pipe. This paper presents the results achieved in developing a unifying architecture for the control of both individually and cooperatively operating UVMSs which explicitly makes use of a limited amount of information exchange between the agents, which is needed due to the severe bandwidth limitations of the underwater acoustic communications. A complete execution of the reference transportation mission is presented to support the proposed distributed algorithm. Furthermore, hydrodynamic simulations of the cooperative transportation phase are presented and an analysis of the achievable performances as different communication schemes are employed is given

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“…The same vehicle was also equipped with a three-fingered gripper and an artificial vision system to locate and recover a black-box [141]. Other projects, such as the Italian national project MARIS [142] have been launched to produce theoretical, simulated and experimental results for intervention AUVs either standalone or for collaborative teams. The aim of the MARIS project was the development of technologies that allow the use of teams of AUVs for intervention missions, in particular: reliable guidance and control, stereovision techniques for object recognition, reliable grasp, manipulation and transportation of objects, coordination and control methods for large object grasp and transportation, high-level mission planning techniques, underwater communication, and the design and realization of prototype systems, allowing experimental demonstrations of integrating the results from the previous objectives.…”

Section: Intervention Missionsmentioning

confidence: 99%

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

et al. 2020

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Development of Autonomous Underwater Vehicles (AUVs) has permitted the automatization of many tasks originally achieved with manned vehicles in underwater environments. Teams of AUVs designed to work within a common mission are opening the possibilities for new and more complex applications. In underwater environments, communication, localization, and navigation of AUVs are considered challenges due to the impossibility of relying on radio communications and global positioning systems. For a long time, acoustic systems have been the main approach for solving these challenges. However, they present their own shortcomings, which are more relevant for AUV teams. As a result, researchers have explored different alternatives. To summarize and analyze these alternatives, a review of the literature is presented in this paper. Finally, a summary of collaborative AUV teams and missions is also included, with the aim of analyzing their applicability, advantages, and limitations.

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Underwater Intervention Robotics: An Outline of the Italian National Project MARIS

Cited by 34 publications

References 34 publications

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Manipulation and Transportation With Cooperative Underwater Vehicle Manipulator Systems

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

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