@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 = {<p>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.</p>
},
	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 {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}
}
