@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 {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 {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} }