Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Abstract

Autonomous Underwater Vehicles are frequently used for survey missions and monitoring tasks, however manipulation and intervention tasks are still largely performed with a human in the loop.Employing autonomous vehicles for these tasks has received a growing interest in the last ten years, and few pioneering projects have been funded on this topic. Among these projects, the Italian MARIS project had the goal of developing technologies and methodologies for the use of autonomous Underwater Vehicle Manipulator Systems in underwater manipulation and transportation tasks. This work presents the developed control framework, the mechatronic integration, and the project's final experimental results on floating underwater intervention.Index Terms underwater vehicle manipulator system; underwater gripper; underwater vision; floating underwater control; task priority control; underwater intervention.

Camera Calibration for Underwater 3D Reconstruction Based on Ray Tracing Using Snell’s Law

“…Examples of using the SVP model for underwater purposes can be found in [3,17,19,4]. The latter also tries to account for the problem of refraction by mounting a dome port instead of a flat port in front of the camera.…”

Dexterous Underwater Manipulation from Onshore Locations: Streamlining Efficiencies for Remotely Operated Underwater Vehicles

“…For this reason, following an approach similar to the one adopted for the TRIDENT [7] and MARIS [8] projects, the developed control is a Task Priority Inverse Kinematics (TPIK) algorithm that allows to set a priority order among several tasks and to find the system velocity vectorẏ that accomplishes them simultaneously at best, following the priority order. Given a hierarchy composed by k tasksσ 1 .…”

Adaptive Admittance Control in Task-Priority Framework for Contact Force Control in Autonomous Underwater Floating Manipulation

“…1 Patryk Cieślak is with the Computer Vision and Robotics Research Institute, Scientific and Technological Park of the University of Girona, CIRS lab, 17003 Girona, Spain patryk.cieslak@udg.edu MARIS project [23] has shown detection and grasping of a pipe on the seabed, with a specially designed 3 finger hand.…”

“…Above projects have focused on controlling the position of the robot end-effector (EE). Although some I-AUVs were equipped with force/torque sensors, they were only used to detect contact and aid in triggering actions [11], [23]. Moreover, all experimental trials involved grasping and recovering objects or manipulating valves and connectors.…”