Toward Autonomous Scientific Exploration of Ice-covered Lakes—Field Experiments with the ENDURANCE AUV in an Antarctic Dry Valley
Abstract — Chemical properties of lake water can provide valuable insight into its ecology. Lakes that are permanently frozen over with ice are generally inaccessible to comprehensive exploration by humans. This paper describes the integration of several novel and existing technologies into an auton...
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ftciteseerx:oai:CiteSeerX.psu:10.1.1.187.9335 2023-05-15T13:45:45+02:00 Toward Autonomous Scientific Exploration of Ice-covered Lakes—Field Experiments with the ENDURANCE AUV in an Antarctic Dry Valley Shilpa Gulati Kristof Richmond Christopher Flesher Bartholomew P. Hogan Aniket Murarka Gregory Kuhlmann Mohan Sridharan William C. Stone Peter T. Doran The Pennsylvania State University CiteSeerX Archives application/pdf http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.187.9335 http://www.cs.utexas.edu/%7Eshilpa/publications/2010/gulati-icra-10.pdf en eng http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.187.9335 http://www.cs.utexas.edu/%7Eshilpa/publications/2010/gulati-icra-10.pdf Metadata may be used without restrictions as long as the oai identifier remains attached to it. http://www.cs.utexas.edu/%7Eshilpa/publications/2010/gulati-icra-10.pdf text ftciteseerx 2016-01-07T16:45:21Z Abstract — Chemical properties of lake water can provide valuable insight into its ecology. Lakes that are permanently frozen over with ice are generally inaccessible to comprehensive exploration by humans. This paper describes the integration of several novel and existing technologies into an autonomous underwater robot, ENDURANCE, that was successfully used for gathering scientific data in West Lake Bonney in Taylor Valley, Antarctica, in December 2008. This paper focuses on three novel technological and algorithmic solutions. First, a robust position estimation system that uses an acoustic beacon to complement traditional deadreckoning is described. Second, a novel vision-based docking algorithm for locating and ascending a vertical shaft by tracking a blinking light source is presented. Third, a novel profiling system for measuring water properties while causing minimal water disturbance is described. Finally, experimental results from the scientific missions in 2008 in West Lake Bonney are presented. I. Text Antarc* Antarctic Antarctica Unknown Antarctic Bonney ENVELOPE(162.417,162.417,-77.717,-77.717) Lake Bonney ENVELOPE(-25.588,-25.588,-80.361,-80.361) Taylor Valley ENVELOPE(163.000,163.000,-77.617,-77.617) |
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ftciteseerx |
language |
English |
description |
Abstract — Chemical properties of lake water can provide valuable insight into its ecology. Lakes that are permanently frozen over with ice are generally inaccessible to comprehensive exploration by humans. This paper describes the integration of several novel and existing technologies into an autonomous underwater robot, ENDURANCE, that was successfully used for gathering scientific data in West Lake Bonney in Taylor Valley, Antarctica, in December 2008. This paper focuses on three novel technological and algorithmic solutions. First, a robust position estimation system that uses an acoustic beacon to complement traditional deadreckoning is described. Second, a novel vision-based docking algorithm for locating and ascending a vertical shaft by tracking a blinking light source is presented. Third, a novel profiling system for measuring water properties while causing minimal water disturbance is described. Finally, experimental results from the scientific missions in 2008 in West Lake Bonney are presented. I. |
author2 |
The Pennsylvania State University CiteSeerX Archives |
format |
Text |
author |
Shilpa Gulati Kristof Richmond Christopher Flesher Bartholomew P. Hogan Aniket Murarka Gregory Kuhlmann Mohan Sridharan William C. Stone Peter T. Doran |
spellingShingle |
Shilpa Gulati Kristof Richmond Christopher Flesher Bartholomew P. Hogan Aniket Murarka Gregory Kuhlmann Mohan Sridharan William C. Stone Peter T. Doran Toward Autonomous Scientific Exploration of Ice-covered Lakes—Field Experiments with the ENDURANCE AUV in an Antarctic Dry Valley |
author_facet |
Shilpa Gulati Kristof Richmond Christopher Flesher Bartholomew P. Hogan Aniket Murarka Gregory Kuhlmann Mohan Sridharan William C. Stone Peter T. Doran |
author_sort |
Shilpa Gulati |
title |
Toward Autonomous Scientific Exploration of Ice-covered Lakes—Field Experiments with the ENDURANCE AUV in an Antarctic Dry Valley |
title_short |
Toward Autonomous Scientific Exploration of Ice-covered Lakes—Field Experiments with the ENDURANCE AUV in an Antarctic Dry Valley |
title_full |
Toward Autonomous Scientific Exploration of Ice-covered Lakes—Field Experiments with the ENDURANCE AUV in an Antarctic Dry Valley |
title_fullStr |
Toward Autonomous Scientific Exploration of Ice-covered Lakes—Field Experiments with the ENDURANCE AUV in an Antarctic Dry Valley |
title_full_unstemmed |
Toward Autonomous Scientific Exploration of Ice-covered Lakes—Field Experiments with the ENDURANCE AUV in an Antarctic Dry Valley |
title_sort |
toward autonomous scientific exploration of ice-covered lakes—field experiments with the endurance auv in an antarctic dry valley |
url |
http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.187.9335 http://www.cs.utexas.edu/%7Eshilpa/publications/2010/gulati-icra-10.pdf |
long_lat |
ENVELOPE(162.417,162.417,-77.717,-77.717) ENVELOPE(-25.588,-25.588,-80.361,-80.361) ENVELOPE(163.000,163.000,-77.617,-77.617) |
geographic |
Antarctic Bonney Lake Bonney Taylor Valley |
geographic_facet |
Antarctic Bonney Lake Bonney Taylor Valley |
genre |
Antarc* Antarctic Antarctica |
genre_facet |
Antarc* Antarctic Antarctica |
op_source |
http://www.cs.utexas.edu/%7Eshilpa/publications/2010/gulati-icra-10.pdf |
op_relation |
http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.187.9335 http://www.cs.utexas.edu/%7Eshilpa/publications/2010/gulati-icra-10.pdf |
op_rights |
Metadata may be used without restrictions as long as the oai identifier remains attached to it. |
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1766230576436609024 |