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Publications (6)0.34 Total impact

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    ABSTRACT: Nowadays, autonomous intervention is getting more attention in the underwater robotics community. Few research projects on this matter are currently under development. In this context, and after a first successful experience in the RAUVI Spanish project (2009-2011), the authors are currently involved in the TRIDENT project (2010-2013), funded by the European Commission. To succeed in autonomous intervention, an AUV endowed with a manipulator and with a high degree of autonomy is essential. The complexity of the required robotic system is very high and the system integration process becomes critical. This paper presents the problems being solved in TRIDENT, from a systems integration perspective. As a case study, some results, achieved during the last experiments carried out in the Roses harbor (Girona) in October 2011 will be presented, to demonstrate the capabilities exhibited by the AUV for Intervention under development. The experiments were focused on the problem of autonomously searching and recovering a black-box mock-up that was previously thrown to an unknown position. This paper presents the hardware and software integration aspects that were necessary in order to address such a challenging problem.
    Control & Automation (MED), 2012 20th Mediterranean Conference on; 01/2012
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    ABSTRACT: In this paper we show how techniques that have been applied during the last years for autonomous manipulation in the air can be successfully adapted to a new challenging scenario: the underwater environment. Specifically, the developed techniques include among others: visual tracking of objects in the seabed, vision-based arm control and sensor-based grasping. Furthermore, a graphical user interface for specifying underwater manipulation actions and providing the corresponding task specification to the execution modules is also presented. This research is enclosed in the framework of our two ongoing projects in autonomous underwater intervention: RAUVI and TRIDENT.
    OCEANS, 2011 IEEE - Spain; 07/2011
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    ABSTRACT: This shows an on-going project named RAUVI (i.e., Reconfigurable AUV for Intervention). This project aims to design and develop an Underwater Autonomous Robot, able to perceive the environment by means of acoustic and optic sensors, and equipped with a robotic arm in order to autonomously perform simple intervention tasks. A complete simulation environment, including this new concept of robot, has been developed and is presented as a preliminary result.
    IEEE Aerospace and Electronic Systems Magazine 12/2010; · 0.34 Impact Factor
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    ABSTRACT: The present work represents working progress for designing a Graphical User Interface (GUI) within an ongoing research project named RAUVI (e.g. Reconfigurable AUV for Intervention Missions). This GUI should help the user to identify the target using images compiled by the I-AUV through a previous survey stage. After that, the user is able to specify the most suitable intervention task selected among a set of predefined ones. Thus, a very intuitive and user-friendly interface has been designed, enabling a non qualified user to succeed in the specification of an intervention mission. Furthermore, some implementation details and their performance about different facilities integrated within this GUI to assist the user in the required specification of underwater intervention missions will be addressed.
    Systems Conference, 2010 4th Annual IEEE; 05/2010
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    ABSTRACT: This work introduces the main aspects related with a new architecture defined for an ongoing research project named RAUVI (i.e. Reconfigurable AUV for Intervention Missions). Two initially independent architectures for the underwater vehicle and the robotic arm have been combined into a new schema that allows for reactive and deliberative behaviours on both subsystems. Reactive actions are performed through a low-level control layer in communication with the robot hardware via an abstraction interface. On the other hand, the intervention mission is supervised at a high-level by a Mission Control System (MCS), implemented using the Petri net formalism. Both, the arm and vehicle perception and control modules communicate with the MCS by means of actions and events. They also share a centralized database where some sensor data is stored. The proposed architecture allows for the supervised execution of intervention missions requiring a tight coordination between the vehicle and the manipulator.
    Systems Conference, 2010 4th Annual IEEE; 05/2010
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    ABSTRACT: The present work shows an ongoing project named RAUVI (i.e. Reconfigurable AUV for Intervention). This project aims to design and develop an underwater autonomous robot, able to perceive the environment by means of acoustic and optic sensors, and equipped with a robotic arm in order to autonomously perform simple intervention tasks. A complete simulation environment, including this new concept of robot, has been developed and it is presented as preliminary result.
    Systems Conference, 2009 3rd Annual IEEE; 04/2009