The aim of this event is to bring together sensor developers and researchers (including robotic arms and manipulators) related to the Marine Robotics field, together with projects, institutions and companies working with, and promoting marine robotics. Due to the development of Marine Robots, special attention will be paid to sensors as part of the payload of autonomous surface vehicles (ASVs), autonomous underwater vehicle (AUVs), remotely operated vehicles (ROVs), Gliders, Manned Submersibles, Drifters and Buoys, and other type of platforms. Some of the topics include: Acoustics, Optics, Vision, Tactile, Exoskeletons, Materials, Manipulators, etc. with applications to PH, CO2, Hydrocarbons, Neutrinos, IMR, among others. The Workshop will focus on a number of selected areas: design, development, and application of marine sensors and manipulators for robotic systems) to:

MARINE SCIENCES (Biology, Geology, Oceanography, Archaeology, etc.)
CABLES (Telecommunications and power)

The workshop will provide also hands-on experiences and demos to make it more attractive to the industry, to the general public, to undergraduate and graduate students and technicians. The idea is to cross-fertilizing event engaging the scientific world, the general public and SMEs. The event is held within the Eurocast Conferences at the Science Museum of Las Palmas de Gran Canaria from 11th to 13th of February 2015. Please refer to the Eurocast web for tips related to accommodation and general questions.

DAY 1, 11-02-2015

10:00-10:20 A. Sorbara (CNR-ISSIA, Italy)
Low-Cost Plug-and-Play Optical Sensing Technology for USV´s Collision Avoidance
10:20-10:40 G. Palli (Univ. Bologna, Italy)
The Effects of Sealing in 6-axis Force/Torque Sensors for Underwater Applications
10:40-11:00 Francisco Concepción (Marine Signals, Spain
WETMATE -a 33kV Subsea Wet-Mateable Connector for Offshore Renewable Energy
11:00-11:30 Coffee Break
11:30-12:00 M. Kruusmaa (Univ. Tallin, Estonia)
Flow sensing for underwater robots

12:00-12:30 Gabriele Ferri (CMRE, Italy)
euRathlon 2014 Marine Robotics Competition Analysis
12:30-13:00 David Lane (Heriot Watt Iniv., UK)
Robocademy -A European network for education in underwater robotics
13:00-14:00 KEY NOTE: Michel L'Hour (DRASSM, France), Vincent Creuze and Guy Somekh (Dynnovation, France)
The 2014 underwater archaeological mission on the shipwreck of the Lune, in the framework of the Corsaire Concept Project : scanning and sampling artefacts with robots.
14:00-15:00 Lunch Break
15:00-17:00 DEMO I: Locomotion and manoeuvrability of a bio-mimetic AUV: U-CAT. Pool at RCNGC

DAY 2, 12-02-2015

09:00-09:30 Hugo Ferreira (INESC TEC, Portugal)
TURTLE- Dual Use System for Deep Sea Long Term Presence
09:30-10:00 Ales Zamuda (Univ. Las Palmas de GC, Spain
Underwater Glider Path Planning and Population Reduction in Differential Evolution
10:00-10:30 Magda Meireles (INESC TEC, Portugal)
Realtime Visual Slam in Underwater Robotic Inspection Systems
10:30-11:00 Aníbal Matos (INESC TEC, Portugal)
Close Range Video Inspection with a Hovering AUV
11:00-11:30 Coffee Break
11:30-12:00 Wojciech Bozejko (Wroclaw Univ. of Technology, Poland)
On underwater vehicle routing problem
12:00-14:00 TUTORIAL: SPARUS II AUV Software (ROS based) and Hardware
14:00-15:00 Lunch Break
15:00-18:00 DEMO II: SPARUS II AUV - Sea Trial at Port

DAY 3, 13-02-2015

09:00-09:30 Marc Carreras (Univ. Girona, Spain)
Intervention Payload for Valve Turning with an AUV
09:30-10:00 Gaizka Garay (ACSM, Spain)
Titanium Manipulator Development for ROVs
10:00-10:30 Enrique Fernández (PAL Robotics, Spain)
Towards a Complaint and Dexterous Lightweight Underwater Manipulator
10:30-11:00 E. Zereik (CNR-ISSIA, Italy)
Belief Space Planning for an Underwater Floating Manipulator
11:00-11:30 Coffee Break
11:30-12:00 Giuseppe Casalino (Univ. Genova, Italy)
Toward Cooperative Underwater Manipulation and Transportation Systems
12:00-14:00 Panel Discussion: Challenges on Marine Robotics Sensing and Manipulation

Locomotion and manoeuvrability
of a bio-mimetic AUV: U-CAT

Venue: Real Club Náutico de Gran Canaria
Date: 11/2/15 15:00 to 17:00
U-CAT is an autonomous, small-size and low cost vehicle, currently under development, for shipwreck penetration. The robot will assist archaeologists during possibly dangerous and expensive shipwreck exploration missions. It reduces the need of using divers, while being able to go to places that remain unreachable for ROVs. U-CAT uses a novel 4-fin actuation that gives the vehicle high manoeuvrability for operating in complex environments with walls, ropes, nets and other obstacles. The use of fins also allows more quiet motion with respect to the traditional propellers. Fins beat up less sediment from the bottom and the walls, and thus maintain higher visibility for recording a video. The U-CAT will be also equipped with sensors specifically customized for shipwreck exploration tasks.

At WMSM´15 we will demonstrate the locomotion and manoeuvrability of the robot in tethered mode (the final prototype will be autonomous but the development of its navigation is still underway). Its manoeuvrability is well observable in clear water when the robot is driven by a joystick.

Professor Maarja Kruusmaa is the head of the TUT Center for Biorobotics in Estonia and the R&D Director of She accomplished her PhD in 2002 in Computer Engineering in Chalmers University of Technology in Sweden, before becoming professor in 2008 at Tallinn University of Technology in Estonia. She is now involved in the FILOSE, robotic fish locomotion and sensing project, whose team attempts to build robots that mimic how fish react and adapt to the water flow around them. In the first part of the interview Professor Kruusmaa talks about why they are using a novel, soft and compliant body approach for robotic fish rather than the more common linked chain. She describes how this embodiment helps reduce the computational load and how it allows them to make a simpler and cheaper robot that is more reliable than a more rigid version would be. We also hear about opportunities that come from sensing and adapting to the flow and the advantages of robotic fish compared to conventional UAVs, before talking about possible applications, such as underwater archeology.

Professor Kruusmaa is the R&D Director of since 2009, working alongside COO Diana Saarva. They have created a virtual fitting room which enables users to virtually try on clothes before buying them, with the help of shape-shifting robotic mannequins which can grow from slim to muscular in just a few moments. This allows buyers to enter their measurements and see what clothes would look like on them.

Hovering AUVs for inspection
and intervention

Venue: Puerto de Las Palmas. Muelle Santa Catalina - Plaza de Canarias
Date: 13/2/15 11:30 to 14:00
AUVs have been traditionally being used for survey applications. Advances in sensors and algorithms for perceiving the underwater environment will extent the range of AUV applications to autonomous inspection or even autonomous intervention. This talk summarizes the work that for more than 10 years the University of Girona has been conducting on AUVs with hovering capabilities for inspection and intervention. Several AUVs have been developed in the laboratory, being "Girona 500" and "Sparus II" the current operative platforms. The first one is able to integrate big equipment such as a forward looking sonar on a pan and tilt unit, or an underwater manipulator. The second one is a portable torpedo shaped AUV that can integrate classical perception payloads such as cameras, sidescan or multibeam sonars. The open hardware and software architecture and the extended maneuvering capabilities have allowed successful inspection applications such as: pipe following by means of robot learning, chain detection and following with a forward looking sonar, online path planning for 3D seabed mapping, and path planning with kinematic constraints for seabed inspection; and also intervention applications such as: target localization and grasping, valve turning by means of learning by demonstration, and panel operation from a docking AUV. Details and results about these applications will be given, pointing out future capabilities of commercial AUVs in inspection and intervention applications. The talk will conclude with the presentation of the Sparus II AUV, which was recently developed and will be available for WMSM attendees in a practical tutorial about mission definition and AUV operation.

Previous to the sea trial, there will be a hands on Sparus
Tutorial at the WMSM venue, to run the ROS based AUV software.
Venue: Museo Elder.
Date: 12/2/15 11:30 to 14:00

via this form:
Dr. Marc Carreras is Associate Professor in the Computer Engineering Department at the University of Girona (Spain), and member of the Underwater Robotics Research Centre ( of the same university. He holds a B.Sc. degree in Industrial Engineering (1998) and PhD in Computer Engineering (2003). He is currently involved in several European projects (FP7 STREP "PANDORA", FP7 IP "MORPH") and National project ("TRITON") about autonomous underwater robotics. He has collaborated recently with the euRathlon FP7 project developing 3 Sparus II AUVs to be loaned to teams participating at the underwater robotic competition that the project organizes. Since 1999, he has participated in 14 research projects (6 European and 8 National), he is author of more than 80 publications, and he has supervised 3 PhDs thesis (2 more under direction). His research activity is mainly focused on underwater robotics in research topics such as intelligent control architectures, robot learning, path planning and AUV design.

M500 Titanium
ROV Manipulator:

Venue: Museo Elder de la Ciencia y la Tecnología
Date: 11/2/15 to 13/2/15
ACSM ( is a company devoted to ROV services which is leading R&D projects in the tools and manipulators for ROVs. One of those examples is an innovative titanium manipulator. The company is working in different types for a series, and in this occasion we will have the opportunity to meet the M500 5 dof manipulator.

After successful FAT test at Naron (Spain), the M500 Titanium Manip Prototipe is currently been tested in real working conditions offshore Italy. Installed in the Seaeye Cougar 1444 ROV, the vehicle is performing pipeline TDM works, and the M500 Manip has been used for a beacon recovery, cable manipulation, equipment releasing, and other intervention task. The manip is performing well without any significant incident or fault. Current project is expected to be finished by end of August 14.

Dr. José Antonio Vilán Vilán is Professor of Mechanical Engineering. Industrial Engineer and PhD in Electronics, Automation and Power Systems by a University of Vigo. Trainee teacher since 1991 and since 1998 Professor in the Department of Mechanical Engineering, Thermal and Fluids Machinery and Engines. Director of that Department from 2000 to 2006. He is Director of CIMA Group (Center for Mechanical and Automotive Engineering) since 2001 and Director General of the only Official Galician Vehicle Laboratory granted by the Ministry of Industry since 2007.

Gold Medal for the best invention in the XXXV International Exhibition of New Products in Geneva. First prize of the Galician Academy of Sciences project, for INNEO 2006. Best Spanish Patent of 2007 and has 13 heavy mechanical equipment, approved internationally for most of Classification Societies. Author of more than 40 international papers, 71 regional and national funded projects, 63 projects under financing of private enterprises, 14 domestic and international patents, 5 doctoral thesis addressed.

Today is PI of 22 research projects, standing out the design of the calorimeter (detector of photons and gamma nuclear shock rays) of the new particle accelerator FAIR project and partner in the mechanical design of projects XaTcobeo (artificial cubesat satellite to be released on the inaugural flight of the new rocket -VEIGA- ESA), GENSO (European Space Agency ground segments), HUMSAT (Satellites Cluster supported by the UN, ESA and NASA ) or FEMTOXAT (fully developed in Galicia and could be the first femto-satellite launched into space, supported by universities in California and Kentucky).

Compliance Robotic Arm:

Venue: Museo Elder de la Ciencia y la Tecnología
Date: 11/2/15 to 13/2/15
PAL ulna arm (after the name of the ulna bone) is a 7 DoF lightweight arm of 9kg. It is fully integrated in ROS (ROS control, MoveIt!) and supports position and force-torque control, so it can be setup to be compliant in order to be safe while working close to people or objects. The arm payload is up to 10kg and 1kg when completely extended (worst configuration). Several demos are fully integrated on the arm, like gravity compensation, pre-recorded movements, self-collision checking while running planned movements using MoveIt!, force-torque and compliant control, and also pick-and-place demos. Some of them were presented in the last Automatica'2014 fair. This arm is also used in the REEM and REEM-C robot arms
Enrique Fernández obtained the BSc degree in Computer Engineer in 2008 from the University of Las Palmas de Gran Canaria, and the MSc in 2009 from the University Institute of Intelligent Systems and Numerical Applications in Engineer (SIANI). He also obtained the PhD in 2013 from the SIANI/ULPGC.

He joined PAL Robotics in 2013 as a Robotics Engineer in the Navigation team. He works on the SLAM (Simultaneous Localization And Mapping), localization and path planning algorithms on the mobile bases and biped robots at PAL Robotics. He is also developing a docking station system for the new PMB2 mobile base.

Oussama Khatib
Stanford University

Maarja Kruusmaa
TUT Center for Biorobotics
Eduardo Silva
Darío Sosa
Supported by: Acknowledgements:


WMSM KEY NOTE SPEAKERS: The 2014 underwater archaeological mission on the shipwreck of the Lune, in the framework of the Corsaire Concept Project : scanning and sampling artefacts with robots.

Michel L'Hour was born in Tunis. PhD in archeology, professional diver, Michel L'Hour is chief curator of the Heritage. Since 2006 he heads the Department of underwater archaeological research and underwater (Drassm). Michel L'Hour has directed the excavations and conducted the appraisal in France and abroad for nearly a hundred and fifty archaeological wrecks, often in association with Elizabeth Veyrat. They organized archaeological research ships of the line lost at La Hogue in 1692 and one in Saint-Malo, the two privateers Natière.

Michel L'Hour curated traveling exhibitions, including The Mystery of Lapérouse or unfinished dream of a king in the Navy Museum in Paris. He was awarded the beautiful maritime books and literary award of the Grand Royal Rope-Hermione Sea Memory: underwater archeology wrecks Atlantic. Michel L'Hour is regularly called upon as an expert by major international organizations such as Unesco and Interpol. In 2012, it tells the story of Archéonaute, built in 1967, thanks to André Malraux decision to develop underwater archaeological research.

Vincent Creuze is responsible for several industrial contracts. French project director of the Franco-Mexican PCP tracking structure by an underwater vehicle (UMI LAFMIA / LIRMM / Company Tecnalia) Oct 2011 -. October 2014. Promising project ARPE Robot submarine L2ROV (Minirov, Languedoc Roussillon), Oct 2012 -. October 2014. Responsible for scientific aspects of robotic CORSAIRE project (DRASSM - FDO ENSTA Alumni). Host of Marine Robotics and Underwater Robotics GT2 GDR (CNRS) axis. Partner for conferences IEEE / RSJ IROS 2014, IROS 2013, International Conference on Intelligent Robots and Systems Editor. Associated to the IEEE ICRA 2015 International Conference on Robotics and Automation Conference Editor.

Organization of the workshop Recent advances in sensing, localization, and control for underwater robotics, ERF 2013, European Robotic Forum, Lyon, March 2013. Special Jury Prize Award Frêche Georges - Sud de France University, 2012. Member of the Scientific Committee of the Research award 2014.

Invited to the Franco-Mexican Laboratory of Informatics and Automation, Mexico (UMI CNRS / CINVESTAV), 1 week, researcher in 2010. Member of the program committees of CETSIS - Conference on Education Technology and Information Sciences and Systems (since 2010), CIHR-International Robotic Sailing Conference (2013 and 2014) and MOQESM - Quantitative Monitoring of Underwater Environment (2014). Expertise to AERES for ANRT and OSEO.

Please refer to the Eurocast Web:

The Eurocast Conference organizes different activities during the week such as:

  • a cocktail with live music: Tuesday evening
  • the conference dinner: Wednesday night

More information at