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The exploration of under-ice environments has seen increased interest over the past few years due to advances in technological capabilities, such as autonomous underwater vehicles (AUVs), as well as interest in exploration of polar regions and Jupiter's ice-covered moon Europa. Searching for interesting features under the ice, including animals capable of sustaining life in such harsh environments,...
The Icefin vehicle is a novel, custom under-ice unmanned underwater vehicle. This vehicle was designed for polar sub-ice deployment and was deployed to McMurdo, Antarctica in November of 2014. An overview of the unique vehicle design is presented here, along with a summary of the deployment testing in Antarctica. Lessons learned from this deployment provided an opportunity for design improvements...
Localization and navigation in an under-ice underwater environment presents a difficult challenge. GPS, the standard means of localization for aerial and terrestrial vehicles, is not available underwater. Common underwater navigation solutions such as compass sensors and acoustic triangulation are not available under the ice or require overwhelming support infrastructure. Decreased localization error...
Underwater environments hidden beneath a layer of ice prove challenging to explore for both humans and unmanned underwater vehicles. Exploration of such areas is a topic of interest to many scientific communities. In this paper, we discuss details on the approach taken to obtain sonar and video data of under ice topography in a Colorado mountain lake using a VideoRay Pro IV unmanned underwater vehicle...
Presented here is the initial hardware and software design of the Icefin autonomous underwater vehicle for use in under-ice missions in Antarctica. Exploration of the ocean beneath hundreds of meters of ice in Antarctica is a difficult task. However, many areas of science are interested in obtaining data from this environment and other similar environments including Jupiter's moon Europa. Deployment...
In this paper, we discuss a low-level sensor fusion method to combine datasets from a forward-looking acoustic sonar sensor and an optical camera mounted on an unmanned underwater vehicle. Landmark detection in an underwater environment with typical imaging sensors is prone to errors. Combining the strengths of multiple sensors through fusion allows more accurate detection of objects and landmarks...
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