Robotic Tools and Techniques for Improving Research in an Underwater Delicate Environment

The use of versatile and multipurpose robotic systems in underwater sites constitutes a high-value technology, useful in the exploration, monitoring, and documentation of important archaeological findings or biological parameters. Intervention must always be nondestructive, noninvasive, and delicate; for this reason, it is important to develop tools and systems that allow telepresence and improve the pilot's ability to work in conditions and environments that are dangerous and often inaccessible for divers. One of the most important objectives of underwater robotic research includes developing easy-to-use devices and systems that can safely and efficiently be operated by relatively inexperienced operators. Nowadays, archaeological and marine sanctuaries require a significant budget to be studied and preserved by national and international organizations because of their large number and the challenges related to conducting surveys with light equipment and robots. This paper presents a set of tools and technological solutions developed with the common aim of improving the efficiency of diving operations and commercial low-cost micro-ROVs (remotely operated vehicles) in surveying and documenting fragile underwater sites. In particular, this paper describes a force feedback joystick for ROV precise guidance and positioning, an innovative 3D live streaming capability for better perception of the work environment, and an innovative cloud strategy for processing, archiving, and elaborating on underwater data at the time of survey. Results have demonstrated that the developed tools significantly improve the efficiency of survey investigations performed directly by scientists and that they have a variety of applications and their design prepares them for future integration.