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- The ARTEMIS under-ice AUV docking system
- 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.
- Kimball, Clark, Scully, Richmond, Flesher, Lindzey, Harman, Huffstutler, Lawrence, Lelievre, Moor, Pease, Siegel, Winslow, Blankenship, Doran, Kim, Schmidt, Stone
- Results in coastal waters with high resolution in situ spectral radiometry: The Marine Optical System ROV,
- The water-leaving spectral radiance is a basic ocean color remote sensing parameters required for the vicarious calibration. Determination of water-leaving spectral radiance using in-water radiometry requires measurements of the upwelling spectral radiance at several depths. The Marine Optical System (MOS) Remotely Operated Vehicle (ROV) is a portable, fiber-coupled, high-resolution spectroradiometer system with spectral coverage from 340 nm to 960 nm. MOS was developed at the same time as the Marine Optical Buoy (MOBY) spectrometer system and is optically identical except that it is configured as a profiling instrument. Concerns with instrument self-shadowing because of the large exterior dimensions of the MOS underwater housing led to adapting MOS and ROV technology. This system provides for measurement of the near-surface upwelled spectral radiance while minimizing the effects of shadowing. A major advantage of this configuration is that the ROV provides the capability to acquire measurements 5 cm to 10 cm below the water surface and is capable of very accurate depth control (1cm) allowing for high vertical resolution observations within the very near-surface. We describe the integrated system and its characterization and calibration. Initial measurements and results from observations of coral reefs in Kaneohe Bay, Oahu, extremely turbid waters in the Chesapeake Bay, Maryland, and in Case 1 waters off Southern Oahu, Hawaii are presented., , ,
- Yarbrough, Feinholz, Flora, Houlihan, Johnson, Kim, Murphy, Ondrusek, Clark