Toward extraplanetary under-ice exploration: Steps in the Arctic
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 ic...
| Main Authors: | , , , , , , , , , , , |
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| Other Authors: | |
| Format: | Text |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.482.5351 http://robots.engin.umich.edu/publications/ckunz-2009a.pdf |
| Summary: | 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 considera-tions, sensor suite, and issues with deployment and recovery in the ice based on the mis-sions 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 |
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