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33 pages, 8 figures, 6 tables.-- Data Availability Statement: Data is contained within the articl ; The collection of delicate deep-sea specimens of biological interest with remotely operated vehicle (ROV) industrial grippers and tools is a long and expensive procedure. Industrial grippers were originally designed for heavy manipulation tasks, while sampling specimens requires dexterity and precision. We describe the grippers and tools commonly used in underwater sampling for scientific purposes, systematically review the state of the art of research in underwater gripping technologies, and identify design trends. We discuss the possibility of executing typical manipulations of sampling procedures with commonly used grippers and research prototypes. Our results indicate that commonly used grippers ensure that the basic actions either of gripping or caging are possible, and their functionality is extended by holding proper tools. Moreover, the approach of the research status seems to have changed its focus in recent years: from the demonstration of the validity of a specific technology (actuation, transmission, sensing) for marine applications, to the solution of specific needs of underwater manipulation. Finally, we summarize the environmental and operational requirements that should be considered in the design of an underwater gripper ; This research is part of A.M. PhD project co-funded by the Stazione Zoologica Anton Dohrn (Italy) and Scuola Superiore Sant'Anna (Italy). The research of J.A. was also funded within the framework of the following project activities: ARIM (Autonomous Robotic sea-floor Infrastructure for benthopelagic Monitoring; MarTERA ERA-Net Cofound); RESBIO (TEC2017-87861-R; Ministerio de Ciencia, Innovación y Universidades). J.A. also profited of the funding from the Spanish Government through the 'Severo Ochoa Centre of Excellence' accreditation (CEX2019-000928-S) ; Peer reviewed

21 pages, 2 figures, 6 tables, supplementary materials https://www.mdpi.com/article/10.3390/s22041471/s1.-- Data Availability Statement: The data presented in this study are available in this Article and Supplementary Materials ; In order to develop a gripping system or control strategy that improves scientific sampling procedures, knowledge of the process and the consequent definition of requirements is fundamental. Nevertheless, factors influencing sampling procedures have not been extensively described, and selected strategies mostly depend on pilots¿ and researchers¿ experience. We interviewed 17 researchers and remotely operated vehicle (ROV) technical operators, through a formal questionnaire or in-person interviews, to collect evidence of sampling procedures based on their direct field experience. We methodologically analyzed sampling procedures to extract single basic actions (called atomic manipulations). Available equipment, environment and species-specific features strongly influenced the manipulative choices. We identified a list of functional and technical requirements for the development of novel end-effectors for marine sampling. Our results indicate that the unstructured and highly variable deep-sea environment requires a versatile system, capable of robust interactions with hard surfaces such as pushing or scraping, precise tuning of gripping force for tasks such as pulling delicate organisms away from hard and soft substrates, and rigid holding, as well as a mechanism for rapidly switching among external tools ; This research is part of A.M.'s PhD project co-funded by the Stazione Zoologica Anton Dohrn of Naples (Italy) and Scuola Superiore Sant'Anna Pisa (Italy). The deep-sea research of A.L.A. was supported by Science Foundation Ireland and the Marine Institute under the Investigators Programme Grant Number SFI/15/IA/3100, co-funded under the European Regional Development Fund 2014-2020, and by the Irish National Shiptime Programme. The research of J.A. was funded within the framework of the following project activities: ARIM (Autonomous Robotic sea-floor Infrastructure for benthopelagic Monitoring; MarTERA ERA-Net Cofound); RESBIO (TEC2017-87861-R; Ministerio de Ciencia, Innovación y Universidades). J.A. also benefited from funding from the Spanish Government through the "Severo Ochoa Centre of Excellence" accreditation (CEX2019-000928-S)

Deep-sea ecological monitoring is increasingly recognized as indispensable for the comprehension of the largest biome on Earth, but at the same time it is subjected to growing human impacts for the exploitation of biotic and abiotic resources. Here, we present the Naples Ecological REsearch (NEREA) stand-alone observatory concept (NEREA-fix), an integrated observatory with a modular, adaptive structure, characterized by a multiparametric video-platform to be deployed in the Dohrn canyon (Gulf of Naples, Tyrrhenian Sea) at ca. 650 m depth. The observatory integrates a seabed platform with optoacoustic and oceanographic/geochemical sensors connected to a surface transmission buoy, plus a mooring line (also equipped with depth-staged environmental sensors). This reinforced high-frequency and long-lasting ecological monitoring will integrate the historical data conducted over 40 years for the Long-Term Ecological Research (LTER) at the station "Mare Chiara", and ongoing vessel-assisted plankton (and future environmental DNA-eDNA) sampling. NEREA aims at expanding the observational capacity in a key area of the Mediterranean Sea, representing a first step towards the establishment of a bentho-pelagic network to enforce an end-to-end transdisciplinary approach for the monitoring of marine ecosystems across a wide range of animal sizes (from bacteria to megafauna). ; This research was funded by PON "Iniziative in supporto al consolidamento e potenziamento dell'infrastruttura EMSO e delle sue attività (InSEA)" - European Union - Italian Ministry of University and Research, grant number PIR01_00030. ; Peer Reviewed ; Postprint (published version)

17 pages, 1 figure, 1 table ; Deep-sea ecosystems are reservoirs of biodiversity that are largely unexplored, but their exploration and biodiscovery are becoming a reality thanks to biotechnological advances (e.g., omics technologies) and their integration in an expanding network of marine infrastructures for the exploration of the seas, such as cabled observatories. While still in its infancy, the application of environmental DNA (eDNA) metabarcoding approaches is revolutionizing marine biodiversity monitoring capability. Indeed, the analysis of eDNA in conjunction with the collection of multidisciplinary optoacoustic and environmental data, can provide a more comprehensive monitoring of deep-sea biodiversity. Here, we describe the potential for acquiring eDNA as a core component for the expanding ecological monitoring capabilities through cabled observatories and their docked Internet Operated Vehicles (IOVs), such as crawlers. Furthermore, we provide a critical overview of four areas of development: (i) Integrating eDNA with optoacoustic imaging; (ii) Development of eDNA repositories and cross-linking with other biodiversity databases; (iii) Artificial Intelligence for eDNA analyses and integration with imaging data; and (iv) Benefits of eDNA augmented observatories for the conservation and sustainable management of deep-sea biodiversity. Finally, we discuss the technical limitations and recommendations for future eDNA monitoring of the deep-sea. It is hoped that this review will frame the future direction of an exciting journey of biodiscovery in remote and yet vulnerable areas of our planet, with the overall aim to understand deep-sea biodiversity and hence manage and protect vital marine resources ; This research has been funded within the framework of the following project activities: ARIM (Autonomous Robotic Sea-Floor Infrastructure for Benthopelagic Monitoring; MarTERA ERA-Net Cofound); RESBIO (TEC2017-87861-R; Ministerio de Ciencia, Innovación y Universidades); JERICO-S3: (Horizon 2020; Grant Agreement no. 871153); ENDURUNS (Research Grant Agreement H2020-MG-2018-2019-2020 n.824348); Slovenian Research Agency (Research Core Funding Nos. P1-0237 and P1-0255 and project ARRS-RPROJ-JR-J1-3015). We also profited of the funding from the Spanish Government through the "Severo Ochoa Centre of Excellence" accreditation (CEX2019-000928-S) and Italian Ministry of Education (MIUR) under the "Bando premiale FOE 2015" (nota prot. N. 850, dd. 27 ottobre 2017) with the project EarthCruisers "EARTH's CRUst Imagery for Investigating Seismicity, Volcanism, and Marine Natural Resources in the Sicilian Offshore". Ocean Networks Canada was funded through Canada Foundation for Innovation-Major Science Initiative (CFI-MSI) fund 30199 ; Peer reviewed

Deep-sea ecosystems are reservoirs of biodiversity that are largely unexplored, but their exploration and biodiscovery are becoming a reality thanks to biotechnological advances (e.g., omics technologies) and their integration in an expanding network of marine infrastructures for the exploration of the seas, such as cabled observatories. While still in its infancy, the application of environmental DNA (eDNA) metabarcoding approaches is revolutionizing marine biodiversity monitoring capability. Indeed, the analysis of eDNA in conjunction with the collection of multidisciplinary optoacoustic and environmental data, can provide a more comprehensive monitoring of deep-sea biodiversity. Here, we describe the potential for acquiring eDNA as a core component for the expanding ecological monitoring capabilities through cabled observatories and their docked Internet Operated Vehicles (IOVs), such as crawlers. Furthermore, we provide a critical overview of four areas of development: (i) Integrating eDNA with optoacoustic imaging; (ii) Development of eDNA repositories and cross-linking with other biodiversity databases; (iii) Artificial Intelligence for eDNA analyses and integration with imaging data; and (iv) Benefits of eDNA augmented observatories for the conservation and sustainable management of deep-sea biodiversity. Finally, we discuss the technical limitations and recommendations for future eDNA monitoring of the deep-sea. It is hoped that this review will frame the future direction of an exciting journey of biodiscovery in remote and yet vulnerable areas of our planet, with the overall aim to understand deep-sea biodiversity and hence manage and protect vital marine resources. ; This research has been funded within the framework of the following project activities: ARIM (Autonomous Robotic Sea-Floor Infrastructure for Benthopelagic Monitoring; MarTERA ERA-Net Cofound); RESBIO (TEC2017-87861-R; Ministerio de Ciencia, Innovación y Universidades); JERICO-S3: (Horizon 2020; Grant Agreement no. 871153); ENDURUNS (Research Grant Agreement H2020-MG-2018-2019-2020 n.824348); Slovenian Research Agency (Research Core Funding Nos. P1-0237 and P1-0255 and project ARRS-RPROJ-JR-J1-3015). We also profited of the funding from the Spanish Government through the "Severo Ochoa Centre of Excellence" accreditation (CEX2019-000928-S) and Italian Ministry of Education (MIUR) under the "Bando premiale FOE 2015" (nota prot. N. 850, dd. 27 ottobre 2017) with the project EarthCruisers "EARTH's CRUst Imagery for Investigating Seismicity, Volcanism, and Marine Natural Resources in the Sicilian Offshore". Ocean Networks Canada was funded through Canada Foundation for Innovation-Major Science Initiative (CFI-MSI) fund 30199. ; Peer Reviewed ; Postprint (published version)

19 pages, 3 figures, 1 table, supplemental files https://doi.org/10.1525/elementa.2021.00064 ; Recent advances in robotic design, autonomy and sensor integration create solutions for the exploration of deep-sea environments, transferable to the oceans of icy moons. Marine platforms do not yet have the mission autonomy capacity of their space counterparts (e.g., the state of the art Mars Perseverance rover mission), although different levels of autonomous navigation and mapping, as well as sampling, are an extant capability. In this setting their increasingly biomimicked designs may allow access to complex environmental scenarios, with novel, highly-integrated life-detecting, oceanographic and geochemical sensor packages. Here, we lay an outlook for the upcoming advances in deep-sea robotics through synergies with space technologies within three major research areas: biomimetic structure and propulsion (including power storage and generation), artificial intelligence and cooperative networks, and life-detecting instrument design. New morphological and material designs, with miniaturized and more diffuse sensor packages, will advance robotic sensing systems. Artificial intelligence algorithms controlling navigation and communications will allow the further development of the behavioral biomimicking by cooperating networks. Solutions will have to be tested within infrastructural networks of cabled observatories, neutrino telescopes, and off-shore industry sites with agendas and modalities that are beyond the scope of our work, but could draw inspiration on the proposed examples for the operational combination of fixed and mobile platforms ; This work was developed within the framework of the Research Unit Tecnoterra (ICM-CSIC/UPC) and the following project activities: ARIM (Autonomous Robotic sea-floor Infrastructure for benthopelagic Monitoring; MarTERA ERA-Net Cofound). ARCHES (Autonomous Robotic Networks to Help Modern Societies; German Helmholtz Association). RESBIO (TEC2017-87861-R; Ministerio de Ciencia, Innovación y Universidades). JERICO-S3: (Horizon 2020; Grant Agreement no. 871153). ENDURUNS (Research Grant Agreement H2020-MG-2018-2019-2020 n.824348). We also profited from funding from the Spanish Government through the "Severo Ochoa Centre of Excellence" accreditation (CEX2019-000928-S). A portion of this research was also carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration