@article {271, title = {I-AUV Docking and Panel Intervention at Sea}, journal = {Sensors}, volume = {16}, year = {2016}, month = {12 October 2016}, type = {Open Access}, abstract = {

The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea.

}, keywords = {autonomous underwater vehicles, field robotics, manipulation, Underwater Intervention}, doi = {10.3390/s16101673}, url = {http://www.mdpi.com/1424-8220/16/10/1673/html}, author = {Palomeras, Narc{\'\i}s and Pe{\~n}alver, Antonio and Massot-Campos, Miquel and Negre, Pep Llu{\'\i}s and Fern{\'a}ndez, Jos{\'e} Javier and Ridao, Pere and Sanz, Pedro J. and Oliver, Gabriel} } @conference {197, title = {I-AUV Docking and Intervention in a Subsea Panel}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2014}, month = {09/2014}, address = {Chicago, USA}, isbn = {978-1-4799-6933-3}, author = {Palomeras, Narc{\'\i}s and Pe{\~n}alver, Antonio and Massot-Campos, Miquel and Villacrosa, Guillem and Negre, Pep Llu{\'\i}s and Fern{\'a}ndez, Jos{\'e} Javier and Ridao, Pere and Sanz, Pedro J. and Oliver, Gabriel and Palomer, Albert} } @article {14, title = {Reconfigurable AUV for intervention missions: a case study on underwater object recovery}, journal = {Intelligent Service Robotics}, volume = {5}, year = {2012}, note = {To be published}, month = {01/2012}, chapter = {19-31}, issn = {1861-2776}, doi = {10.1007/s11370-011-0101-z}, author = {Prats, Mario and Ribas, David and Palomeras, Narc{\'\i}s and Garc{\'\i}a, Juan Carlos and Nannen, Volker and Wirth, Stephan and Fern{\'a}ndez, Jos{\'e} Javier and Beltr{\'a}n, Joan P. and Campos, Ricard and Ridao, Pere and Sanz, Pedro J. and Oliver, Gabriel and Carreras, Marc and Gracias, Nuno and Mar{\'\i}n, Ra{\'u}l and Ortiz, Alberto} } @conference {108, title = {Ambient Intelligence for Elder People Applications: state of the art}, booktitle = {II Jornadas de Mayores y Nuevas Tecnolog{\'\i}as}, year = {2010}, month = {04/2010}, publisher = {Publicacions de la Universitat Jaume I}, organization = {Publicacions de la Universitat Jaume I}, address = {Castell{\'o}n}, isbn = {978-84-8021- 854-2}, author = {Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente and Sales, Jorge and Javier P{\'e}rez and Nu{\~n}ez, Manuela} } @inbook {128, title = {Estimation of the distance by using the signal strength for localization of networked mobile sensors}, booktitle = {Using robots in hazardous environments: Landmine detection, de-mining and other applications}, year = {2010}, publisher = {UK: Woodhead Publishing Limited}, organization = {UK: Woodhead Publishing Limited}, address = {Sawston, Cambridge, UK}, issn = {1-84569-786-3}, author = {Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Nomdedeu, Leonardo and Cervera, Enric} } @conference {111, title = {Localization of networker mobile sensors and actuators in low- visibility condition}, booktitle = {Robotics for Risky Interventions and Environmental Surveillance (RISE)}, year = {2010}, month = {01/2010}, publisher = {Sheffield Hallam University}, organization = {Sheffield Hallam University}, address = {Sheffield}, abstract = {

Localization of networked mobile sensors and actuators is an active research field. One traditional approach in order to localize a mobile node has been the use of laser sensors. In some special circumstances, like a smoky environment, the use of this type of optical sensor is not a good solution. The use of radio and ultrasound signals can be used as a feasible alternative to node localization. Within the context of the EU GUARDIANS Project (Group of Unmanned Assistant Robots Deployed In Aggregative Navigation supported by Scent detection) one essential aspect is having a simple localization method of a firefighter followed by a squad of robots, that allows tracking their instant position in the space related to the base station. The authors of this paper have been developing hardware devices capable of obtaining relative positions among them and the firefighter, and have studied several networking protocols that can be useful in those situations, using wireless links provided by Wi-Fi cards of the mobile nodes, as well as the sonar sensors and radio synchronization signals.

}, isbn = {978-84387-3181}, author = {Sales, Jorge and El-Habbal, M. and Mar{\'\i}n, Ra{\'u}l and Witkowski, U. and Cervera, Enric and Nomdedeu, Leonardo and R{\"u}ckert, U.} } @conference {110, title = {Remote and in-situ multirobot interaction for firefighters interventions under smoke conditions}, booktitle = {Second IFAC Symposium on Telematics Applications (TA 2010)}, year = {2010}, month = {10/2010}, publisher = {2010 Editura Politechnica}, organization = {2010 Editura Politechnica}, address = {Timisoara (Rumania)}, abstract = {

This paper describes a real-world demonstration that involves two kinds of human-robot interaction: (1) In-situ interaction between a team of robots and a firefighter, and (2) the interaction between a remote operator and the whole system from a base station. The team of robots can provide the firefighter with environmental information to support and enhance its operation in situations where smoke can be present. First of all, the paper describes the overall system, focusing on the devices that are used, and the hardware/software architecture. Then, the paper explains the in-situ human-system interaction which is the way the firefighter interacts with the robot team, by obtaining the information directly to its helmet and by setting up a firefighter following behaviour using both laser and sonar/radio techniques. After that, the paper describes the way the whole system can be monitored and controlled remotely via a base station.

}, doi = {10.3182/20101005-4-RO-2018.00036}, author = {Nagash, A and Saez-Pons, J and Penders, J and Gancet, J. and Motard, E. and Nomdedeu, Leonardo and Sales, Jorge and Cervera, Enric and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J. and Sebasti{\`a}, R.} } @inbook {129, title = {Sensing capabilities for mobile robotics}, booktitle = {Using robots in hazardous environments: Landmine detection, de-mining and other applications}, year = {2010}, publisher = {UK: Woodhead Publishing Limited}, organization = {UK: Woodhead Publishing Limited}, address = {Sawston, Cambridge, UK}, issn = {1-84569-786-3}, author = {Nomdedeu, Leonardo and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric and Saez-Pons, J} } @conference {114, title = {Agent at Play: Off-the-shelf Software for Practical Multi-robot Applications}, booktitle = {2008 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2008}, month = {09/2008}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Niza (Francia)}, abstract = {

A practical solution based on multi-agent protocols for the development of real-world multi-robot applications is presented. FIPA standard protocols implemented by the JADE library provide the standard functionality for a number of tasks. Robot behaviors are built upon the player middleware. Such components provide off-the-shelf tools which allow a straightforward implementation of indoor localization and navigation tasks for a team of mobile robots. Such integration combines proven mobile robot algorithms with a distributed infrastructure, and extends the capabilities from a robot alone to a whole team of robots, thus allowing the development of cooperative applications. As a proof of concept, an auction-like goal assignment task is presented: the robot team is given a goal, and each robot proposes an estimated cost for achieving it, then the best proposal is selected. Most of the control flow is automated by the standard interaction protocols. Experimental evaluation demonstrates the advantages of combining both frameworks, for a practical yet sound development of multi-robot applications.

}, isbn = {978-1-4244-2058-2}, doi = {10.1109/IROS.2008.4650660}, author = {Cervera, Enric and Sales, Jorge and Nomdedeu, Leonardo and Mar{\'\i}n, Ra{\'u}l and Veysel, Gazi} } @inbook {98, title = {Case Study: Communication Technologies for the integration of Robotic Systems and sensor Networks at Home: Helping Elderly People}, booktitle = {Wearable Robots Biomechatron Exoskeletons}, year = {2008}, pages = {360}, publisher = {John Wiley \& Sons Ltd.}, organization = {John Wiley \& Sons Ltd.}, chapter = {Case Study: Communication Technologies for the integration of Robotic Systems and sensor Networks at Home: Helping Elderly Peopl}, address = {Madrid}, issn = {978-0-470-51294-4}, author = {Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Fern{\'a}dez, Joseph and Nu{\~n}ez, M. and Rajadell, Olga and Nomdedeu, Leonardo and Sales, Jorge and Agust{\'\i}, Pau and Fabregat, A. and del Pobil, Angel P.} } @conference {113, title = {End-to-End Congestion Control Protocols for Robot Swarms using Ad-hoc Wireless Networks}, booktitle = {Robotics for Risky Interventions and Surveillance of the Environment (RISE 2008)}, year = {2008}, month = {01/2008}, address = {Castell{\'o}n, Universitat Jaume I}, isbn = {978-84-8021-645-6}, author = {Wirz, Raul and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric and Witkowski, U. and Mart{\'\i}, Jose Vicente and Nomdedeu, Leonardo} }