@conference {317, title = {Experiencias educativas basadas en el sistema Marpabiobot}, booktitle = {XL Jornadas de Autom{\'a}ticaLibro de actas}, year = {2019}, publisher = {Universidade da Coru{\~n}a. Servizo de Publicaci{\'o}ns}, organization = {Universidade da Coru{\~n}a. Servizo de Publicaci{\'o}ns}, doi = {10.17979/spudc.978849749716910.17979/spudc.9788497497169.679}, url = {http://hdl.handle.net/2183/22858http://hdl.handle.net/2183/23737}, author = {Casa{\~n}, Gustavo A. and Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Fornas, David and Sanz, Pedro J.} } @conference {318, title = {Experiencias en el dise{\~n}o de robots educacionales submarinos}, booktitle = {XL Jornadas de Autom{\'a}ticaLibro de actas}, year = {2019}, publisher = {Universidade da Coru{\~n}a. Servizo de Publicaci{\'o}ns}, organization = {Universidade da Coru{\~n}a. Servizo de Publicaci{\'o}ns}, doi = {10.17979/spudc.978849749716910.17979/spudc.9788497497169.032}, url = {http://hdl.handle.net/2183/22858http://hdl.handle.net/2183/23658}, author = {Pe{\~n}alver, Antonio and Mar{\'\i}n, Josep and Ponce, Javier and Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jos{\'e} V. and Casa{\~n}, Gustavo A. and Sanz, Pedro J.} } @article {319, title = {Multimodal Human-Robot Interface for Accessible Remote Robotic Interventions in Hazardous Environments}, journal = {IEEE Access}, year = {2019}, month = {Jan-01-2019}, pages = {1 - 1}, doi = {10.1109/Access.628763910.1109/ACCESS.2019.2939493}, url = {https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639}, author = {Lunghi, G. and Mar{\'\i}n, Ra{\'u}l and Di Castro, M. and Masi, A. and Sanz, Pedro J.} } @article {303, title = {Real-time rate distortion-optimized image compression with region of interest on the ARM architecture for underwater robotics applications}, journal = {Journal of Real-Time Image Processing}, volume = {16}, year = {2019}, month = {Jan-02-2019}, pages = {193 - 225}, issn = {1861-8200}, doi = {10.1007/s11554-018-0833-5}, url = {http://link.springer.com/10.1007/s11554-018-0833-5http://link.springer.com/content/pdf/10.1007/s11554-018-0833-5.pdfhttp://link.springer.com/article/10.1007/s11554-018-0833-5/fulltext.htmlhttp://link.springer.com/content/pdf/10.1007/s11554-018-0833-5.pdf}, author = {Rubino, Eduardo M. and Alvares, Alberto J. and {\'\i}n, {\'u}l and Sanz, Pedro J.} } @article {316, title = {Underwater Wireless Communications for Cooperative Robotics with UWSim-NET}, journal = {Applied Sciences}, volume = {9}, year = {2019}, month = {Jan-09-2019}, pages = {3526}, doi = {10.3390/app9173526}, url = {https://www.mdpi.com/2076-3417/9/17/3526}, author = {Centelles, Diego and Soriano-Asensi, Antonio and Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {329, title = {UWSIM-NET: AN OPEN-SOURCE EDUCATIONAL TOOL FOR LEARNING ROBOTICS AND COMMUNICATIONS}, year = {2019}, month = {03}, doi = {10.21125/inted.2019.2390}, author = {Centelles, Diego and Soriano, Antonio and Mar{\'\i}n Prades, Raul and Mart{\'\i}-Avil{\'e}s, Jos{\'e} and Valero, Pedro} } @conference {328, title = {UWSim-NET: An Open-Source Framework for Experimentation in Communications for Underwater Robotics}, year = {2019}, month = {06}, doi = {10.1109/OCEANSE.2019.8867460}, author = {Centelles, Diego and Soriano, Antonio and Mart{\'\i}-Avil{\'e}s, Jos{\'e} and Mar{\'\i}n Prades, Raul and Sanz, Pedro} } @article {302, title = {A general scheme for finding the static rate{\textendash}distortion optimized ordering for the bits of the coefficients of all subbands of an N-level dyadic biorthogonal DWT}, journal = {Signal Processing: Image Communication}, volume = {67}, year = {2018}, month = {Jan-09-2018}, pages = {210 - 230}, issn = {09235965}, doi = {10.1016/j.image.2018.06.017}, url = {https://linkinghub.elsevier.com/retrieve/pii/S0923596518306003}, author = {Rubino, Eduardo M. and Alvares, Alberto J. and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l} } @conference {305, title = {A Multi-Task Priority Framework for Redundant Robots with Multiple Kinematic Chains under Hard Joint and Cartesian Constraints}, booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2018}, publisher = {IEEE}, organization = {IEEE}, address = {Madrid}, doi = {10.1109/IROS.2018.8593967}, url = {https://ieeexplore.ieee.org/document/8593967/http://xplorestaging.ieee.org/ielx7/8574473/8593358/08593967.pdf?arnumber=8593967}, author = {Pe{\~n}alver, Antonio and Fernandez, J. Javier and Soriano, Antonio and Sanz, Pedro J.} } @article {304, title = {UWSim, an underwater robotic simulator on the cloud as educational tool}, journal = {RIAI - Revista Iberoamericana de Automatica e Informatica Industrial}, volume = {15}, year = {2018}, month = {01}, pages = {70-78}, author = {P{\'e}rez, Javier and Fornas, David and Mar{\'\i}n Prades, Raul and Sanz, Pedro J.} } @conference {281, title = {Autonomous underwater grasping using multi-view laser reconstruction}, booktitle = {OCEANS 2017 - Aberdeen}, year = {2017}, month = {10/2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen (UK)}, abstract = {

Autonomous manipulation in underwater scenarios is a highly complex task which is still poorly studied, but with a growing interest in the last years. Two of the main phases of this problem are the detection and characterization of the object which is going to be manipulated, and the planning of this manipulation. This paper presents, on the one hand, the results of a multi-view laser reconstruction approach used in a real system. This approach consists in attaching a laser emitter and a camera in the forearm of a robotic arm. Then, moving the arm, the scene is scanned and reconstructed. This configuration allows the user to reconstruct autonomously a scene from different points of view and with a high precision. On the other hand, a grasp planning algorithm has been described. This method makes possible to autonomously detect the object of interest from a scene with multiple objects, and to choose which is the best arm configuration in order to manipulate it.

}, keywords = {arm configuration, Autonomous Manipulation, autonomous underwater grasping, autonomous underwater vehicles, camera, Cameras, grasp planning algorithm, Grasping, image reconstruction, laser emitter, Lasers, manipulators, multiview laser reconstruction approach, object characterization, object detection, Planning, robot vision, Robot vision systems, robotic arm, scene reconstruction, Three-dimensional displays}, isbn = {978-1-5090-5278-3 }, doi = {10.1109/OCEANSE.2017.8084797}, url = {https://doi.org/10.1109/OCEANSE.2017.8084797}, author = {Antonio Pe{\~n}alver and J. J. Fern{\'a}ndez and Sanz, Pedro J.} } @conference {283, title = {A benchmarking study on single image dehazing techniques for underwater autonomous vehicles}, booktitle = {OCEANS 2017 - Aberdeen}, year = {2017}, month = {10/2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen (UK)}, abstract = {

Enhancing the underwater images is of utmost importance for autonomous underwater vehicles. This kind of robots usually have to deal with highly degraded images from which it is extremely difficult to accurately find, recognise or manipulate targets of interest. For this reason, a single image dehazing fast enough to run in a real time system would be an important tool facilitating image processing. In this paper, an study of different dehazing techniques is presented, experimenting with the most suitable algorithms for this context. A benchmark is described testing dark channel prior based methodologies establishing an objective evaluation of these techniques from a real time application perspective.

}, keywords = {Atmospheric modeling, autonomous underwater vehicles, Cameras, Estimation, Image color analysis, image dehazing techniques, image denoising, image processing, Image restoration, Mathematical model, Scattering, underwater images}, isbn = {978-1-5090-5278-3 }, doi = {10.1109/OCEANSE.2017.8084771}, url = {https://doi.org/10.1109/OCEANSE.2017.8084771}, author = {P{\'e}rez, Javier and Sanz, Pedro J. and M. Bryson and S. B. Williams} } @conference {280, title = {Benchmarking water turbidity effect on tracking algorithms}, booktitle = {20th IFAC World Congress}, year = {2017}, month = {07/2017}, publisher = {IFAC-PapersOnLine}, organization = {IFAC-PapersOnLine}, address = {Toulouse (France)}, abstract = {

Field experiments in underwater robotics research require a big amount of resources in order to be able to test the system in sea conditions. Moreover, sea conditions are constantly changing making impossible to reproduce specific situations. For these reasons, testing, comparing and evaluating different algorithms in similar conditions is an utopic situation. In order to deal with this, a framework that mixes real experiments and a simulated environment is proposed to allow objective comparison of algorithms in an scenario as close as possible to field experiments. This is possible using real sensors in a controllable environment, for instance a water tank, adding simulated hostile conditions difficult to reproduce in a controlled environment such as water turbidity, composing a Hardware In the Loop (HIL) framework. This framework is formed by UWSim, an underwater simulator, and a benchmarking module able to measure the performance of external software. This setup is used in a search and recovery use case to compare different tracking algorithms, predicting the effect of water turbidity in them. The results allow to choose the best option without the need of dealing with field experiments.

}, keywords = {Underwater simulator Benchmarking Underwater intervention Robotics Dehazing}, doi = {https://doi.org/10.1016/j.ifacol.2017.08.1243}, author = {P{\'e}rez, Javier and Sales, Jorge and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Fornas, David and Garc{\'\i}a, Juan Carlos and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {282, title = {Increasing underwater manipulation autonomy using segmentation and visual tracking}, booktitle = {OCEANS 2017 - Aberdeen}, year = {2017}, month = {10/2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen (UK)}, abstract = {

The present research in underwater robotics aims to increase the autonomy of manipulation operations in fields such as archaeology or biology, that cannot afford costly underwater interventions using traditional Remote Operated Vehicles (ROV). This paper describes a work towards the long term goal of autonomous underwater manipulation. Autonomous grasping, with limited sensors and water conditions which affect the robot systems, is a growing skill in underwater scenarios. Here we present a framework that uses vision, segmentation, user interfaces and grasp planning to perform visually guided manipulation to improve the specification of grasping operations. With it, a user commands and supervises the robot to recover cylinder shaped objects, a very common restriction in archaeological scenarios. This framework, though, can be expanded to detect other kind of objects. Information of the environment is gathered with stereo cameras and laser reconstruction methods to obtain a model of the object\&$\#$39;s graspable area. A RANSAC segmentation algorithm is used to estimate the model parameters and the best grasp is presented to the user in an intuitive user interface. The grasp is then executed by the robot. This approach has been tested in simulation and in water tank conditions.

}, keywords = {archaeological scenarios, archaeology, autonomous grasping, autonomous underwater manipulation, Cameras, Computational modeling, cylinder shaped objects, grasping operations, image reconstruction, image segmentation, intuitive user interface, manipulation operations, manipulators, mobile robots, RANSAC segmentation algorithm, Remote Operated Vehicles, remotely operated vehicles, robot systems, robot vision, Robots, ROV, stereo image processing, Storage tanks, Three-dimensional displays, underwater interventions, underwater manipulation autonomy, underwater robotics, underwater scenarios, underwater vehicles, user interfaces, visual tracking, Visualization, visually guided manipulation, water conditions, water tank conditions}, isbn = {978-1-5090-5278-3 }, doi = {10.1109/OCEANSE.2017.8084762}, url = {https://doi.org/10.1109/OCEANSE.2017.8084762}, author = {Fornas, David and Sanz, Pedro J. and M. Vincze} } @article {322, title = {A Natural Interface for Remote Operation of Underwater Robots}, journal = {IEEE Computer Graphics and Applications}, volume = {37}, year = {2017}, month = {Jan-01-2017}, pages = {34 - 43}, issn = {0272-1716}, doi = {10.1109/MCG.2015.118}, url = {http://ieeexplore.ieee.org/document/7325202/http://xplorestaging.ieee.org/ielx7/38/7819376/07325202.pdf?arnumber=7325202}, author = {Garcia, Juan C. and Patr{\~a}o, Bruno and Almeida, Lu{\'\i}s and P{\'e}rez, Javier and Menezes, Paulo and Dias, Jorge and Sanz, Pedro J.} } @conference {285, title = {Progressive image compression and transmission with region of interest in underwater robotics}, booktitle = {OCEANS 2017 - Aberdeen}, year = {2017}, month = {10/2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen (UK)}, abstract = {

The increasing demand for underwater robotic intervention systems around the world in several application domains requires more versatile and inexpensive systems. By using a wireless communication system, supervised semi-autonomous robots have freedom of movement and, at the same time, allows the operator to get camera feedback and supervise the intervention. Moreover, the limited and varying bandwidth of underwater radio frequency (RF) and underwater acoustic modem channels is a major obstacle. This paper proposes the use of progressive (embedded) image compression and region of interest (ROI) for the design of an underwater image sensor to be installed in an Autonomous Underwater Vehicle, specially when there are constraints on the available bandwidth, allowing a more agile data exchange between the vehicle and a human operator supervising the underwater intervention.

}, keywords = {Acoustics, agile data exchange, Autonomous Underwater Vehicle, autonomous underwater vehicles, Bandwidth, camera feedback, Cameras, control system synthesis, data compression, image coding, Image Compression, image sensors, Image Transmission, Low Bandwidth Communications, mobile robots, Modems, progressive image compression, Radio frequency, region of interest, Region of Interest (ROI), remotely operated vehicles, robot vision, Robots, ROI, supervised semiautonomous robots, telerobotics, underwater acoustic communication, underwater acoustic modem channels, underwater image sensor design, underwater radio frequency, underwater RF, underwater robotic intervention systems, Underwater Vehicles for Intervention, Wavelet Transforms, Wireless communication, wireless communication system}, isbn = {978-1-5090-5278-3}, doi = {10.1109/OCEANSE.2017.8084999}, url = {https://doi.org/10.1109/OCEANSE.2017.8084999}, author = {E. M. Rubino and Centelles, Diego and Sales, Jorge and Jos{\'e} Vicente Mart{\'\i} and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J. and A. J. Alvares} } @article {290, title = {Sistema de Visi{\'o}n Subacu{\'a}tico Inal{\'a}mbrico Usando un Algoritmo de Compresi{\'o}n Progresivo con Regi{\'o}n de Inter{\'e}s}, journal = {Revista Iberoamericana de Autom{\'a}tica e Inform{\'a}tica industrial}, volume = {15}, year = {2017}, month = {May-12-2017}, pages = {46}, issn = {1697-7912}, doi = {10.4995/riai.2017.8953}, url = {https://polipapers.upv.es/index.php/RIAI/article/view/8953https://polipapers.upv.es/index.php/RIAI/article/viewFile/8953/8990https://polipapers.upv.es/index.php/RIAI/article/viewFile/8953/8990}, author = {Rubino, Eduardo M and Centelles, Diego and Sales, Jorge and J. V. Mart{\'\i} and Mar{\'\i}n, Ra{\'u}l and Alvares, Alberto J. and Sanz, Pedro J.} } @article {293, title = {Underwater radio frequency image sensor using progressive image compression and region of interest}, journal = {Journal of the Brazilian Society of Mechanical Sciences and Engineering}, volume = {39}, year = {2017}, pages = {4115{\textendash}4134}, author = {Rubino, Eduardo M and Centelles, Diego and Sales, Jorge and Mart{\i}, Jos{\'e} V and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J. and {\'A}lvares, Alberto J} } @conference {284, title = {Wireless HROV control with compressed visual feedback over an acoustic link}, booktitle = {OCEANS 2017 - Aberdeen}, year = {2017}, month = {10/2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen (UK)}, abstract = {

This paper presents the current state of the development of a Wireless HROV (Hybrid Remotely Operated Vehicle HROV), providing feedback of both, camera and telemetry data to the operator, over an acoustic communication link. This experiment is part of the MERBOTS Spanish national project (www.irs.uji.es/merbots). This work has as main objective the design of a bidirectional transport protocol for wireless teleoperation of an underwater robot using high level commands and a progressive image compression algorithm. Preliminary Hardware In the Loop results combining two S2CR 18/34 modems in a scenario with high level of multi-path, a freshwater pool, and the UWSim simulator are presented. Finally, a ROS-based network simulator that is still in an early stage of development is presented. This simulator will be useful for modeling high-level behavior of any communication device, and to improve high level protocols when the real modems are not available.

}, keywords = {acoustic communication link, acoustic link, Acoustics, bidirectional transport protocol, camera, Cameras, communication device, compressed visual feedback, data compression, hardware in the loop, high level protocols, hybrid remotely operated vehicle, image coding, image compression algorithm, MERBOTS Spanish national project, mobile robots, Modems, network simulator, remotely operated vehicles, robot vision, Robots, ROS-based network simulator, S2CR 18/34 modems, telemetry data, telerobotics, transport protocols, underwater acoustic communication, underwater robot, underwater vehicles, UWSim simulator, Wireless communication, wireless HROV control, wireless teleoperation}, isbn = {978-1-5090-5278-3 }, doi = {10.1109/OCEANSE.2017.8084979}, url = {https://doi.org/10.1109/OCEANSE.2017.8084979}, author = {Centelles, Diego and E. Moscoso and G. Vallicrosa and N. Palomeras and J. Sales and J. V. Mart{\'\i} and Mar{\'\i}n, Ra{\'u}l and P. Ridao and Sanz, Pedro J.} } @article {323, title = {CompaRob: The Shopping Cart Assistance Robot}, journal = {International Journal of Distributed Sensor Networks}, volume = {12}, year = {2016}, month = {Nov-02-2016}, pages = {4781280}, abstract = {

Technology has recently been developed which offers an excellent opportunity to design systems with the ability to help people in their own houses. In particular, assisting elderly people in their environments is something that can significantly improve their quality of life. However, helping elderly people outside their usual environment is also necessary, to help them to carry out daily tasks like shopping. In this paper we present a person-following shopping cart assistance robot, capable of helping elderly people to carry products in a supermarket. First of all, the paper presents a survey of related systems that perform this task, using different approaches, such as attachable modules and computer vision. After that, the paper describes in detail the proposed system and its main features. The cart uses ultrasonic sensors and radio signals to provide a simple and effective person localization and following method. Moreover, the cart can be connected to a portable device like a smartphone or tablet, thus providing ease of use to the end user. The prototype has been tested in a grocery store, while simulations have been done to analyse its scalability in larger spaces where multiple robots could coexist.

}, issn = {1550-1477}, doi = {10.1155/2016/4781280}, url = {http://downloads.hindawi.com/journals/ijdsn/2016/4781280.pdf}, author = {Sales, Jorge and Mart{\'\i}, Jos{\'e} V. and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric and Sanz, Pedro J.} } @conference {272, title = {A control architecture for hybrid underwater intervention systems}, booktitle = {2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016)}, year = {2016}, month = {10/2016}, address = {Budapest (Hungary)}, isbn = {978-1-5090-1897-0/16}, author = {Garc{\'\i}a, Juan Carlos and Javier P{\'e}rez and Menezes, Paulo and Sanz, Pedro J.} } @conference {273, title = {Evaluaci{\'o}n on de la arquitectura ARMv7-A para el desarrollo de HROV{\textquoteright}s e ficientes}, booktitle = {XXXVII Jornadas de Autom{\'a}tica}, year = {2016}, month = {09/2016}, abstract = {

Este trabajo pretende dar a conocer la viabilidad
del uso de los mini-ordenadores basados en la ar-
quitectura de procesador ARMv7-A o similar co-
mo ordenadores de a bordo de HROV\’s, destina-
dos a realizar una tarea rob\ótica espec??fica. El ba-
jo consumo energ\ético de los ordenadores basados
en estos procesadores y su bajo coste despierta el
inter\és por utilizar estos dispositivos para imple-
mentar veh??culos submarinos inal\ámbricos de alta
autonom??a. Los resultados demuestran que reali-
zando una implementaci\ón a medida de los algo-
ritmos de procesado de imagen t??picos en rob\ótica,
aprovechando las ventajas del juego de instruccio-
nes SIMD del procesador y el multi-n\úcleo, es po-
sible conseguir una reducci\ón considerable de los
tiempos de ejecuci\ón.

}, author = {Centelles, Diego and Mayo, Rafael and Moscoso, E. and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @article {308, title = {Fitting primitive shapes in point clouds: a practical approach to improve autonomous underwater grasp specification of unknown objects}, journal = {Journal of Experimental \& Theoretical Artificial Intelligence}, volume = {28}, year = {2016}, month = {Mar-03-2016}, pages = {369 - 384}, issn = {0952-813X}, doi = {10.1080/0952813X.2015.1024495}, url = {http://www.tandfonline.com/doi/full/10.1080/0952813X.2015.1024495http://www.tandfonline.com/doi/pdf/10.1080/0952813X.2015.1024495}, author = {Fornas, D. and Sales, J. and Pe{\~n}alver, A. and P{\'e}rez, J. and {\'a}ndez, J.J. and Marin, R. and Sanz, Pedro J.} } @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 {270, title = {Improving local symmetry estimations in rgb-d images by fiting superquadrics}, booktitle = {XXXVII Jornadas de Autom{\'a}tica}, year = {2016}, month = {09/2016}, address = {Madrid (Spain)}, isbn = { 978-84-617-4298-1}, author = {Fornas, David and Sanz, Pedro J. and Porta, Josep M. and THomas, Federico} } @conference {264, title = {Mejoras en la arquitectura de control e interfaz de usuario para el control de un HROV}, booktitle = {XXXVII Jornadas de Autom{\'a}tica}, year = {2016}, month = {09/2016}, address = {Madrid (Spain)}, isbn = {978-84-617-4298-1}, author = {Garc{\'\i}a, Juan Carlos and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Menezes, Paulo and Sanz, Pedro J.} } @conference {269, title = {UWSim, un simulador submarino como herramienta educacional}, booktitle = {XXXVII Jornadas de Autom{\'a}tica}, year = {2016}, month = {09/2016}, address = {Madrid (Spain)}, isbn = {978-84-617-4298-1}, author = {Javier P{\'e}rez and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {243, title = {A benchmarking perspective of underwater intervention systems}, booktitle = {IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles}, year = {2015}, month = {04/2015}, address = {Girona (Spain)}, doi = {10.1016/j.ifacol.2015.06.002}, author = {Sanz, Pedro J. and Javier P{\'e}rez and Sales, Jorge and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Garc{\'\i}a, Juan Carlos} } @conference {233, title = {Benchmarking using UWSim, Simurv and ROS: An autonomous free floating dredging intervention case study}, booktitle = {Oceans{\textquoteright}15 MTS/IEEE Genova}, year = {2015}, month = {09/2015}, publisher = {IEEE}, organization = {IEEE}, address = {Genova (Italy)}, abstract = {

This paper proposes the use of UWSim (an underwater simulator) in combination with Simurv (a kinematic and dynamic library for Underwater Vehicle-Manipulator Systems control algorithms) and ROS (a well-known robotics framework) in order to simulate the dynamics of an Intervention Autonomous Underwater Vehicle and its application to the benchmarking of autonomous control algorithms in the field of archaeology dredging.

}, keywords = {benchmarking, free floating control, I-AUV, simulation, underwater autonomous intervention, UWSim}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271514}, url = {https://doi.org/10.1109/OCEANS-Genova.2015.7271514}, author = {Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Pe{\~n}alver, Antonio and Sales, Jorge and Fornas, David and Sanz, Pedro J.} } @article {241, title = {Design and Evaluation of a Natural Interface for Remote Operation of Underwater Robots}, journal = {IEEE Computer Graphics and Applications}, year = {2015}, issn = {0272-1716}, doi = {10.1109/MCG.2015.118}, author = {Garc{\'\i}a, Juan Carlos and Patr{\~a}o, Bruno and Almeida, Lu{\'\i}s and Javier P{\'e}rez and Menezes, Paulo and Dias, Jorge and Sanz, Pedro J.} } @article {238, title = {Exploring 3-D Reconstruction Techniques: A Benchmarking Tool for Underwater Robotics}, journal = {IEEE ROBOTICS \& AUtOMATION MAGAZINE }, volume = {22}, year = {2015}, month = {09/2015}, chapter = {85-95}, issn = {1070-9932}, doi = {10.1109/MRA.2015.2448971}, author = {Javier P{\'e}rez and Sales, Jorge and Pe{\~n}alver, Antonio and Fornas, David and Fern{\'a}ndez, Jos{\'e} Javier and Garc{\'\i}a, Juan Carlos and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Prats, Mario} } @article {250, title = {Fitting primitive shapes in point clouds: a practical approach to improve autonomous underwater grasp specification of unknown objects}, journal = {Journal of Experimental \& Theoretical Artificial Intelligence}, year = {2015}, month = {04/2015}, chapter = {1-16}, abstract = {

This article presents research on the subject of autonomous underwater robot manipulation. Ongoing research in underwater robotics intends to increase the autonomy of intervention operations that require physical interaction in order to achieve social benefits in fields such as archaeology or biology that cannot afford the expenses of costly underwater operations using remote operated vehicles. Autonomous grasping is still a very challenging skill, especially in underwater environments, with highly unstructured scenarios, limited availability of sensors and adverse conditions that affect the robot perception and control systems. To tackle these issues, we propose the use of vision and segmentation techniques that aim to improve the specification of grasping operations on underwater primitive shaped objects. Several sources of stereo information are used to gather 3D information in order to obtain a model of the object. Using a RANSAC segmentation algorithm, the model parameters are estimated and a set of feasible grasps are computed. This approach is validated in both simulated and real underwater scenarios.

}, doi = { 10.1080/0952813X.2015.1024495}, author = {Fornas, David and Sales, Jorge and Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @article {217, title = {I-AUV Mechatronics Integration for the TRIDENT FP7 Project}, journal = {IEEE/ASME Transactions on Mechatronics}, volume = {PP}, year = {2015}, month = {02/2015 }, chapter = {1-10}, abstract = {

Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept. This paper describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials.

}, keywords = {Autonomous underwater vehicle (AUV), intervention, underwater robotics}, issn = {1083-4435 }, doi = {10.1109/TMECH.2015.2395413}, author = {Ribas, David and Ridao, Pere and A. Turetta and Melchiorri, C. and Palli, G and Fern{\'a}dez, Joseph and Sanz, Pedro J.} } @article {292, title = {Image compression with region of interest for underwater robotic archaeological applications}, journal = {XXXVI Jornadas de Autom{\'a}tica. Bilbao, Spain Google Scholar}, year = {2015}, author = {Rubino, Eduardo M. and Centelles, Diego and Sales, Jorge and Mart{\'\i}, Jos{\'e} V. and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @article {218, title = {Intervention AUVs: The Next Challenge}, journal = {Annual Reviews in Control}, volume = {40}, year = {2015}, month = {11/2015}, chapter = {227-241}, address = {Cape Town, South Africa}, abstract = {

While commercially available AUVs are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities. The maintenance of permanent underwater observatories, submerged oil wells, cabled sensor networks, pipes and the deployment and recovery of benthic stations are 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 achieve autonomous underwater interventions. 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\&$\#$39; knowledge, only three vehicles have demonstrated some autonomous intervention capabilities so far: ALIVE, SAUVIM and GIRONA 500, being the last one the lightest one. In this paper 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 subsea panel, (2) free floating valve turning using learning by demonstration, and (3) multipurpose free-floating object recovery. The paper ends discussing the lessons learned so far.

}, doi = {10.1016/j.arcontrol.2015.09.015}, author = {Ridao, Pere and Carreras, Marc and Ribas, David and Sanz, Pedro J. and Oliver, Gabriel} } @conference {240, title = {MERMANIP: Avances recientes en la manipulaci{\'o}n aut{\'o}noma cooperativa submarina}, booktitle = {XXXVI Jornadas de Autom{\'a}tica}, year = {2015}, month = {09/2015}, address = {Bilbao (Spain)}, isbn = {978-84-15914-12-9}, author = {Sanz, Pedro J. and Javier P{\'e}rez and Sales, Jorge and Fern{\'a}ndez, Jos{\'e} Javier and Pe{\~n}alver, Antonio and Fornas, David and Garc{\'\i}a, Juan Carlos and Mar{\'\i}n, Ra{\'u}l} } @conference {234, title = {Multipurpose Underwater Manipulation for Archaeological Intervention}, booktitle = {6th International Workshop on Marine Technology (MARTECH{\textquoteright}15)}, year = {2015}, month = {09/2015}, address = {Cartagena (Spain)}, keywords = {archaeology, I-AUV, manipulation, supervised control}, isbn = {1886-4864}, url = {http://hdl.handle.net/2117/77627}, author = {Sanz, Pedro J. and Pe{\~n}alver, Antonio and Sales, Jorge and Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Fornas, David and Garc{\'\i}a, Juan Carlos and Mar{\'\i}n, Ra{\'u}l} } @conference {235, title = {Multi-view underwater 3D reconstruction using a stripe laser light and an eye-in-hand camera}, booktitle = {Oceans{\textquoteright}15 MTS/IEEE Genova}, year = {2015}, month = {09/2015}, publisher = {IEEE}, organization = {IEEE}, address = {Genova (Italy)}, abstract = {

Autonomous manipulation in unestructured underwater scenarios is a high challenging skill that has been poorly studied and is becoming more and more important in the last years. One of the main problems regarding the autonomous manipulation, is to find out the characteristics of the object which is going to be manipulated. This paper presents a new approach to obtain an accurate 3D reconstruction of this object. This approach consists in attaching a laser stripe emitter and a camera in the forearm of a robotic arm. Moving the arm, the laser scans the scene where the object is and, at the same time, the camera records the scan. Thanks to the arm and the position of the camera, the scene can be reconstructed from different views and from a position close to the object. The recorded images are processed to obtain the 3D position of the part of the scene projected by the laser. Before the intervention, a process of calibration is needed to calculate the relationship between each part of the system. Furthemore, in order to reduce the time of processing of the images recorded during the scan, an optimization algorithm is presented which consists in discarding, before the processing, the pixels of the image which do not contain relevant information. The approach herein presented and the optimization algorithm are tested using an underwater simulator.

}, keywords = {3D reconstruction, autonomous grasping, Laser-Camera Calibration, Optimization Algorithm, Underwater Laser Scanning}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271497}, url = {https://doi.org/10.1109/OCEANS-Genova.2015.7271497}, author = {Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Sales, Jorge and Sanz, Pedro J.} } @article {239, title = {Toward the Robot Butler: The HUMABOT Challenge}, journal = {IEEE ROBOTICS \& AUTOMATION MAGAZINE}, volume = {22}, year = {2015}, month = {06/2015}, chapter = {8-17}, issn = {1070-9932}, doi = {10.1109/MRA.2015.2418511}, author = {Cervera, Enric and Garc{\'\i}a, Juan Carlos and Sanz, Pedro J.} } @conference {225, title = {Towards an immersive and natural gesture controlled interface for intervention underwater robots}, booktitle = {Oceans{\textquoteright}15 MTS/IEEE Genova}, year = {2015}, month = {09/2015}, publisher = {IEEE}, organization = {IEEE}, address = {Genova (Italy)}, abstract = {

During underwater intervention missions, one of the critical issues, from the human-machine interaction perspective, concerns the operator\&$\#$39;s stress, which should be able to control the intervention system, mainly due to the high complexity of information displayed through specifically designed Graphical User Interface, and the usually available master-slave control architecture. So, this paper introduces a new approach with the aim to minimize the aforementioned drawbacks and, in the meantime, increasing the user\&$\#$39;s immersive feeling. Preliminary results are discussed highlighting the pros and cons of this novel procedure.

}, keywords = {autonomous underwater vehicle for intervention, human-machine interaction, I-AUV, immersive interface, intervention underwater robots, natural gesture controlled interface}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271501}, url = {https://doi.org/10.1109/OCEANS-Genova.2015.7271501}, author = {Garc{\'\i}a, Juan Carlos and Patr{\~a}o, Bruno and Javier P{\'e}rez and Seabra, Joa{\~a}o and Menezes, Paulo and Dias, Jorge and Sanz, Pedro J.} } @conference {266, title = {Underwater radio frequency based localization and image transmission system, including specific compression techniques, for autonomous manipulation}, booktitle = {Oceans{\textquoteright}15 MTS/IEEE Genova}, year = {2015}, month = {09/2015}, publisher = {IEEE}, organization = {IEEE}, address = {Genoa (Italy)}, abstract = {

Autonomous manipulation in real underwater environments presents many unexpected situations, such as lack of visibility due to light reflections or presence of particles in the water. Moreover, the use of cameras is still very important, considering that they provide a natural sensor input to the operator, and many robust and efficient underwater manipulation algorithms have been implemented using this kind of sensor. Moreover, underwater applications, especially the ones that may involve interacting with artificial structures like panels, or even with other robots, would be very much improved if the umbilical cable could be substituted by a wireless system, improving so mobility. In that sense, Radio Frequency connection, allowing the transmission of camera input to the operator, would be a potential improvement. The present article describes the system implemented at the TRITON project (www.irs.uji.es/triton) in order to localize a robot arm related to a panel with a valve and a connector, using sonar and radiofrequency techniques, in order to experiment autonomous manipulation under lack of visibility conditions. Moreover, the Radio Frequency system enables the transmission of camera monitoring information at small distances, which has previously been compressed using specific techniques.

}, keywords = {Autonomy, Image Compression, Image Transmission, RF signal, Underwater Robotics Intervention, Wireless Communications}, isbn = {978-1-4799-8736-8 }, doi = {10.1109/OCEANS-Genova.2015.7271626}, url = {https://doi.org/10.1109/OCEANSE.2017.8084762}, author = {Centelles, Diego and E. Rubino and M. Soler and Mart{\'\i}, Jose Vicente and Sales, J. and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @article {242, title = {Visually-guided manipulation techniques for robotic autonomous underwater panel interventions}, journal = {Annual Reviews in Control}, volume = {40}, year = {2015}, month = {10/2015}, chapter = {201-211}, keywords = {3D Simulation, Autonomous Manipulation, I-AUV, Panel Intervention, Robot Kinematics, Underwater Intervention, Vision Guidance}, issn = {1367-5788}, doi = {10.1016/j.arcontrol.2015.09.012}, author = {Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sales, Jorge and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Fornas, David and Mar{\'\i}n, Ra{\'u}l} } @article {291, title = {Wireless Image Compression and Transmission for Underwater Robotic Applications?}, journal = {IFAC-PapersOnLine}, volume = {48}, year = {2015}, month = {Jan-01-2015}, pages = {288 - 293}, issn = {24058963}, doi = {10.1016/j.ifacol.2015.06.047}, url = {http://linkinghub.elsevier.com/retrieve/pii/S2405896315002864http://api.elsevier.com/content/article/PII:S2405896315002864?httpAccept=text/xmlhttp://api.elsevier.com/content/article/PII:S2405896315002864?httpAccept=text/plain}, author = {Rubino, Eduardo M. and Centelles, Diego and Sales, Jorge and Marti, Jose Vte. and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {268, title = {Wireless Image Compression and Transmission for Underwater Robotic Applications}, booktitle = {NGCUV}, year = {2015}, author = {E. Rubino and Centelles, Diego and Sales, Jorge and Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {267, title = {Wireless RF Camera Monitoring for Underwater Cooperative Robotic Archaeological Applications}, booktitle = {MARTECH}, year = {2015}, author = {Centelles, Diego and E. Rubino and Sales, Jorge and Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {182, title = {Autonomous Intervention on an Underwater Panel mockup by using Visually-Guided Manipulation Techniques}, booktitle = {19th IFAC World Congress}, year = {2014}, month = {08/2014}, address = {Cape Town (South Africa)}, author = {Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sales, J. and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Fornas, David and Mar{\'\i}n, Ra{\'u}l} } @conference {187, title = {Avances recientes en manipulaci{\'o}n subacu{\'a}tica en el subproyecto GRASPER}, booktitle = {XXXV Jornadas de Autom{\'a}tica}, year = {2014}, month = {09/2014}, address = {Valencia, Spain}, author = {Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Sales, J. and Garc{\'\i}a, Juan Carlos and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {194, title = {Casos de uso y mejoras de un robot humanoide de bajo coste}, booktitle = {XXXV Jornadas de Autom{\'a}tica}, year = {2014}, month = {09/2014}, address = {Valencia, Spain}, author = {Garc{\'\i}a, Juan Carlos and Felip, J. and Veiga, Carlos and Sanz, Pedro J.} } @conference {188, title = {Configuraci{\'o}n y ejecuci{\'o}n de benchmarks de intervenci{\'o}n rob{\'o}tica submarina en UWSim mediante herramientas Web}, booktitle = {XX Jornadas de Autom{\'a}tica 2014}, year = {2014}, month = {09/2014}, author = {Javier P{\'e}rez and Sales, J. and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric and Sanz, Pedro J.} } @conference {189, title = {Desarrollo de un sensor subacu{\'a}tico ultras{\'o}nico y RF para posicionamiento en tareas de manipulaci{\'o}n rob{\'o}tica}, booktitle = {XX Jornadas de Autom{\'a}tica 2014}, year = {2014}, month = {09/2014}, author = {Centelles, Diego and Sales, J. and Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente and Fornas, David and Sanz, Pedro J.} } @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} } @conference {186, title = {Improving autonomous underwater grasp specification using primitive shape fitting in point clouds}, booktitle = {Seventeenth International Conference of the Catalan Association of Artificial Intelligence (CCIA 2014)}, year = {2014}, month = {10/2014}, publisher = {IOS Press (Frontiers in Artificial Intelligence and Applications)}, organization = {IOS Press (Frontiers in Artificial Intelligence and Applications)}, address = {Barcelona (Spain)}, abstract = {
This paper presents a research in progress towards autonomous under-
water robot manipulation. Current research in underwater robotics intends to increase the autonomy of intervention operations that require physical interaction.\ Autonomous grasping is still a very challenging skill, especially in underwater environments, with highly unstructured scenarios, limited availability of sensors and\ adverse conditions that affect the robot perception and control systems in various\ degrees. To tackle those issues, we propose the use of vision and segmentation\ techniques that aim to improve the specification of grasping operations on underwater primitive shaped objects. Several sources of stereo information are used to\ gather 3D information in order to obtain a model of the object. Using a RANSAC\ primitive shape recognition algorithm, the model parameters are estimated and a\ set of feasible grasps are computed. This approach is validated in simulation and\ the quality of different 3D reconstructions from both real and virtual scenarios is\ analyzed.
}, keywords = {grasp specification, point cloud, RANSAC, shape fitting, underwater autonomous grasping, UWSim underwater realistic simulator}, isbn = {978-1-61499-451-0 (print) | 978-1-61499-452-7 (online)}, doi = {10.3233/978-1-61499-452-7-45}, author = {Fornas, David and Sales, J. and Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.} } @conference {265, title = {Online Tool for Benchmarking of Simulated Intervention Autonomous Underwater Vehicles: Evaluating Position Controllers in Changing Underwater Currents}, booktitle = {Artificial Intelligence, Modelling and Simulation (AIMS), 2014 2nd International Conference on}, year = {2014}, publisher = {IEEE}, organization = {IEEE}, author = {Javier P{\'e}rez and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @inbook {183, title = {Robotic Manipulation within the Underwater Mission Planning context: A Use Case for Benchmarking}, booktitle = {Motion and Operation Planning of Robotics System: Background and Practical Approaches}, year = {2014}, pages = {483-510}, abstract = {


}, issn = {978-3-319-14705-5}, author = {Javier P{\'e}rez and Sales, J. and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Fornas, David} } @conference {190, title = {Survey on Progressive Image Compression and Transmission and its application in Underwater Intervention Missions}, booktitle = {XX Jornadas de Autom{\'a}tica 2014}, year = {2014}, month = {09/2014}, author = {Moscoso, E. and Mar{\'\i}n, Ra{\'u}l and Sales, J. and Sanz, Pedro J.} } @conference {181, title = {Web-based configuration tool for benchmarking of simulated intervention autonomous underwater vehicles}, booktitle = {IEEE International Conference on Autonomous Robot Systems and Competitions {\textendash} ROB{\'O}TICA 2014}, year = {2014}, month = {05/2014}, address = {Espinho (Portugal)}, abstract = {

Benchmarking is nowadays an issue on robotic
research platforms, due to the fact that it is not easy to reproduce
previous experiments and knowing in detail in which real condi-
tions other algorithms have been performed. Having a web-based
tool to configure and execute benchmarks opens the door to new
opportunities as the design of virtual tele-laboratories that permit
the implementation of new algorithms using specific and detailed
constraints. This is fundamental for designing benchmarks that
allow the experiments to be made in a more scientific manner,
taking into account that these experiments should be able to be
reproduced again by other people under the same circumstances.
In the context of underwater interventions with semi-autonomous
robots, the situation gets even more interesting. Experiments
performed by other researchers normally do not include the
whole set of real conditions such as visibility or even water
currents data that would allow the best scientific procedure.
Underwater interventions and specially those performed on real
sea scenarios are expensive, difficult to perform and reproduce.
The contribution of this work is an online configuration tool for
benchmarking using UWSim simulator which can provide an
enormous help for this particular scenario, as will be shown in
this paper.

}, isbn = {978-1-4799-4254-1}, author = {Javier P{\'e}rez and Sales, J. and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {149, title = {Benchmarking on UWSim, an open source tool for developing and evaluating underwater robots experiments}, booktitle = {Workshop on Human Robot Interaction (HRI), 2013 IEEE International Conference on Robotics and Automation (ICRA{\textquoteright}13)}, year = {2013}, month = {05/2013}, address = {Karlsruhe, Germany}, author = {Javier P{\'e}rez and Sales, Jorge and Prats, Mario and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {175, title = {GRASPER: A Multisensory Based Manipulation System for Underwater Operations}, booktitle = {IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2013}, year = {2013}, month = {10/2013}, publisher = {IEEE}, organization = {IEEE}, address = {Manchester, UK}, doi = {10.1109/SMC.2013.689}, author = {Sanz, Pedro J. and Pe{\~n}alver, Antonio and Sales, Jorge and Fornas, David and Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Bernab{\'e}, Jos{\'e} Antonio} } @conference {176, title = {GRASPER: Un Proyecto Dirigido a Incrementar la Autonomi?a de la Manipulacio?n Submarina}, booktitle = {XXXIV Jornadas de Automa?tica}, year = {2013}, month = {09/2013}, publisher = {CEA}, organization = {CEA}, address = {Terrassa, Spain}, isbn = {978-84-616-5063-7}, author = {Sanz, Pedro J. and Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Pe{\~n}alver, Antonio and Garc{\'\i}a, Juan Carlos and Fornas, David and Sales, Jorge and Bernab{\'e}, Jos{\'e} Antonio and Mar{\'\i}n, Ra{\'u}l} } @article {178, title = {Grasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water Intervention}, journal = {IEEE Robotics \& Automation Magazine}, volume = {20}, year = {2013}, month = {10/2013}, pages = {121 - 130}, publisher = {IEEE}, doi = {10.1109/MRA.2013.2248307}, author = {Fern{\'a}ndez, Jos{\'e} Javier and Prats, Mario and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Mar{\'\i}n, Ra{\'u}l and Robinson, Mike and Ribas, David and Ridao, Pere} } @conference {177, title = {HIL Simulation Towards Autonomous Manipulation of an Underwater Panel in a Permanent Observatory}, booktitle = {Oceans{\textquoteright}13 MTS/IEEE San Diego}, year = {2013}, month = {09/2013}, publisher = {IEEE}, organization = {IEEE}, address = {San Diego, USA}, isbn = {978-0-933957-40-4}, author = {Sanz, Pedro J. and Javier P{\'e}rez and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Fornas, David and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l} } @conference {173, title = {Increasing the Autonomy Levels for Underwater Intervention Missions by Using Learning and Probabilistic Techniques}, booktitle = {ROBOT2013: First Iberian Robotics Conference}, year = {2013}, month = {11/2013}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Madrid, Spain}, isbn = {978-3-319-03412-6}, doi = {10.1007/978-3-319-03413-3_2}, author = {Sales, Jorge and Santos, Luis and Sanz, Pedro J. and Dias, Jorge and Garc{\'\i}a, Juan Carlos} } @article {313, title = {Multi-Sensor Localization and Navigation for Remote Manipulation in Smoky Areas}, journal = {International Journal of Advanced Robotic Systems}, volume = {10}, year = {2013}, month = {Jul-04-2014}, pages = {211}, issn = {1729-8814}, doi = {10.5772/55808}, url = {http://journals.sagepub.com/doi/10.5772/55808http://journals.sagepub.com/doi/pdf/10.5772/55808http://journals.sagepub.com/doi/full-xml/10.5772/55808http://journals.sagepub.com/doi/pdf/10.5772/55808}, author = {Mart{\'\i}, Jose Vicente and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {179, title = {Primitive shape fitting in point clouds for enabling autonomous underwater grasping}, booktitle = {5TH MARTECH International Workshop On Marine Technology}, year = {2013}, month = {10/2013}, address = {Girona (Spain)}, abstract = {

Autonomous grasping of unknown objects by a
robot is a highly challenging skill that is receiving increasing
attention in the last years, and is still more challenging in
underwater environments, with highly unstructured scenarios,
limited availability of sensors and adverse conditions that affect
the robot perception and control systems. This paper describes
an approach for increase the autonomy of grasping operations
on underwater primitive shaped objects from floating vehicles,
in particular cylinder shaped objects like an amphora. Various
sources of stereo information are used to gather 3D information in
order to obtain a model of the object. Using a RANSAC primitive
shape recognition algorithm the model parameters are obtained
and a set of feasible grasps are computed. Then the user specifies
the best one or it is specified using analytical constraints. This
approach is tested with the UWSim simulator.

}, keywords = {autonomous grasping, point cloud, RANSAC, shape fitting, underwater}, isbn = {978-84-616-5764-3}, author = {Fornas, David and Pe{\~n}alver, Antonio and Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sales, J.} } @conference {148, title = {Recent Progress in HRI for Underwater Robotic Intervention}, booktitle = {Workshop on Human Robot Interaction (HRI), 2013 IEEE International Conference on Robotics and Automation (ICRA{\textquoteright}13)}, year = {2013}, month = {05/2013}, address = {Karlsruhe, Germany}, author = {Garc{\'\i}a, Juan Carlos and Pe{\~n}alver, Antonio and Prats, Mario and Sanz, Pedro J.} } @conference {180, title = {Semi-autonomous grasping approach of unknown objects in underwater environments combining structured light and a virtual simulation environment}, booktitle = {5TH MARTECH International Workshop On Marine Technology}, year = {2013}, month = {10/2013}, address = {Girnoa (Spain)}, abstract = {

Many scientific and industrial works that take place
underwater are increasingly demanding for technology to allow
their autonomous execution. Autonomous grasping of unknown
objects by a robotic arm is a task that is being highly studied by
researchers in the last years. This is a really difficult task in itself,
but the problem is bigger if the grasp is done in underwater
environments, where the sensors that can be installed in the arm,
decrease their performance drastically. This paper describes an
approach for semi-autonomous grasping of underwater unknown
objects using a robotic arm. To achieve this purpose, a scan of the
scene is performed using a structured laser beam attached to the
forearm of the manipulator. At the same time, a digital video
camera is used to capture the scene. The laser stripes are
triangulated to obtain a 3D point cloud. The entire process is
shown inside an underwater simulator, acting in this case as a
virtual representation of the real environment. This virtual
representation allows the user to specify the grasp, to see how the
grasp will be executed, and to monitor the final process in real
time. To validate the good performance of the proposed
approach, several grasping experiments with two different objects
have been performed in water tank conditions with a real I-AUV
system.

}, keywords = {3D reconstruction, Intervention AUV, semiautonomous grasping, underwater recovery}, isbn = {978-84-616-5764-3}, author = {Pe{\~n}alver, Antonio and Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sales, J.} } @conference {174, title = {The Underwater Simulator UWSim - Benchmarking Capabilities on Autonomous Grasping.}, booktitle = {ICINCO (2)}, year = {2013}, month = {07/2013}, publisher = {SciTePress}, organization = {SciTePress}, address = {Reykjav{\'\i}k, Iceland}, isbn = {978-989-8565-71-6}, url = {http://dblp.uni-trier.de/db/conf/icinco/icinco2013-2.html$\#$PerezSPMFMS13}, author = {Javier P{\'e}rez and Sales, Jorge and Prats, Mario and Mart{\'\i}, Jose Vicente and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {132, title = {An approach for Semi-Autonomous Recovery of Unknown Objects in Underwater Environments}, booktitle = {13th International Conference on Optimization of Electrical and Electronic Equipment}, year = {2012}, month = {05/2012}, address = {Brasov, Romania}, isbn = {978-1-4673-1653-8}, author = {Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.} } @conference {96, title = {Combining Template Tracking and Laser Peak Detection for 3D Reconstruction and Grasping in Underwater Environments}, booktitle = {International Conference on Intelligent Robots and Systems}, year = {2012}, month = {10/2012}, address = {Vilamoura, Algarve, Portugal}, isbn = {978-4673-1736-8}, author = {Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.} } @conference {78, title = {An integration perspective of the TRIDENT project}, booktitle = {5th International Conference on Cognitive Systems}, year = {2012}, month = {02/2012}, address = {Vienna (Austria)}, author = {Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Ribas, David and Ridao, Pere and Wirth, Stephan and Oliver, Gabriel} } @article {312, title = {Localization of Mobile Sensors and Actuators for Intervention in Low-Visibility Conditions: The ZigBee Fingerprinting Approach}, journal = {International Journal of Distributed Sensor Networks}, volume = {8}, year = {2012}, month = {01/2012}, issn = {1550-1477}, doi = {10.1155/2012/951213}, url = {http://journals.sagepub.com/doi/full-xml/10.1155/2012/951213}, author = {Mart{\'\i}, Jos{\'e} V. and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Jimenez-Ruiz, Ernesto} } @conference {83, title = {Multipurpose Autonomous Underwater Intervention: A Systems Integration Perspective}, booktitle = {20th Mediterranean Conference on Control \& Automation (MED 2012)}, year = {2012}, month = {07/2012}, address = {Barcelona (Spain)}, isbn = {978-1-4673-2529-5/12}, author = {Prats, Mario and Garc{\'\i}a, Juan Carlos and Wirth, Stephan and Ribas, David and Sanz, Pedro J. and Ridao, Pere and Gracias, Nuno and Oliver, Gabriel} } @conference {97, title = {An Open Source Tool for Simulation and Supervision of Underwater Intervention Missions}, booktitle = {International Conference on Intelligent Robots and Systems}, year = {2012}, month = {10/2012}, address = {Vilamoura, Algarve, Portugal}, isbn = {978-1-4673-1736-8}, author = {Prats, Mario and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.} } @conference {134, title = {Proyecto RAUVI: Historia y Resultados}, booktitle = {XXXIII Jornadas de Autom{\'a}tica}, year = {2012}, month = {09/2012}, address = {Vigo, Spain}, isbn = {978-84-8158-583-4}, author = {Fern{\'a}ndez, Jos{\'e} Javier and Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Ribas, David and Ridao, Pere and Wirth, Stephan and Oliver, Gabriel} } @conference {133, title = {Puesta a punto de sensores t{\'a}ctiles y adaptaci{\'o}n a una mano rob{\'o}tica sumergible}, booktitle = {XXXIII Jornadas de Autom{\'a}tica}, year = {2012}, month = {09/2012}, address = {Vigo, Spain}, isbn = {978-84-8158-583-4}, author = {Pe{\~n}alver, Antonio and Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @book {131, title = {Recent advances in underwater robotics for intervention mission}, year = {2012}, pages = {36}, issn = {978-84-940663-7-5}, author = {Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Sales, Jorge and Oliver, Gabriel and Ridao, Pere} } @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 {6003619, title = {Advances in the specification and execution of underwater autonomous manipulation tasks}, booktitle = {IEEE OCEANS 2011}, year = {2011}, month = {06/2011}, pages = {1 -5}, 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.

}, keywords = {computer vision, formal specification, graphical user interface, graphical user interfaces, mobile robots, object tracking, object visual tracking, RAUVI, remotely operated vehicles, sensor-based grasping, sensors, TRIDENT, underwater autonomous manipulation tasks, underwater vehicles, vision-based arm control}, isbn = {978-1-4577-0086-6}, doi = {10.1109/Oceans-Spain.2011.6003619}, author = {Prats, Mario and Garc{\'\i}a, Juan Carlos and Fern{\'a}ndez, Jos{\'e} Javier and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {68, title = {Avances en la especificaci{\'o}n y ejecuci{\'o}n de tareas aut{\'o}nomas de manipulaci{\'o}n submarina}, booktitle = {XXXII Jornadas de Autom{\'a}tica (CEA)}, year = {2011}, month = {09/2011}, address = {Sevilla (Spain)}, isbn = {978-84-694-6454-0}, author = {Garc{\'\i}a, Juan Carlos and Fern{\'a}ndez, Jos{\'e} Javier and Prats, Mario and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {105, title = {Development of a person-following shopping cart assistance robot}, booktitle = {Assistance robots for the elderly (European Robotics Forum 2011)}, year = {2011}, month = {04-2011}, address = {V{\"a}ster{\r a}s (Sweden}, author = {Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente and Cervera, Enric and Oliver, Gabriel} } @conference {prats11, title = {Towards specification, planning and sensor-based control of autonomous underwater intervention}, booktitle = {IFAC 2011}, year = {2011}, note = {

To be published

}, month = {08/2011}, pages = {10361-10366}, address = {Milano, Italy}, isbn = {978-3-902661-93-7}, author = {Prats, Mario and Garc{\'\i}a, Juan Carlos and Fern{\'a}ndez, Jos{\'e} Javier and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {77, title = {Una nueva herramienta para la simulaci{\'o}n y supervisi{\'o}n 3D de misiones de intervenci{\'o}n submarinas}, booktitle = {III Workshop de rob{\'o}tica: rob{\'o}tica experimental}, year = {2011}, month = {11/2011}, abstract = {

Este trabajo presenta UWSim: una nueva herramienta software para la visualizaci\ó?n y simulaci\ó?n de misiones rob?\óticas submarinas. El software visualiza un escenario virtual subacu\á?tico que puede ser configurado usando software de modelado est?\ándar. A este escenario se pueden a?\ñadir veh\í?culos submarinos, manipuladores rob?\óticos, simulaci\ó?n de sensores, etc., facilitando el acceso a los mismos a trav?\és de interfaces de red. Esto permite integrar f?cilmente la herramienta de visualizaci?\ón con arquitecturas de control ya existentes, dando lugar a simulaciones Hardware in the Loop (HIL). Recientemente, UWSim ha sido de gran utilidad, tanto para la simulaci?\ón de una misi\ó?n de intervenci\ó?n como para reproducci\ó?n de una misi?\ón real a partir de los datos capturados.

}, isbn = {978-84-615-6787-4}, author = {Prats, Mario and Garc{\'\i}a, Juan Carlos and Sanz, Pedro J.} } @article {67, title = {User interface oriented to the specification of underwater robotic interventions}, journal = {Journal of Maritime Research}, volume = {8}, year = {2011}, month = {08/2011}, chapter = {47-62}, address = {Cartagena (Spain)}, issn = {1697-4840}, url = {http://www.jmr.unican.es/index.php/jmr/article/view/151}, author = {Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l} } @conference {69, title = {Using Humanoids for Teaching Robotics and Artificial Intelligence Issues. The UJI Case Study}, booktitle = {III Workshop de rob{\'o}tica: rob{\'o}tica experimental}, year = {2011}, month = {11/2011}, address = {Sevilla (Spain)}, isbn = {978-84-615-6787-4}, author = {Garc{\'\i}a, Juan Carlos and Sanz, Pedro J. and Cervera, Enric} } @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} } @conference {100, title = {A Distributed Architecture for Enabling Autonomous Underwater Intervention Missions}, booktitle = {4th Annual IEEE International Systems Conference 2010}, year = {2010}, month = {04/2010}, address = {San Diego, California, United States}, keywords = {Auntonomous Underwater Vehicle for Intervention, Behaviour Robotics, Distributed Architectures}, isbn = {978-1-4244-5883-7}, doi = {10.1109/SYSTEMS.2010.5482349}, author = {Palomeras, Narc{\'\i}s and Garc{\'\i}a, Juan Carlos and Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J. and Ridao, Pere} } @conference {107, title = {Elderly Robotic Assistant: Person-Following Shopping Cart}, 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 = {Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente} } @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 {20, title = {Exploring Multimodal Interfaces For Underwater Intervention Systems}, booktitle = {Proceedings of the ICRA 2010 Workshop on Multimodal Human Robot Interfaces}, year = {2010}, month = {05/2010}, address = {Anchorage (Alaska)}, author = {Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and O. Belmonte} } @article {prats10a, title = {A Framework for Compliant Physical Interaction: the grasp meets the task}, journal = {Autonomous Robots}, volume = {28}, number = {1}, year = {2010}, pages = {89-111}, author = {Prats, Mario and Sanz, Pedro J. and del Pobil, Angel P.} } @conference {garcia10, title = {Increasing Autonomy within Underwater Intervention Scenarios: The User Interface Approach}, booktitle = {2010 IEEE International Systems Conference}, year = {2010}, month = {4}, pages = {71{\textendash}75}, address = {San Diego, CA, USA}, isbn = {978-1-4244-5883-7}, author = {Garc{\'\i}a, Juan Carlos and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l} } @conference {66, title = {Incrementando el nivel de Autonom{\'\i}a en los Sistemas Rob{\'o}?ticos de Intervenci{\'o}n Submarina: punto de vista de la Interfaz de Usuario}, booktitle = {XXXI Jornadas de Autom{\'a}tica (CEA)}, year = {2010}, month = {09/2010}, address = {Ja{\'e}n (Spain)}, keywords = {autonomous underwater vehicle for intervention, graphical user interface, multimodal interface, simulator}, isbn = {978-84-693-0715-1}, author = {Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l} } @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.} } @article {127, title = {Multi-Sensor Person Fellowing in Low-Visibility Scenarios}, journal = {Sensors}, volume = {10}, year = {2010}, month = {12/2010}, pages = {14}, chapter = {10953}, doi = {10.3390/s101210953}, author = {Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric and Rodr{\'\i}guez, Sergio and Javier P{\'e}rez} } @article {5638803, title = {New approach for a Reconfigurable Autonomous Underwater Vehicle for Intervention}, journal = {Aerospace and Electronic Systems Magazine, IEEE}, volume = {25}, number = {11}, year = {2010}, month = {11/2010}, pages = {32 -36}, keywords = {acoustic sensors, acoustic signal detection, manipulators, optic sensors, optical sensors, RAUVI, reconfigurable autonomous underwater vehicle, remotely operated vehicles, robotic arm, underwater vehicles}, issn = {0885-8985}, doi = {10.1109/MAES.2010.5638803}, author = {De Novi, G. and Melchiorri, C. and Garc{\'\i}a, Juan Carlos and Sanz, Pedro J. and Ridao, Pere and Oliver, Gabriel} } @conference {sanz10b, title = {Recent progress in the RAUVI Project. A reconfigurable Autonomous Underwater Vehicle for Intervention}, booktitle = {52-th International Symphosium ELMAR-2010}, year = {2010}, month = {September}, pages = {471-474}, address = {Zadar, Croatia}, author = {Sanz, Pedro J. and Prats, Mario and Ridao, Pere and Ribas, David and Oliver, Gabriel and Ortiz, Alberto} } @article {Prats10, title = {Reliable non-prehensile door opening through the combination of vision, tactile and force feedback}, journal = {Autonomous Robots}, volume = {29(2)}, year = {2010}, pages = {201-218}, author = {Prats, Mario and Sanz, Pedro J. and del Pobil, Angel P.} } @conference {Sanchiz:2010:RPC:1945758.1945802, title = {Relief patterned-tile classification for automatic tessella assembly}, booktitle = {IEA/AIE{\textquoteright}10 Proceedings of the 23rd international conference on Industrial engineering and other applications of applied intelligent systems - Volume Part I}, series = {IEA/AIE{\textquoteright}10}, year = {2010}, pages = {368{\textendash}377}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Berlin, Heidelberg}, isbn = {3-642-13021-6, 978-3-642-13021-2}, url = {http://dl.acm.org/citation.cfm?id=1945758.1945802}, author = {Sanchiz, Jos{\'e} Miguel and Badenas, Jorge and Forcada, Francisco Jos{\'e}} } @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 {sanz10a, title = {TRIDENT: A Framework for Autonomous Underwater Intervention Missions with Dexterous Manipulation Capabilities}, booktitle = {7th Symposium on Intelligent Autonomous Vehicles IAV-2010}, year = {2010}, publisher = {IFAC}, organization = {IFAC}, isbn = {978-3-902661-87-6}, doi = {10.3182/20100906-3-IT-2019.00034}, author = {Sanz, Pedro J. and Ridao, Pere and Oliver, Gabriel and Melchiorri, C. and G. Casalino and C. Silvestre and Y. Petillot and A. Turetta} } @conference {102, title = {TRIDENT: Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions}, booktitle = {7th IFAC Symposium on Intelligent Autonomous Vehicles}, year = {2010}, month = {09/2010}, isbn = {10.31/20100906-3-IT-2019.00034}, author = {Sanz, Pedro J. and Ridao, Pere and Oliver, Gabriel and Melchiorri, C. and G. Casalino and C. Silvestre and Y. Petillot} } @inbook {122, title = {Design and Educational Issues within the UJI Robotics Telelaboratory: A User Interface Approach}, booktitle = {Web-Based Control and Robotics Education}, volume = {38}, year = {2009}, pages = {227-247}, publisher = {Springer Netherlands}, organization = {Springer Netherlands}, issn = {978-90-481-2504-3}, doi = {10.1007/978-90-481-2505-0_10}, author = {Wirz, Raul and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @article {23, title = {Remote Programming of Network Robots Within the UJI Industrial Robotics Telelaboratory: FPGA Vision and SNRP Network Protocol}, journal = {IEEE Transactions on Industrial Electronics}, volume = {56}, year = {2009}, month = {12/2009}, pages = {4806 - 4816}, issn = {0278-0046}, doi = {10.1109/TIE.2009.2013250}, author = {Mar{\'\i}n, Ra{\'u}l and Leon, G. and Wirz, Raul and Sales, J. and Claver, J.M. and Sanz, Pedro J. and Fern{\'a}ndez, Jos{\'e} Javier} } @conference {112, title = {TDoA indoor Localization within the EU GUARDIANS project}, booktitle = { II Workshop de Rob{\'o}tica (ROBOT{\textquoteright}2009)}, year = {2009}, month = {11/2009}, address = {Barcelona, Universitat Polit{\`e}cnica de Catalunya}, author = {Sales, Jorge and El-Habbal, M. and Mar{\'\i}n, Ra{\'u}l and Witkowski, U. and Cervera, Enric and R{\"u}ckert, U.} } @conference {5152515, title = {Vision-tactile-force integration and robot physical interaction}, booktitle = {IEEE International Conference on Robotics and Automation}, year = {2009}, month = {05/2009}, pages = {3975 -3980}, address = {Kobe (Japan)}, abstract = {

This paper presents an approach for integrating vision, tactile and force sensors in a robotic manipulation framework. Having an initial estimation of the object pose in the environment, a position-based visual servoing loop controls the hand for task execution, based on the input received from a model-based articular pose estimator following the Virtual Visual Servoing approach. The visual control is combined with another control signal obtained from tactile feedback, through a set of selection matrices that can be modified at runtime in order to select the best modality for a given cartesian degree of freedom. The result of the preliminary integration is modified by an impedance force controller, in charge of performing the task motion along the task direction, at the same time that forces are regulated on the rest of directions. The design of the controller allows to perform the task even if a sensor is not available or provides inaccurate data. Several experiments are performed, first by considering only force feedback, and then adding vision and, finally, tactile information. Errors in the estimation of the object initial position are manually introduced in the experiments, and results show how the vision-tactile-force combination is able to deal with them, performing much better than the vision-force and force-alone approaches.

}, issn = {1050-4729}, doi = {10.1109/ROBOT.2009.5152515}, author = {Prats, Mario and Sanz, Pedro J. and del Pobil, Angel P.} } @inbook {24, title = {Web-Based Control and Robotics EducationDesign and Educational Issues within the UJI Robotics Telelaboratory: A User Interface Approach}, booktitle = {Web-Based Control and Robotics Education}, volume = {38}, year = {2009}, pages = {227 - 247}, publisher = {Springer Netherlands}, organization = {Springer Netherlands}, edition = {Intelligent Systems, Control and Automation: Science and Engineering}, address = {Dordrecht}, isbn = {978-90-481-2504-3}, doi = {10.1007/978-90-481-2505-010.1007/978-90-481-2505-0_10}, author = {Wirz, Raul and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.}, editor = {Tzafestas, Spyros} } @conference {Garc{\'\i}a08, title = {The 2007 Spanish Humanoids Competition: From the Winners Point of View}, booktitle = {8th Conference on Autonomous Robot Systems and Competitions}, year = {2008}, month = {04/2008}, address = {Aveiro (Portugal)}, keywords = {humanoid robot, learning, robot competitions}, isbn = {978-972-96895-3-6}, author = {Garc{\'\i}a, Juan Carlos and Felip, J. and Sanz, Pedro 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 {104, title = {Compliant physical interaction based on external vision-force control and tactile-force combination}, booktitle = {International Conference on Multisensor Fusion and Integration for Intelligent Systems}, year = {2008}, month = {08/2008}, address = {Seoul, Korea}, isbn = {978-1-4244-2144-2}, author = {Prats, Mario and Martinet, Philippe and Lee, Sukhan and Sanz, Pedro J.} } @conference {117, title = {Efficient Transport Protocol for Internet Remote Control of Devices}, booktitle = {XIX JORNADAS DE PARALELISMO}, year = {2008}, month = {09/2008}, publisher = {Publicacions de la Universitat Jaume I}, organization = {Publicacions de la Universitat Jaume I}, address = {Castell{\'o}n, Universitat Jaume I}, isbn = {978-84-8021-676- 0}, author = {Wirz, Raul and Claver, Jos{\'e} M. and Ferre, Manuel and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J. and Barrio, Jorge and Ortego, Javier} } @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} } @conference {106, title = {A framework for compliant physical interaction based on multisensor information}, booktitle = {International Conference on Multisensor Fusion and Integration for Intelligent Systems}, year = {2008}, month = {08/2008}, address = {Seoul, Korea}, isbn = {978-1-4244-2144-2}, author = {Prats, Mario and Sanz, Pedro J. and del Pobil, Angel P.} } @conference {115, title = {Improving manipulation capabilities by means of Radio Frequency Identification and Computer Vision}, booktitle = {11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile}, year = {2008}, month = {09/2008}, address = {Coimbra (Portugal)}, abstract = {

The present work shows recent results in the robotic manipulation context, after suitable integration between computer vision and radio frequency identification (RFID). The experimental validation has been carried out in a household environment, by using current manufactured objects, labeled previously, and processed through a RFID reader situated in the robot hand. A camera-in-hand also was used for segmentation and localization of the corresponding objects. The main problems solved in this work are those related with hardware integration between the robot and the RFID system, including the RFID reader, antenna and necessary interfaces. Furthermore, a graphical user interface was developed for displaying the results from visual processing, including both, segmentation and localization of the objects in the scene, visualizing at the same time the corresponding RFID labels associated which each previously identified object. These preliminary results have demonstrated the feasibility and reliability of this system to succeed with localization, identification and handling of daily objects, without predefined models at all, in household environments.


Read More:\ http://www.worldscientific.com/doi/abs/10.1142/9789812835772_0101

}, isbn = {978-981-283-576-5}, author = {Sales, Jorge and Gracia, X. and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Mar{\'\i}n, Ra{\'u}l and Falomir, Zoe} } @article {93, title = {Manipulaci{\'o}n aut{\'o}noma multiprop{\'o}sito en el robot de servicios JAUME-2}, journal = {Revista Iberoamericana de Autom{\'a}tica e Inform{\'a}tica Industrial}, volume = {5}, year = {2008}, month = {04/2008}, pages = {12}, chapter = {25}, keywords = {arquitecturas de control, manipulaci{\'o}n, rob{\'o}tica de servicios}, issn = {1697-7912}, author = {Prats, Mario and Sanz, Pedro J. and Mart{\'\i}nez, Ester and Mar{\'\i}n, Ra{\'u}l and del Pobil, Angel P.} } @book {119, title = {Recent progress in assistive robots}, year = {2008}, publisher = {University Jaume I Publishing}, organization = {University Jaume I Publishing}, address = {Castell{\'o}n}, issn = {978-84-8021-669-2}, author = {Sanz, Pedro J. and Recatal{\'a}, Gabriel and Balaguer, Carlos} } @article {94, title = {Remote Programming of Multirobot Systems within the UPC-UJI Telelaboratories: System Architecture and Agent-Based Multirobot Control}, journal = {International Journal of Intelligent Control and Systems}, volume = {13}, year = {2008}, month = {06/2008}, pages = {8}, chapter = {120}, keywords = {artificial intelligents, E-learning, intel{\textperiodcentered}lig{\`e}ncia artificial, multirobot systems, robotics}, author = {Wirz, Raul and Mar{\'\i}n, Ra{\'u}l and Fern{\'a}dez, Joseph and Sanz, Pedro J.} } @book {95, title = {Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback}, series = {Applications to Assistive Robotics Series: Springer Tracts in Advanced Robotics}, volume = {84 }, year = {2008}, pages = {165}, publisher = {Springer}, organization = {Springer}, edition = {2013}, issn = {978-3-642-33240-1 (Print) 978-3-642-33241-8 (Online)}, author = {Prats, Mario and del Pobil, Angel P. and Sanz, Pedro J.} } @conference {124, title = {The UJI industrial robotics telelaboratory: Real-time vision and networking}, booktitle = {International Conference on Intelligent Robots and Systems}, year = {2008}, month = {09/2008}, address = {Nice, France}, isbn = {978-1-4244-2058-2}, author = {Sales, Jorge and Beltr{\'a}n, Reinel and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Wirz, Raul and Le{\'o}n, Germ{\'a}n and Claver, Jos{\'e} M. and Alemany, J} } @conference {116, title = {The UJI Robotics Manufacturing Cell: Web-based architecture and Real-time computer vision}, booktitle = {5th International Conference on Telecommunications, Electronics and Control (TELEC)}, year = {2008}, month = {07/2008}, address = {Santiago de Cuba (Cuba)}, isbn = {978-84-00-08680-0}, author = {Sales, Jorge and Beltr{\'a}n, Reinel and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Wirz, Raul and Le{\'o}n, Germ{\'a}n and Claver, Jos{\'e} M.} } @conference {123, title = {Vision-based grasp planning of 3D objects by extending 2D contour based algorithms}, booktitle = {International Conference on Intelligent Robots and Systems}, year = {2008}, month = {09/2008}, address = {Nice, France}, isbn = {978-1-4244-2058-2}, author = {Speth, J. and Morales, Antonio and Sanz, Pedro J.} } @inbook {121, title = {Vision-Based Grasp Tracking for Planar Objects}, booktitle = {IEE Transactions on Systems, Man, and Cybernetics}, volume = {38}, year = {2008}, chapter = {Part C, applications and reviews}, issn = {1094-6977}, author = {Recatal{\'a}, Gabriel and Carloni, Raffaella and Melchiori, Claudio and Sanz, Pedro J. and Cervera, Enric and del Pobil, Angel P.} }