The ARTEMIS under-ice AUV docking system
© 2017 Wiley Periodicals, Inc. The ARTEMIS docking system demonstrates autonomous docking capability applicable to robotic exploration of sub-ice oceans and sub-glacial lakes on planetary bodies, as well as here on Earth. In these applications, melted or drilled vertical access shafts restrict vehic...
Published in: | Journal of Field Robotics |
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Online Access: | https://digitalcommons.lsu.edu/geo_pubs/590 https://doi.org/10.1002/rob.21740 |
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ftlouisianastuir:oai:digitalcommons.lsu.edu:geo_pubs-1589 2023-06-11T04:07:11+02:00 The ARTEMIS under-ice AUV docking system Kimball, Peter W. Clark, Evan B. Scully, Mark Richmond, Kristof Flesher, Chris Lindzey, Laura E. Harman, John Huffstutler, Keith Lawrence, Justin Lelievre, Scott Moor, Joshua Pease, Brian Siegel, Vickie Winslow, Luke Blankenship, Donald D. Doran, Peter Kim, Stacy Schmidt, Britney E. Stone, William C. 2018-03-01T08:00:00Z https://digitalcommons.lsu.edu/geo_pubs/590 https://doi.org/10.1002/rob.21740 unknown LSU Digital Commons https://digitalcommons.lsu.edu/geo_pubs/590 doi:10.1002/rob.21740 Faculty Publications marine robotics mechanisms planetary robotics position estimation underwater robotics text 2018 ftlouisianastuir https://doi.org/10.1002/rob.21740 2023-05-28T18:16:59Z © 2017 Wiley Periodicals, Inc. The ARTEMIS docking system demonstrates autonomous docking capability applicable to robotic exploration of sub-ice oceans and sub-glacial lakes on planetary bodies, as well as here on Earth. In these applications, melted or drilled vertical access shafts restrict vehicle geometry as well as the in-water infrastructure that may be deployed. The ability of the vehicle to return reliably and precisely to the access point is critical for data return, battery charging, and/or vehicle recovery. This paper presents the mechanical, sensor, and software components that make up the ARTEMIS docking system, as well as results from field deployment of the system to McMurdo Sound, Antarctica in the austral spring of 2015. The mechanical design of the system allows the vehicle to approach the dock from any direction and to pitch up after docking for recovery through a vertical access shaft. It uses only a small volume of in-water equipment and may be deployed through a narrow vertical access shaft. The software of the system reduces position estimation error with a hierarchical combination of dead reckoning, acoustic aiding, and machine vision. The system provides critical operational robustness, enabling the vehicle to return autonomously and precisely to the access shaft and latch to the dock with no operator input. Text Antarc* Antarctica McMurdo Sound LSU Digital Commons (Louisiana State University) Austral McMurdo Sound Access Point ENVELOPE(-63.783,-63.783,-64.833,-64.833) Journal of Field Robotics 35 2 299 308 |
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Open Polar |
collection |
LSU Digital Commons (Louisiana State University) |
op_collection_id |
ftlouisianastuir |
language |
unknown |
topic |
marine robotics mechanisms planetary robotics position estimation underwater robotics |
spellingShingle |
marine robotics mechanisms planetary robotics position estimation underwater robotics Kimball, Peter W. Clark, Evan B. Scully, Mark Richmond, Kristof Flesher, Chris Lindzey, Laura E. Harman, John Huffstutler, Keith Lawrence, Justin Lelievre, Scott Moor, Joshua Pease, Brian Siegel, Vickie Winslow, Luke Blankenship, Donald D. Doran, Peter Kim, Stacy Schmidt, Britney E. Stone, William C. The ARTEMIS under-ice AUV docking system |
topic_facet |
marine robotics mechanisms planetary robotics position estimation underwater robotics |
description |
© 2017 Wiley Periodicals, Inc. The ARTEMIS docking system demonstrates autonomous docking capability applicable to robotic exploration of sub-ice oceans and sub-glacial lakes on planetary bodies, as well as here on Earth. In these applications, melted or drilled vertical access shafts restrict vehicle geometry as well as the in-water infrastructure that may be deployed. The ability of the vehicle to return reliably and precisely to the access point is critical for data return, battery charging, and/or vehicle recovery. This paper presents the mechanical, sensor, and software components that make up the ARTEMIS docking system, as well as results from field deployment of the system to McMurdo Sound, Antarctica in the austral spring of 2015. The mechanical design of the system allows the vehicle to approach the dock from any direction and to pitch up after docking for recovery through a vertical access shaft. It uses only a small volume of in-water equipment and may be deployed through a narrow vertical access shaft. The software of the system reduces position estimation error with a hierarchical combination of dead reckoning, acoustic aiding, and machine vision. The system provides critical operational robustness, enabling the vehicle to return autonomously and precisely to the access shaft and latch to the dock with no operator input. |
format |
Text |
author |
Kimball, Peter W. Clark, Evan B. Scully, Mark Richmond, Kristof Flesher, Chris Lindzey, Laura E. Harman, John Huffstutler, Keith Lawrence, Justin Lelievre, Scott Moor, Joshua Pease, Brian Siegel, Vickie Winslow, Luke Blankenship, Donald D. Doran, Peter Kim, Stacy Schmidt, Britney E. Stone, William C. |
author_facet |
Kimball, Peter W. Clark, Evan B. Scully, Mark Richmond, Kristof Flesher, Chris Lindzey, Laura E. Harman, John Huffstutler, Keith Lawrence, Justin Lelievre, Scott Moor, Joshua Pease, Brian Siegel, Vickie Winslow, Luke Blankenship, Donald D. Doran, Peter Kim, Stacy Schmidt, Britney E. Stone, William C. |
author_sort |
Kimball, Peter W. |
title |
The ARTEMIS under-ice AUV docking system |
title_short |
The ARTEMIS under-ice AUV docking system |
title_full |
The ARTEMIS under-ice AUV docking system |
title_fullStr |
The ARTEMIS under-ice AUV docking system |
title_full_unstemmed |
The ARTEMIS under-ice AUV docking system |
title_sort |
artemis under-ice auv docking system |
publisher |
LSU Digital Commons |
publishDate |
2018 |
url |
https://digitalcommons.lsu.edu/geo_pubs/590 https://doi.org/10.1002/rob.21740 |
long_lat |
ENVELOPE(-63.783,-63.783,-64.833,-64.833) |
geographic |
Austral McMurdo Sound Access Point |
geographic_facet |
Austral McMurdo Sound Access Point |
genre |
Antarc* Antarctica McMurdo Sound |
genre_facet |
Antarc* Antarctica McMurdo Sound |
op_source |
Faculty Publications |
op_relation |
https://digitalcommons.lsu.edu/geo_pubs/590 doi:10.1002/rob.21740 |
op_doi |
https://doi.org/10.1002/rob.21740 |
container_title |
Journal of Field Robotics |
container_volume |
35 |
container_issue |
2 |
container_start_page |
299 |
op_container_end_page |
308 |
_version_ |
1768380040297316352 |