Mapping the underside of an iceberg with a modified underwater glider
Abstract Icebergs pose many challenges to offshore operations in the Arctic Ocean and sub‐arctic regions. They could damage underwater infrastructure such as pipelines, and disrupt marine transportation. The below‐water shape of an iceberg is a key factor for iceberg management in the North Atlantic...
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crwiley:10.1002/rob.21873 2024-06-02T08:01:36+00:00 Mapping the underside of an iceberg with a modified underwater glider Zhou, Mingxi Bachmayer, Ralf deYoung, Brad Atlantic Canada Opportunities Agency Natural Sciences and Engineering Research Council of Canada Research and Development Corporation of Newfoundland and Labrador 2019 http://dx.doi.org/10.1002/rob.21873 https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.21873 https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.21873 https://onlinelibrary.wiley.com/doi/full-xml/10.1002/rob.21873 en eng Wiley http://onlinelibrary.wiley.com/termsAndConditions#vor Journal of Field Robotics volume 36, issue 6, page 1102-1117 ISSN 1556-4959 1556-4967 journal-article 2019 crwiley https://doi.org/10.1002/rob.21873 2024-05-03T11:00:01Z Abstract Icebergs pose many challenges to offshore operations in the Arctic Ocean and sub‐arctic regions. They could damage underwater infrastructure such as pipelines, and disrupt marine transportation. The below‐water shape of an iceberg is a key factor for iceberg management in the North Atlantic Ocean because it affects the iceberg towing plans and iceberg drift patterns. In recent years, unmanned platforms have been proposed as potential candidates for underwater iceberg mapping. Compared to a conventional ship‐based iceberg survey, using unmanned platforms is more efficient and safer. In this paper, we present research using a hybrid underwater glider to measure the underwater shape of an iceberg. The vehicle is equipped with a mechanical scanning sonar for range sensing and iceberg mapping, and a guidance system is designed to use the sonar measurements for guiding the vehicle to circumnavigate an iceberg at the desired standoff distance. Several field experiments have been conducted on an iceberg to evaluate the system performance. With repeated observations, the underside of the target iceberg was successfully reconstructed, and iceberg shape comparisons are presented. Article in Journal/Newspaper Arctic Arctic Ocean Iceberg* North Atlantic Wiley Online Library Arctic Arctic Ocean Journal of Field Robotics 36 6 1102 1117 |
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Open Polar |
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Wiley Online Library |
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crwiley |
language |
English |
description |
Abstract Icebergs pose many challenges to offshore operations in the Arctic Ocean and sub‐arctic regions. They could damage underwater infrastructure such as pipelines, and disrupt marine transportation. The below‐water shape of an iceberg is a key factor for iceberg management in the North Atlantic Ocean because it affects the iceberg towing plans and iceberg drift patterns. In recent years, unmanned platforms have been proposed as potential candidates for underwater iceberg mapping. Compared to a conventional ship‐based iceberg survey, using unmanned platforms is more efficient and safer. In this paper, we present research using a hybrid underwater glider to measure the underwater shape of an iceberg. The vehicle is equipped with a mechanical scanning sonar for range sensing and iceberg mapping, and a guidance system is designed to use the sonar measurements for guiding the vehicle to circumnavigate an iceberg at the desired standoff distance. Several field experiments have been conducted on an iceberg to evaluate the system performance. With repeated observations, the underside of the target iceberg was successfully reconstructed, and iceberg shape comparisons are presented. |
author2 |
Atlantic Canada Opportunities Agency Natural Sciences and Engineering Research Council of Canada Research and Development Corporation of Newfoundland and Labrador |
format |
Article in Journal/Newspaper |
author |
Zhou, Mingxi Bachmayer, Ralf deYoung, Brad |
spellingShingle |
Zhou, Mingxi Bachmayer, Ralf deYoung, Brad Mapping the underside of an iceberg with a modified underwater glider |
author_facet |
Zhou, Mingxi Bachmayer, Ralf deYoung, Brad |
author_sort |
Zhou, Mingxi |
title |
Mapping the underside of an iceberg with a modified underwater glider |
title_short |
Mapping the underside of an iceberg with a modified underwater glider |
title_full |
Mapping the underside of an iceberg with a modified underwater glider |
title_fullStr |
Mapping the underside of an iceberg with a modified underwater glider |
title_full_unstemmed |
Mapping the underside of an iceberg with a modified underwater glider |
title_sort |
mapping the underside of an iceberg with a modified underwater glider |
publisher |
Wiley |
publishDate |
2019 |
url |
http://dx.doi.org/10.1002/rob.21873 https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.21873 https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.21873 https://onlinelibrary.wiley.com/doi/full-xml/10.1002/rob.21873 |
geographic |
Arctic Arctic Ocean |
geographic_facet |
Arctic Arctic Ocean |
genre |
Arctic Arctic Ocean Iceberg* North Atlantic |
genre_facet |
Arctic Arctic Ocean Iceberg* North Atlantic |
op_source |
Journal of Field Robotics volume 36, issue 6, page 1102-1117 ISSN 1556-4959 1556-4967 |
op_rights |
http://onlinelibrary.wiley.com/termsAndConditions#vor |
op_doi |
https://doi.org/10.1002/rob.21873 |
container_title |
Journal of Field Robotics |
container_volume |
36 |
container_issue |
6 |
container_start_page |
1102 |
op_container_end_page |
1117 |
_version_ |
1800745992775008256 |