@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.} } @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.} } @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 {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 {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.} } @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 {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 {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.} } @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} }