Toward extraplanetary under‐ice exploration: Robotic steps in the Arctic
Abstract This paper describes the design and use of two new autonomous underwater vehicles, Jaguar and Puma, which were deployed in the summer of 2007 at sites at 85°N latitude in the ice‐covered Arctic Ocean to search for hydrothermal vents. These robots are the first to be deployed and recovered t...
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crwiley:10.1002/rob.20288 2024-10-13T14:05:01+00:00 Toward extraplanetary under‐ice exploration: Robotic steps in the Arctic Kunz, Clayton Murphy, Chris Singh, Hanumant Pontbriand, Claire Sohn, Robert A. Singh, Sandipa Sato, Taichi Roman, Chris Nakamura, Ko‐ichi Jakuba, Michael Eustice, Ryan Camilli, Richard Bailey, John 2009 http://dx.doi.org/10.1002/rob.20288 https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.20288 https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20288 en eng Wiley http://onlinelibrary.wiley.com/termsAndConditions#vor Journal of Field Robotics volume 26, issue 4, page 411-429 ISSN 1556-4959 1556-4967 journal-article 2009 crwiley https://doi.org/10.1002/rob.20288 2024-09-23T04:36:50Z Abstract This paper describes the design and use of two new autonomous underwater vehicles, Jaguar and Puma, which were deployed in the summer of 2007 at sites at 85°N latitude in the ice‐covered Arctic Ocean to search for hydrothermal vents. These robots are the first to be deployed and recovered through ice to the deep ocean (>3,500 m) for scientific research. We examine the mechanical design, software architecture, navigation considerations, sensor suite, and issues with deployment and recovery in the ice based on the missions they carried out. Successful recoveries of vehicles deployed under the ice require two‐way acoustic communication, flexible navigation strategies, redundant localization hardware, and software that can cope with several different kinds of failure. The ability to direct an autonomous underwater vehicle via the low‐bandwidth and intermittently functional acoustic channel is of particular importance. On the basis of our experiences, we also discuss the applicability of the technology and operational approaches of this expedition to the exploration of Jupiter's ice‐covered moon Europa. © 2009 Wiley Periodicals, Inc. Article in Journal/Newspaper Arctic Arctic Ocean Wiley Online Library Arctic Arctic Ocean Journal of Field Robotics 26 4 411 429 |
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Wiley Online Library |
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English |
description |
Abstract This paper describes the design and use of two new autonomous underwater vehicles, Jaguar and Puma, which were deployed in the summer of 2007 at sites at 85°N latitude in the ice‐covered Arctic Ocean to search for hydrothermal vents. These robots are the first to be deployed and recovered through ice to the deep ocean (>3,500 m) for scientific research. We examine the mechanical design, software architecture, navigation considerations, sensor suite, and issues with deployment and recovery in the ice based on the missions they carried out. Successful recoveries of vehicles deployed under the ice require two‐way acoustic communication, flexible navigation strategies, redundant localization hardware, and software that can cope with several different kinds of failure. The ability to direct an autonomous underwater vehicle via the low‐bandwidth and intermittently functional acoustic channel is of particular importance. On the basis of our experiences, we also discuss the applicability of the technology and operational approaches of this expedition to the exploration of Jupiter's ice‐covered moon Europa. © 2009 Wiley Periodicals, Inc. |
format |
Article in Journal/Newspaper |
author |
Kunz, Clayton Murphy, Chris Singh, Hanumant Pontbriand, Claire Sohn, Robert A. Singh, Sandipa Sato, Taichi Roman, Chris Nakamura, Ko‐ichi Jakuba, Michael Eustice, Ryan Camilli, Richard Bailey, John |
spellingShingle |
Kunz, Clayton Murphy, Chris Singh, Hanumant Pontbriand, Claire Sohn, Robert A. Singh, Sandipa Sato, Taichi Roman, Chris Nakamura, Ko‐ichi Jakuba, Michael Eustice, Ryan Camilli, Richard Bailey, John Toward extraplanetary under‐ice exploration: Robotic steps in the Arctic |
author_facet |
Kunz, Clayton Murphy, Chris Singh, Hanumant Pontbriand, Claire Sohn, Robert A. Singh, Sandipa Sato, Taichi Roman, Chris Nakamura, Ko‐ichi Jakuba, Michael Eustice, Ryan Camilli, Richard Bailey, John |
author_sort |
Kunz, Clayton |
title |
Toward extraplanetary under‐ice exploration: Robotic steps in the Arctic |
title_short |
Toward extraplanetary under‐ice exploration: Robotic steps in the Arctic |
title_full |
Toward extraplanetary under‐ice exploration: Robotic steps in the Arctic |
title_fullStr |
Toward extraplanetary under‐ice exploration: Robotic steps in the Arctic |
title_full_unstemmed |
Toward extraplanetary under‐ice exploration: Robotic steps in the Arctic |
title_sort |
toward extraplanetary under‐ice exploration: robotic steps in the arctic |
publisher |
Wiley |
publishDate |
2009 |
url |
http://dx.doi.org/10.1002/rob.20288 https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.20288 https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20288 |
geographic |
Arctic Arctic Ocean |
geographic_facet |
Arctic Arctic Ocean |
genre |
Arctic Arctic Ocean |
genre_facet |
Arctic Arctic Ocean |
op_source |
Journal of Field Robotics volume 26, issue 4, page 411-429 ISSN 1556-4959 1556-4967 |
op_rights |
http://onlinelibrary.wiley.com/termsAndConditions#vor |
op_doi |
https://doi.org/10.1002/rob.20288 |
container_title |
Journal of Field Robotics |
container_volume |
26 |
container_issue |
4 |
container_start_page |
411 |
op_container_end_page |
429 |
_version_ |
1812810886738345984 |