A5010580459- Underwater Vehicles and Communication Systems
- Robot Manipulation and Learning
- Teleoperation and Haptic Systems
- Robotics and Sensor-Based Localization
- Robotic Path Planning Algorithms
- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Robotics and Automated Systems
- Robotic Mechanisms and Dynamics
- Advanced Vision and Imaging
- Water Quality Monitoring Technologies
- Energy Efficient Wireless Sensor Networks
- Optical Wireless Communication Technologies
- Maritime Navigation and Safety
- Indoor and Outdoor Localization Technologies
- Image Enhancement Techniques
- Image and Object Detection Techniques
- Tactile and Sensory Interactions
- Knowledge Societies in the 21st Century
- Hand Gesture Recognition Systems
- Image Processing Techniques and Applications
- Context-Aware Activity Recognition Systems
- Image Retrieval and Classification Techniques
- Engineering and Information Technology
- Advanced Image and Video Retrieval Techniques
Universitat Jaume I
2016-2025
Artificial Intelligence Research Institute
2025
Senso (Spain)
2022
Autoliv (Sweden)
2022
Hospital Universitario 12 De Octubre
2022
Associação de Assistência à Criança Deficiente
2020
Hospital de Mataró
2018
Institute for Systems Engineering and Computers
2015
University of Coimbra
2015
Instituto Politécnico de Tomar
2015
This paper presents UWSim: a new software tool for visualization and simulation of underwater robotic missions. The visualizes an virtual scenario that can be configured using standard modeling software. Controllable vehicles, surface vessels manipulators, as well simulated sensors, added to the scene accessed externally through network interfaces. allows easily integrate with existing control architectures, thus allowing hardware-in-the-loop simulations (HIL). UWSim has been successfully...
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 still reserved manned submersibles or remotely operated (ROVs). In recent years, few research projects have demonstrated viability a new type submersible, AUV (I-AUV), which can perform missions involving manipulations completely autonomous way. The EU FP7 TRIDENT project is one most examples such...
In this paper, we present the user interface and system architecture of an Internet-based telelaboratory, which allows researchers students to remotely control program two educational online robots. fact, challenge has been demonstrate that remote programming combined with advanced multimedia for is very suitable, flexible, profitable design a telelaboratory. The designed by using techniques based on augmented reality nonimmersive virtual reality, enhance way operators get/put information...
A new underwater robot arm was developed through intensive cooperation between different academic institutions and an industrial company. The manipulator, which initially designed to be teleoperated, adapted for our autonomy needs. Its dimensions weight were reduced, its kinematic model so that autonomous control can performed with it. We compare several commercially available manipulators describe the development of one, from initial configuration mechanical adaptation, modeling, control,...
Underwater Inspection, Maintenance, and Repair operations are nowadays performed using Remotely Operated Vehicles (ROV) deployed from dynamic-positioning vessels, having high daily operational costs. During the last twenty years, research community has been making an effort to design new Intervention Autonomous (I-AUV), which could, in near future, replace ROVs, significantly decreasing these Until now, experimental work I-AUVs limited a few single-vehicle interventions, including object...
While commercially available autonomous underwater vehicles (AUVs) are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities: the maintenance permanent structures as well recovery benthic stations or black-boxes few them. These tasks addressed nowadays using manned submersibles work-class remotely operated (ROVs), equipped with teleoperated arms under human supervision. In context TRITON Spanish funded project, subsea panel docking...
Human-Robot Interfaces have a key role in the design of secure and efficient robotic systems. Great effort has been put during past decades on advanced interfaces for domestic industrial robots. However, robots intervention unplanned hazardous scenarios still need further research, especially when mission requires use multiple systems, to obtain an acceptable level usability safety. This paper describes software engineering process behind development modular multimodal Interface with...
Human-machine interfaces play a crucial role in intervention robotic systems operated hazardous environments, such as deep sea conditions. This article introduces user interface abstraction layer to enhance reconfigurability. It also describes VR-based that utilizes immersive technologies reduce faults and mental fatigue. The goal is show the only most relevant information about current mission.
In this study, the challenge of teleoperating robots in harsh environments such as underwater or tunnels is addressed. these environments, wireless communication networks are prone to congestion, leading potential mission failures. Our approach integrates a Human–Robot Interface (HRI) with network congestion control algorithm at application level for conservative transmission images using Robot Operating System (ROS) framework. The system was designed avoid by adjusting image compression...
Nowadays, autonomous intervention is getting more attention in the underwater robotics community. Few research projects on this matter are currently under development. In context, and after a first successful experience RAUVI Spanish project (2009-2011), authors involved TRIDENT (2010-2013), funded by European Commission. To succeed intervention, an AUV endowed with manipulator high degree of autonomy essential. The complexity required robotic system very integration process becomes...
Technology has recently been developed which offers an excellent opportunity to design systems with the ability help people in their own houses. In particular, assisting elderly environments is something that can significantly improve quality of life. However, helping outside usual environment also necessary, them carry out daily tasks like shopping. this paper we present a person-following shopping cart assistance robot, capable products supermarket. First all, presents survey related...
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 applications that nowadays can be only addressed by manned submersibles or work-class remotely operated (ROVs) equipped with teleoperated arms: intervention applications. To allow these heavy controlled human operators to perform tasks, structures like observatory facilities, subsea panels oil-well...
Net inspection in fish-farm cages is a daily task for divers. This represents high cost fish farms and high-risk activity human operators. The total surface can be more than 1500 m2, which means that this time-consuming. Taking into account the severe restrictions operators such hostile underwater conditions, significant area improvement. A platform net proposed work. includes vehicle, ground control station, an vehicle (BlueROV2 heavy) incorporates artificial intelligence, trajectory...
We present an integrated vision-guided grasping system for service robots. Our integrates computer vision to capture the shape of objects, online grasp determination based on that shape, and image-based control execution. Novel techniques are presented solve problems concerned under imposed resource constraints, namely, information reduction segmentation in image processing, strategies as well A preshaping heuristic strategy is combined with symmetry local analysis. Also, surface contact...
In this paper we present a robot that is able to perform daily manipulation tasks in home environment, such as opening doors and drawers. Taking input simplified object model the task perform, automatically finds grasp suitable for performs it. For this, identify set of hand preshapes classify them according wrench space they generate. Given task, selects most preshape plans actions order reach taking continuously into account forces. The concept extended inclusion frame, which from...
This paper presents an approach for integrating vision, tactile and force sensors in a robotic manipulation framework. Having initial estimation of the object pose environment, position-based visual servoing loop controls hand task execution, based on input received from model-based articular estimator following Virtual Visual Servoing approach. The control is combined with another signal obtained feedback, through set selection matrices that can be modified at runtime order to select best...
Autonomous grasping of unknown objects by a robot is highly challenging skill that receiving increasing attention in the last years. This problem becomes still more (and less explored) underwater environments, with unstructured scenarios, limited availability sensors and, general, adverse conditions affect different degree perception and control systems. paper describes an approach for semi-autonomous recovery on from floating vehicles. A laser stripe emitter attached to forearm performs...