Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions
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 strat...
| Main Authors: | , , , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-02-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/4/1471 |
| _version_ | 1827652820362330112 |
|---|---|
| author | Angela Mazzeo Jacopo Aguzzi Marcello Calisti Simonepietro Canese Michela Angiolillo A. Louise Allcock Fabrizio Vecchi Sergio Stefanni Marco Controzzi |
| author_facet | Angela Mazzeo Jacopo Aguzzi Marcello Calisti Simonepietro Canese Michela Angiolillo A. Louise Allcock Fabrizio Vecchi Sergio Stefanni Marco Controzzi |
| author_sort | Angela Mazzeo |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T21:06:33Z |
| format | Article |
| id | doaj.art-cdc86ec2e9484ea7a41b701c1875465b |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T21:06:33Z |
| publishDate | 2022-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-cdc86ec2e9484ea7a41b701c1875465b2023-11-23T22:00:10ZengMDPI AGSensors1424-82202022-02-01224147110.3390/s22041471Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative ActionsAngela Mazzeo0Jacopo Aguzzi1Marcello Calisti2Simonepietro Canese3Michela Angiolillo4A. Louise Allcock5Fabrizio Vecchi6Sergio Stefanni7Marco Controzzi8The BioRobotics Institute, Scuola Superiore Sant’Anna, 56127 Pisa, ItalyStazione Zoologica Anton Dohrn (SZN), 80121 Naples, ItalyLincoln Institute for Agri-Food Technology, University of Lincoln, Lincoln LN6 7TS, UKStazione Zoologica Anton Dohrn (SZN), 80121 Naples, ItalyStazione Zoologica Anton Dohrn (SZN), 80121 Naples, ItalyRyan Institute and School of Natural Sciences, NUI Galway, H91 TK33 Galway, IrelandStazione Zoologica Anton Dohrn (SZN), 80121 Naples, ItalyStazione Zoologica Anton Dohrn (SZN), 80121 Naples, ItalyThe BioRobotics Institute, Scuola Superiore Sant’Anna, 56127 Pisa, ItalyIn 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.https://www.mdpi.com/1424-8220/22/4/1471underwater gripperROV gripperunderwater manipulationunderwater end-effectorrobotic underwater handsmarine biological sampling |
| spellingShingle | Angela Mazzeo Jacopo Aguzzi Marcello Calisti Simonepietro Canese Michela Angiolillo A. Louise Allcock Fabrizio Vecchi Sergio Stefanni Marco Controzzi Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions Sensors underwater gripper ROV gripper underwater manipulation underwater end-effector robotic underwater hands marine biological sampling |
| title | 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_short | 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 |
| topic | underwater gripper ROV gripper underwater manipulation underwater end-effector robotic underwater hands marine biological sampling |
| url | https://www.mdpi.com/1424-8220/22/4/1471 |
| work_keys_str_mv | AT angelamazzeo marineroboticsfordeepseaspecimencollectionataxonomyofunderwatermanipulativeactions AT jacopoaguzzi marineroboticsfordeepseaspecimencollectionataxonomyofunderwatermanipulativeactions AT marcellocalisti marineroboticsfordeepseaspecimencollectionataxonomyofunderwatermanipulativeactions AT simonepietrocanese marineroboticsfordeepseaspecimencollectionataxonomyofunderwatermanipulativeactions AT michelaangiolillo marineroboticsfordeepseaspecimencollectionataxonomyofunderwatermanipulativeactions AT alouiseallcock marineroboticsfordeepseaspecimencollectionataxonomyofunderwatermanipulativeactions AT fabriziovecchi marineroboticsfordeepseaspecimencollectionataxonomyofunderwatermanipulativeactions AT sergiostefanni marineroboticsfordeepseaspecimencollectionataxonomyofunderwatermanipulativeactions AT marcocontrozzi marineroboticsfordeepseaspecimencollectionataxonomyofunderwatermanipulativeactions |