@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} } @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.} } @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.} } @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} }