Toward autonomous scientific exploration of ice-covered lakes - field experiments with the ENDURANCE AUV in an Antarctic dry valley
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 under...
Published in: | 2010 IEEE International Conference on Robotics and Automation |
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Online Access: | https://digitalcommons.lsu.edu/geo_pubs/633 https://doi.org/10.1109/ROBOT.2010.5509224 |
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ftlouisianastuir:oai:digitalcommons.lsu.edu:geo_pubs-1632 2023-06-11T04:04:31+02:00 Toward autonomous scientific exploration of ice-covered lakes - field experiments with the ENDURANCE AUV in an Antarctic dry valley Gulati, Shilpa Richmond, Kristof Flesher, Christopher Hogan, Bartholomew P. Murarka, Aniket Kuhlmann, Gregory Sridharan, Mohan Stone, William C. Doran, Peter T. 2010-08-26T07:00:00Z https://digitalcommons.lsu.edu/geo_pubs/633 https://doi.org/10.1109/ROBOT.2010.5509224 unknown LSU Digital Commons https://digitalcommons.lsu.edu/geo_pubs/633 doi:10.1109/ROBOT.2010.5509224 Faculty Publications text 2010 ftlouisianastuir https://doi.org/10.1109/ROBOT.2010.5509224 2023-05-28T18:16:59Z 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 dead-reckoning 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. ©2010 IEEE. Text Antarc* Antarctic Antarctica LSU Digital Commons (Louisiana State University) 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) 2010 IEEE International Conference on Robotics and Automation 308 315 |
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LSU Digital Commons (Louisiana State University) |
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description |
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 dead-reckoning 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. ©2010 IEEE. |
format |
Text |
author |
Gulati, Shilpa Richmond, Kristof Flesher, Christopher Hogan, Bartholomew P. Murarka, Aniket Kuhlmann, Gregory Sridharan, Mohan Stone, William C. Doran, Peter T. |
spellingShingle |
Gulati, Shilpa Richmond, Kristof Flesher, Christopher Hogan, Bartholomew P. Murarka, Aniket Kuhlmann, Gregory Sridharan, Mohan Stone, William C. Doran, Peter T. Toward autonomous scientific exploration of ice-covered lakes - field experiments with the ENDURANCE AUV in an Antarctic dry valley |
author_facet |
Gulati, Shilpa Richmond, Kristof Flesher, Christopher Hogan, Bartholomew P. Murarka, Aniket Kuhlmann, Gregory Sridharan, Mohan Stone, William C. Doran, Peter T. |
author_sort |
Gulati, Shilpa |
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 |
publisher |
LSU Digital Commons |
publishDate |
2010 |
url |
https://digitalcommons.lsu.edu/geo_pubs/633 https://doi.org/10.1109/ROBOT.2010.5509224 |
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 |
Faculty Publications |
op_relation |
https://digitalcommons.lsu.edu/geo_pubs/633 doi:10.1109/ROBOT.2010.5509224 |
op_doi |
https://doi.org/10.1109/ROBOT.2010.5509224 |
container_title |
2010 IEEE International Conference on Robotics and Automation |
container_start_page |
308 |
op_container_end_page |
315 |
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1768388438708453376 |