Publication Date:
2022-05-25
Description:
Author Posting. © The Author(s), 2009. This is the author's version of the work. It is posted here by permission of John Wiley & Sons for personal use, not for redistribution. The definitive version was published in Journal of Field Robotics 26 (2009): 411-429, doi:10.1002/rob.20288.
Description:
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 (〉 3500m) for scientific research. We examine the mechanical
design, software architecture, navigation considerations, sensor suite and issues
with deployment and recovery in the ice based on the missions they carried
out.
Successful recoveries of vehicles deployed under the ice requires two-way acoustic communication,
flexible navigation strategies, redundant localization hardware, and software that can cope with several different kinds of failure. The
ability to direct an AUV via the low bandwidth and intermittently functional
acoustic channel, is of particular importance.
Based on our experiences, we also discuss the applicability of the technology
and operational approaches of this expedition to the exploration of Jupiter's
ice-covered moon Europa.
Description:
This work was made possible in part through NSF OPP grant OPP-0425838, through the
NASA ASTEP program through grant Z601701, through NSF Censsis ERC through grant
EEC-9986821 and through funding from the Woods Hole Oceanographic Institution.
Repository Name:
Woods Hole Open Access Server
Type:
Preprint
Format:
application/pdf
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