Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions

Mazzeo, Angela; Aguzzi, Jacopo; Calisti, Marcello; Canese, Simonepietro; Angiolillo, Antonella; Allcock, Louise; Vecchi, Fabrizio; Stefanni, Sergio; Controzzi, Marco; Stazione Zoologica Anton Dohrn

Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions

21 pages, 2 figures, 6 tables, supplementary materials https://www.mdpi.com/article/10.3390/s22041471/s1.-- Data Availability Statement: The data presented in this study are available in this Article and Supplementary Materials

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Main Authors:	Mazzeo, Angela, Aguzzi, Jacopo, Calisti, Marcello, Canese, Simonepietro, Angiolillo, Antonella, Allcock, Louise, Vecchi, Fabrizio, Stefanni, Sergio, Controzzi, Marco
Other Authors:	Stazione Zoologica Anton Dohrn
Format:	artículo biblioteca
Published:	Multidisciplinary Digital Publishing Institute 2022-02
Subjects:	Underwater gripper, ROV gripper, Underwater manipulation, Underwater end-effector, Robotic underwater hands, Marine biological sampling, Taxonomy of actions,
Online Access:	http://hdl.handle.net/10261/262478 http://dx.doi.org/10.13039/501100007176 http://dx.doi.org/10.13039/501100010685 http://dx.doi.org/10.13039/501100001584 http://dx.doi.org/10.13039/501100011033 http://dx.doi.org/10.13039/501100000780 http://dx.doi.org/10.13039/501100001602
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id	dig-icm-es-10261-262478
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spelling	dig-icm-es-10261-2624782022-03-03T07:28:35Z Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions Mazzeo, Angela Aguzzi, Jacopo Calisti, Marcello Canese, Simonepietro Angiolillo, Antonella Allcock, Louise Vecchi, Fabrizio Stefanni, Sergio Controzzi, Marco Stazione Zoologica Anton Dohrn Scuola Superiore Sant'Anna Science Foundation Ireland European Commission Department of Agriculture, Food and Marine (Ireland) Ministerio de Ciencia, Innovación y Universidades (España) Agencia Estatal de Investigación (España) Underwater gripper ROV gripper Underwater manipulation Underwater end-effector Robotic underwater hands Marine biological sampling Taxonomy of actions 21 pages, 2 figures, 6 tables, supplementary materials https://www.mdpi.com/article/10.3390/s22041471/s1.-- Data Availability Statement: The data presented in this study are available in this Article and Supplementary Materials In order to develop a gripping system or control strategy that improves scientific sampling procedures, knowledge of the process and the consequent definition of requirements is fundamental. Nevertheless, factors influencing sampling procedures have not been extensively described, and selected strategies mostly depend on pilots¿ and researchers¿ experience. We interviewed 17 researchers and remotely operated vehicle (ROV) technical operators, through a formal questionnaire or in-person interviews, to collect evidence of sampling procedures based on their direct field experience. We methodologically analyzed sampling procedures to extract single basic actions (called atomic manipulations). Available equipment, environment and species-specific features strongly influenced the manipulative choices. We identified a list of functional and technical requirements for the development of novel end-effectors for marine sampling. Our results indicate that the unstructured and highly variable deep-sea environment requires a versatile system, capable of robust interactions with hard surfaces such as pushing or scraping, precise tuning of gripping force for tasks such as pulling delicate organisms away from hard and soft substrates, and rigid holding, as well as a mechanism for rapidly switching among external tools This research is part of A.M.’s PhD project co-funded by the Stazione Zoologica Anton Dohrn of Naples (Italy) and Scuola Superiore Sant’Anna Pisa (Italy). The deep-sea research of A.L.A. was supported by Science Foundation Ireland and the Marine Institute under the Investigators Programme Grant Number SFI/15/IA/3100, co-funded under the European Regional Development Fund 2014-2020, and by the Irish National Shiptime Programme. The research of J.A. was funded within the framework of the following project activities: ARIM (Autonomous Robotic sea-floor Infrastructure for benthopelagic Monitoring; MarTERA ERA-Net Cofound); RESBIO (TEC2017-87861-R; Ministerio de Ciencia, Innovación y Universidades). J.A. also benefited from funding from the Spanish Government through the “Severo Ochoa Centre of Excellence” accreditation (CEX2019-000928-S) 2022-03-02T09:20:03Z 2022-03-02T09:20:03Z 2022-02 2022-03-02T09:20:03Z artículo http://purl.org/coar/resource_type/c_6501 e-issn: 1424-3210 Sensors 22: 1471 (2022) CEX2019-000928-S http://hdl.handle.net/10261/262478 10.3390/s22041471 http://dx.doi.org/10.13039/501100007176 http://dx.doi.org/10.13039/501100010685 http://dx.doi.org/10.13039/501100001584 http://dx.doi.org/10.13039/501100011033 http://dx.doi.org/10.13039/501100000780 http://dx.doi.org/10.13039/501100001602 #PLACEHOLDER_PARENT_METADATA_VALUE# info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/TEC2017-87861-R/ES/REDES DE SENSORES SUBMARINOS AUTONOMOS Y CABLEADOS APLICADOS A LA MONITORIZACION REMOTA DE INDICADORES BIOLOGICOS/ Publisher's version https://doi.org/10.3390/s22041471 Sí open Multidisciplinary Digital Publishing Institute
institution	ICM ES
collection	DSpace
country	España
countrycode	ES
component	Bibliográfico
access	En linea
databasecode	dig-icm-es
tag	biblioteca
region	Europa del Sur
libraryname	Biblioteca del ICM España
topic	Underwater gripper ROV gripper Underwater manipulation Underwater end-effector Robotic underwater hands Marine biological sampling Taxonomy of actions Underwater gripper ROV gripper Underwater manipulation Underwater end-effector Robotic underwater hands Marine biological sampling Taxonomy of actions
spellingShingle	Underwater gripper ROV gripper Underwater manipulation Underwater end-effector Robotic underwater hands Marine biological sampling Taxonomy of actions Underwater gripper ROV gripper Underwater manipulation Underwater end-effector Robotic underwater hands Marine biological sampling Taxonomy of actions Mazzeo, Angela Aguzzi, Jacopo Calisti, Marcello Canese, Simonepietro Angiolillo, Antonella Allcock, Louise Vecchi, Fabrizio Stefanni, Sergio Controzzi, Marco Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions
description	21 pages, 2 figures, 6 tables, supplementary materials https://www.mdpi.com/article/10.3390/s22041471/s1.-- Data Availability Statement: The data presented in this study are available in this Article and Supplementary Materials
author2	Stazione Zoologica Anton Dohrn
author_facet	Stazione Zoologica Anton Dohrn Mazzeo, Angela Aguzzi, Jacopo Calisti, Marcello Canese, Simonepietro Angiolillo, Antonella Allcock, Louise Vecchi, Fabrizio Stefanni, Sergio Controzzi, Marco
format	artículo
topic_facet	Underwater gripper ROV gripper Underwater manipulation Underwater end-effector Robotic underwater hands Marine biological sampling Taxonomy of actions
author	Mazzeo, Angela Aguzzi, Jacopo Calisti, Marcello Canese, Simonepietro Angiolillo, Antonella Allcock, Louise Vecchi, Fabrizio Stefanni, Sergio Controzzi, Marco
author_sort	Mazzeo, Angela
title	Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions
title_short	Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions
title_full	Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions
title_fullStr	Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions
title_full_unstemmed	Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions
title_sort	marine robotics for deep-sea specimen collection: a taxonomy of underwater manipulative actions
publisher	Multidisciplinary Digital Publishing Institute
publishDate	2022-02
url	http://hdl.handle.net/10261/262478 http://dx.doi.org/10.13039/501100007176 http://dx.doi.org/10.13039/501100010685 http://dx.doi.org/10.13039/501100001584 http://dx.doi.org/10.13039/501100011033 http://dx.doi.org/10.13039/501100000780 http://dx.doi.org/10.13039/501100001602
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Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions

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