{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T02:48:33Z","timestamp":1784170113292,"version":"3.55.0"},"reference-count":35,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2018,4,6]],"date-time":"2018-04-06T00:00:00Z","timestamp":1522972800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.<\/jats:p>","DOI":"10.3390\/s18041117","type":"journal-article","created":{"date-parts":[[2018,4,10]],"date-time":"2018-04-10T13:06:08Z","timestamp":1523365568000},"page":"1117","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":39,"title":["Collision Detection for Underwater ROV Manipulator Systems"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5027-9300","authenticated-orcid":false,"given":"Satja","family":"Siv\u010dev","sequence":"first","affiliation":[{"name":"MaREI \u2013 Marine and Renewable Energy Ireland, Cork, Ireland"},{"name":"Department of Electronic and Computer Engineering, University of Limerick, Limerick, Ireland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Matija","family":"Rossi","sequence":"additional","affiliation":[{"name":"MaREI \u2013 Marine and Renewable Energy Ireland, Cork, Ireland"},{"name":"Department of Electronic and Computer Engineering, University of Limerick, Limerick, Ireland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1800-9623","authenticated-orcid":false,"given":"Joseph","family":"Coleman","sequence":"additional","affiliation":[{"name":"MaREI \u2013 Marine and Renewable Energy Ireland, Cork, Ireland"},{"name":"Department of Electronic and Computer Engineering, University of Limerick, Limerick, Ireland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9692-239X","authenticated-orcid":false,"given":"Edin","family":"Omerdi\u0107","sequence":"additional","affiliation":[{"name":"MaREI \u2013 Marine and Renewable Energy Ireland, Cork, Ireland"},{"name":"Department of Electronic and Computer Engineering, University of Limerick, Limerick, Ireland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gerard","family":"Dooly","sequence":"additional","affiliation":[{"name":"MaREI \u2013 Marine and Renewable Energy Ireland, Cork, Ireland"},{"name":"Department of Electronic and Computer Engineering, University of Limerick, Limerick, Ireland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniel","family":"Toal","sequence":"additional","affiliation":[{"name":"MaREI \u2013 Marine and Renewable Energy Ireland, Cork, Ireland"},{"name":"Department of Electronic and Computer Engineering, University of Limerick, Limerick, Ireland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2018,4,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Djapic, V., Na\u0111, \u0110., Ferri, G., Omerdic, E., Dooly, G., Toal, D., and Vuki\u0107, Z. 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