Toward extraplanetary under-ice exploration : robotic steps in the Arctic Kunz, Clayton G. Murphy, Christopher A. Singh, Hanumant Pontbriand, Claire W. Sohn, Robert A. Singh, Sandipa Sato, Taichi Roman, Christopher N. Nakamura, Ko-ichi Jakuba, Michael V. Eustice, Ryan M. Camilli, Richard Bailey, John 2009-04-13T13:14:08Z 2009-04-13T13:14:08Z 2009-01-12
dc.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. en
dc.description.abstract 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. en
dc.description.sponsorship 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. en
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dc.language.iso en_US en
dc.title Toward extraplanetary under-ice exploration : robotic steps in the Arctic en
dc.type Preprint en
dspace.entity.type Publication
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