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DexROV

Dexterous ROV: effective dexterous ROV operations in presence of communication latencies.

Total Cost €

EC-Contrib. €

Partnership

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Outcomes and
results

DexROV project word cloud

Explore the words cloud of the DexROV project. It provides you a very rough idea of what is the project "DexROV" about.

distance exoskeleton consisting sensors cm execute accommodate cutting accuracy baseline realistic mitigate manned industry interfaces risks reduce cognitive double off delocalized latencies simulation crew campaigns course underwater shore wish culminating observe force location setup physically despite manipulation costly tests advise simulated offshore trial operator data acquired sonar environment dexrov operations autonomously burden feedback communication oil deep vision evaluation effectors divers series manpower center turn onshore 3d navigator extra staffing skid dexterous intendant pair equipped primitives requests time operators models sensing online possibly operation rov provisioned demanding delays modular engine arm actual efficient customers manipulators setups outcomes strategy

Project "DexROV" data sheet

The following table provides information about the project.

Coordinator	SPACE APPLICATIONS SERVICES NV Organization address address: LEUVENSESTEENWEG 325 city: ZAVENTEM postcode: 1932 website: www.spaceapplications.com contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.
Coordinator Country	Belgium [BE]
Project website	http://www.dexrov.com/
Total cost	5˙336˙006 €
EC max contribution	4˙631˙182 € (87%)
Programme	1. H2020-EU.3.2. (SOCIETAL CHALLENGES - Food security, sustainable agriculture and forestry, marine, maritime and inland water research, and the bioeconomy)
Code Call	H2020-BG-2014-2
Funding Scheme	RIA
Starting year	2015
Duration (year-month-day)	from 2015-03-01 to 2018-08-31

Partnership

Take a look of project's partnership.

#	participants	country	role	EC contrib. [€]
1	SPACE APPLICATIONS SERVICES NV SPACE APPLICATIONS SERVICES NV Organization address address: LEUVENSESTEENWEG 325 city: ZAVENTEM postcode: 1932 website: www.spaceapplications.com contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	BE (ZAVENTEM)	coordinator	1˙438˙437.00
2	GRAAL TECH SRL GRAAL TECH SRL Organization address address: VIA EGIDIO TAGLIOLINI 26 city: GENOVA postcode: 16152 website: www.graaltech.it contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	IT (GENOVA)	participant	997˙500.00
3	COMPAGNIE MARITIME D EXPERTISES SA COMPAGNIE MARITIME D EXPERTISES SA Organization address address: BOULEVARD DES OCEANS 36 city: MARSEILLE postcode: 13009 website: www.comex.fr contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	FR (MARSEILLE)	participant	787˙125.00
4	JACOBS UNIVERSITY BREMEN GGMBH JACOBS UNIVERSITY BREMEN GGMBH Organization address address: CAMPUS RING 1 city: BREMEN postcode: 28759 website: http://www.jacobs-university.de/ contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (BREMEN)	participant	652˙925.00
5	UNIVERSITA DEGLI STUDI DI GENOVA UNIVERSITA DEGLI STUDI DI GENOVA Organization address address: VIA BALBI 5 city: GENOVA postcode: 16126 website: www.unige.it contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	IT (GENOVA)	participant	636˙875.00
6	EJR-QUARTZ BV EJR-QUARTZ BV Organization address address: 3E BINNENVESTGRACHT 23 F city: LEIDEN postcode: 2312 NR website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	NL (LEIDEN)	participant	118˙320.00
7	FONDATION DE L'INSTITUT DE RECHERCHE IDIAP FONDATION DE L'INSTITUT DE RECHERCHE IDIAP Organization address address: RUE MARCONI 19 city: MARTIGNY postcode: 1920 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	CH (MARTIGNY)	participant	0.00

Map

Project objective

Underwater operations (e.g. oil industry) are demanding and costly activities for which ROV based setups are often deployed in addition to deep divers – contributing to operations risks and costs cutting. However the operation of a ROV requires significant off-shore dedicated manpower – such a setup typically requires a crew consisting of: (1) an intendant, (2) an operator, and (3) a navigator. This is a baseline, and extra staffing is often provisioned. Furthermore, customers representatives often wish to be physically present at the off-shore location in order to advise on, or to observe the course of the operations. Associated costs are high. In order to reduce the burden of operations, DexROV will work out more cost effective and time efficient ROV operations, where manned support is in a large extent delocalized onshore (i.e. from a ROV control center), possibly at a large distance from the actual operations - thus with latencies in the communication. As a main strategy to mitigate them, DexROV will develop a real time simulation environment to accommodate operators’ requests on the onshore side with no delays. The simulated environment will exploit cm accuracy 3D models of the environment built online by the ROV, using data acquired with underwater sensors (3D sonar and vision based). A dedicated cognitive engine will analyse user’s control requests as done in the simulated environment, and will turn them into primitives that the ROV can execute autonomously in the real environment, despite the communication latencies. Effective user interfaces will be developed for dexterous manipulation, including a double advanced arm and hand force feedback exoskeleton. The ROV will be equipped with a pair of new force sensing capable manipulators and dexterous end-effectors: they will be integrated within a modular skid. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic offshore trial.

Deliverables

List of deliverables.
Report on integration step 3 and 3rd evaluation campaign	Documents, reports	2020-01-21 09:53:25
Professional short movie of project achievements	Websites, patent fillings, videos etc.	2020-01-21 09:53:25
Customer website	Websites, patent fillings, videos etc.	2020-01-21 09:53:25
Cognitive engine	Demonstrators, pilots, prototypes	2020-01-21 09:53:24
Communication and dissemination package for Y4	Websites, patent fillings, videos etc.	2020-01-21 09:53:24
Report on integration step 2 and 2nd evaluation campaign	Documents, reports	2020-01-21 09:53:24
Ground truth simulation setup: final release	Demonstrators, pilots, prototypes	2020-01-21 09:53:24
Haptic arms and hands exoskeletons	Demonstrators, pilots, prototypes	2020-01-21 09:53:24
Coordinated ROV+arms strategy, and grasping strategy	Demonstrators, pilots, prototypes	2020-01-21 09:53:24
Operational Satellite communications system	Demonstrators, pilots, prototypes	2020-01-21 09:53:24
Movement and feedback primitives software	Demonstrators, pilots, prototypes	2020-01-21 09:53:24
Dexterous grippers developed and tested	Demonstrators, pilots, prototypes	2020-01-21 09:53:24
Manipulation arm integrated in the skid and ready to be mounted on the ROV	Demonstrators, pilots, prototypes	2020-01-21 09:53:24
Dexterous arms developed and tested	Demonstrators, pilots, prototypes	2020-01-21 09:53:24
Advanced Underwater Localization & Perception Framework	Demonstrators, pilots, prototypes	2020-01-21 09:53:24
Autonomous arm primitives	Demonstrators, pilots, prototypes	2020-01-21 09:53:23
Communication and dissemination package for Y2	Websites, patent fillings, videos etc.	2020-01-21 09:53:24
Simulation environment main release	Demonstrators, pilots, prototypes	2020-01-21 09:53:23
Visual user interface	Demonstrators, pilots, prototypes	2020-01-21 09:53:23
Interface Control Document	Documents, reports	2020-01-21 09:53:24
Main control center infrastructures	Demonstrators, pilots, prototypes	2020-01-21 09:53:23
Reference DexROV use cases	Documents, reports	2020-01-21 09:53:24
Ground truth simulation setup: intermediate release	Demonstrators, pilots, prototypes	2020-01-21 09:53:23
Ground truth simulation setup: initial release	Demonstrators, pilots, prototypes	2020-01-21 09:53:23
System integration and evaluation plan	Documents, reports	2020-01-21 09:53:23
Representative test mockup	Demonstrators, pilots, prototypes	2020-01-21 09:53:24
Early Underwater Localization & Perception Framework	Demonstrators, pilots, prototypes	2020-01-21 09:53:24
Communication and dissemination package for Y3	Websites, patent fillings, videos etc.	2020-01-21 09:53:24
Protocols for offline training and preparation of a mission	Demonstrators, pilots, prototypes	2020-01-21 09:53:23
Report on integration step 1 and 1st evaluation campaign	Documents, reports	2020-01-21 09:53:24
Project web site and media channels	Websites, patent fillings, videos etc.	2020-01-21 09:53:24
System requirements elicitation and operational concept	Documents, reports	2020-01-21 09:53:24
Functional and physical architecture	Documents, reports	2020-01-21 09:53:24
Autonomous navigation primitives	Demonstrators, pilots, prototypes	2020-01-21 09:53:23
Intermediary Underwater Localization & Perception Framework	Demonstrators, pilots, prototypes	2020-01-21 09:53:23

Take a look to the deliverables list in detail: detailed list of DexROV deliverables.

Publications

List of publications.
year	authors and title	journal	last update
2016	Jeremi Gancet, Peter Weiss, Gianluca Antonelli, Max Folkert Pfingsthorn, Sylvain Calinon, Alessio Turetta, Cees Walen, Diego Urbina, Shashank Govindaraj, Pierre Letier, Xavier Martinez, Joseph Salini, Bertrand Chemisky, Giovanni Indiveri, Giuseppe Casalino, Paolo Di Lillo, Enrico Simetti, Daniel De Palma, Andreas Birk, Tobias Fromm, Christian Mueller, Ajay Tanwani, Ioannis Havoutis, Andrea Caffaz, Lisa Guilpain Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project published pages: 414-419, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2016.10.439	IFAC-PapersOnLine 49/23	2020-01-21
2018	Martijn J. A. Zeestraten, Ioannis Havoutis, Sylvain Calinon Programming by Demonstration for Shared Control With an Application in Teleoperation published pages: 1848-1855, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2805105	IEEE Robotics and Automation Letters 3/3	2020-01-21
2018	Sylvain Calinon Robot Learning with Task-Parameterized Generative Models published pages: 111-126, ISSN: , DOI: 10.1007/978-3-319-60916-4_7		2020-01-21
2017	Enrico Simetti, Giuseppe Casalino Manipulation and Transportation With Cooperative Underwater Vehicle Manipulator Systems published pages: 782-799, ISSN: 0364-9059, DOI: 10.1109/JOE.2016.2618182	IEEE Journal of Oceanic Engineering 42/4	2020-01-21
2017	Martijn J. A. Zeestraten, Ioannis Havoutis, Joao Silverio, Sylvain Calinon, Darwin G. Caldwell An Approach for Imitation Learning on Riemannian Manifolds published pages: 1240-1247, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2657001	IEEE Robotics and Automation Letters 2/3	2020-01-21
2018	E. Simetti, G. Casalino, F. Wanderlingh, M. Aicardi Task priority control of underwater intervention systems: Theory and applications published pages: 40-54, ISSN: 0029-8018, DOI: 10.1016/j.oceaneng.2018.06.026	Ocean Engineering 164	2020-01-21
2015	Jeremi Gancet, Diego Urbina, Pierre Letier, Michel Ilzokvitz, Peter Weiss, Frederic Gauch, Gianluca Antonelli, Giovanni Indiveri, Giuseppe Casalino, Andreas Birk, Max Folkert Pfingsthorn, Sylvain Calinon, Ajay Tanwani, Alessio Turetta, Cees Walen, Lisa Guilpain DexROV: Dexterous Undersea Inspection and Maintenance in Presence of Communication Latencies published pages: 218-223, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2015.06.036	IFAC-PapersOnLine 48/2	2020-01-21
2016	Leonel Rozo, JoÃ£o SilvÃ©rio, Sylvain Calinon, Darwin G. Caldwell Learning Controllers for Reactive and Proactive Behaviors in Humanâ€“Robot Collaboration published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2016.00030	Frontiers in Robotics and AI 3	2020-01-21
2016	Enrico Simetti, Giuseppe Casalino A Novel Practical Technique to Integrate Inequality Control Objectives and Task Transitions in Priority Based Control published pages: , ISSN: 0921-0296, DOI: 10.1007/s10846-016-0368-6	Journal of Intelligent & Robotic Systems	2020-01-21
2016	Signe Moe, Gianluca Antonelli, Andrew R. Teel, Kristin Y. Pettersen, Johannes Schrimpf Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2016.00016	Frontiers in Robotics and AI 3	2020-01-21
2016	Leonel Rozo, Sylvain Calinon, Darwin G. Caldwell, Pablo Jimenez, Carme Torras Learning Physical Collaborative Robot Behaviors From Human Demonstrations published pages: 513-527, ISSN: 1552-3098, DOI: 10.1109/TRO.2016.2540623	IEEE Transactions on Robotics 32/3	2020-01-21
2016	Paolo Augusto Di Lillo, Enrico Simetti, Daniela De Palma, Elisabetta Cataldi, Giovanni Indiveri, Gianluca Antonelli, Giuseppe Casalino Advanced ROV Autonomy for Efficient Remote Control in the DexROV Project published pages: 67-80, ISSN: 0025-3324, DOI: 10.4031/MTSJ.50.4.8	Marine Technology Society Journal 50/4	2020-01-21
2016	Ajay Kumar Tanwani, Sylvain Calinon Learning Robot Manipulation Tasks With Task-Parameterized Semitied Hidden Semi-Markov Model published pages: 235-242, ISSN: 2377-3766, DOI: 10.1109/LRA.2016.2517825	IEEE Robotics and Automation Letters 1/1	2020-01-21
2016	Sylvain Calinon A tutorial on task-parameterized movement learning and retrieval published pages: 1-29, ISSN: 1861-2776, DOI: 10.1007/s11370-015-0187-9	Intelligent Service Robotics 9/1	2020-01-21
2015	E. Simetti, G. Casalino Whole body control of a dual arm underwater vehicle manipulator system published pages: 191-200, ISSN: 1367-5788, DOI: 10.1016/j.arcontrol.2015.09.011	Annual Reviews in Control 40	2020-01-21
2018	Ioannis Havoutis, Sylvain Calinon Learning from demonstration for semi-autonomous teleoperation published pages: , ISSN: 0929-5593, DOI: 10.1007/s10514-018-9745-2	Autonomous Robots	2020-01-21

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