{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,29]],"date-time":"2025-10-29T03:40:59Z","timestamp":1761709259515,"version":"build-2065373602"},"reference-count":30,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2016,10,12]],"date-time":"2016-10-12T00:00:00Z","timestamp":1476230400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Spanish project MERBOTS","award":["DPI2014-57746-C3"],"award-info":[{"award-number":["DPI2014-57746-C3"]}]},{"name":"Generalitat Valenciana Grant","award":["GVA-PROMETEO\/2016\/066"],"award-info":[{"award-number":["GVA-PROMETEO\/2016\/066"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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 of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in\/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea.<\/jats:p>","DOI":"10.3390\/s16101673","type":"journal-article","created":{"date-parts":[[2016,10,12]],"date-time":"2016-10-12T10:18:49Z","timestamp":1476267529000},"page":"1673","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":36,"title":["I-AUV Docking and Panel Intervention at Sea"],"prefix":"10.3390","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2266-9624","authenticated-orcid":false,"given":"Narc\u00eds","family":"Palomeras","sequence":"first","affiliation":[{"name":"Centre d\u2019Investigaci\u00f3 en Rob\u00f3tica Submarina (CIRS), Computer Vision and Robotics Institute, Universitat de Girona, Girona 17071, Spain"}]},{"given":"Antonio","family":"Pe\u00f1alver","sequence":"additional","affiliation":[{"name":"Interactive and Robotic Systems Laboratory (IRSLab), Universitat Jaume I, Castell\u00f3 12071, Spain"}]},{"given":"Miquel","family":"Massot-Campos","sequence":"additional","affiliation":[{"name":"Systems Robotics and Vision Group, Universitat de les Illes Balears, Palma de Mallorca 07122, Spain"}]},{"given":"Pep","family":"Negre","sequence":"additional","affiliation":[{"name":"Systems Robotics and Vision Group, Universitat de les Illes Balears, Palma de Mallorca 07122, Spain"}]},{"given":"Jos\u00e9","family":"Fern\u00e1ndez","sequence":"additional","affiliation":[{"name":"Interactive and Robotic Systems Laboratory (IRSLab), Universitat Jaume I, Castell\u00f3 12071, Spain"}]},{"given":"Pere","family":"Ridao","sequence":"additional","affiliation":[{"name":"Centre d\u2019Investigaci\u00f3 en Rob\u00f3tica Submarina (CIRS), Computer Vision and Robotics Institute, Universitat de Girona, Girona 17071, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3382-1553","authenticated-orcid":false,"given":"Pedro","family":"Sanz","sequence":"additional","affiliation":[{"name":"Interactive and Robotic Systems Laboratory (IRSLab), Universitat Jaume I, Castell\u00f3 12071, Spain"}]},{"given":"Gabriel","family":"Oliver-Codina","sequence":"additional","affiliation":[{"name":"Systems Robotics and Vision Group, Universitat de les Illes Balears, Palma de Mallorca 07122, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2016,10,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Rust, I.C., and Asada, H.H. 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