Using Autonomous Underwater Vehicles as Sensor Platforms for Ice-Monitoring

Norgren, Petter; Skjetne, Roger

doi:10.4173/mic.2014.4.4

Cited by 16 publications

(13 citation statements)

References 45 publications

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“…The use of remotely operated vehicles (ROV) and autonomous underwater vehicles (AUV) under polar sea ice has been explored already more than a decade ago (Gutt, 1995;Ambrose et al, 2005;Wadhams et al, 2006;Kaminski et al, 2010) with vehicles targeted at a specific task using a limited set of sensors. Today they are operated on a more regular basis (Nicolaus and Katlein, 2013;Norgren and Skjetne, 2014;Katlein et al, 2015a;Williams et al, 2015;Forrest et al, 2016). Vehicles now target a larger variety of tasks with a more complex combination of sensors.…”

Section: Introductionmentioning

confidence: 99%

A New Remotely Operated Sensor Platform for Interdisciplinary Observations under Sea Ice

et al. 2017

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Observation of the climate and ecosystem of ice covered polar seas is a timely task for the scientific community. The goal is to assess the drastic and imminent changes of the polar sea ice cover induced by climate change. Retreating and thinning sea ice affects the planets energy budget, atmospheric, and oceanic circulation patterns as well as the ecosystem associated with this unique habitat. To increase the observational capabilities of sea ice scientists, we equipped a remotely operated vehicle (ROV) as sensor platform for interdisciplinary research at the ice water interface. Here, we present the technical details and operation scheme of the new vehicle and provide data examples from a first campaign in the Arctic in autumn 2016 to demonstrate the vehicle's capabilities. The vehicle is designed for efficient operations in the harsh polar conditions. Redundant modular design allows operation by three scientists simultaneously operating a wide variety of sensors. Sensors from physical, chemical, and biological oceanography are combined with optical and acoustic sea ice sensors to provide a comprehensive picture of the underside of sea ice. The sensor suite provides comprehensive capabilities and can be further extended as additional ports for power and communication are available. The vehicle provides full six degrees of freedom in navigation, enabling intervention, and manipulation skills despite its simple one function manipulator arm.

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Section: Introductionmentioning

confidence: 99%

A New Remotely Operated Sensor Platform for Interdisciplinary Observations under Sea Ice

et al. 2017

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“…The US Geological Survey predicted that 30% of the world's undiscovered gas and 13% of the undiscovered oil are located in the Arctic and high latitudes (Gautier et al, ). Driven by economic factors, exploration activities are expected to increase in these unexploited regions, but sea‐ice and icebergs raise safety concerns (Norgren & Skjetne, ). To address safety concerns, different management approaches have been proposed for different environments.…”

Section: Introductionmentioning

confidence: 99%

Mapping the underside of an iceberg with a modified underwater glider

Zhou

Bachmayer

deYoung

2019

Journal of Field Robotics

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Icebergs pose many challenges to offshore operations in the Arctic Ocean and subarctic regions. They could damage underwater infrastructure such as pipelines, and disrupt marine transportation. The below-water shape of an iceberg is a key factor for iceberg management in the North Atlantic Ocean because it affects the iceberg towing plans and iceberg drift patterns. In recent years, unmanned platforms have been proposed as potential candidates for underwater iceberg mapping. Compared to a conventional ship-based iceberg survey, using unmanned platforms is more efficient and safer. In this paper, we present research using a hybrid underwater glider to measure the underwater shape of an iceberg. The vehicle is equipped with a mechanical scanning sonar for range sensing and iceberg mapping, and a guidance system is designed to use the sonar measurements for guiding the vehicle to circumnavigate an iceberg at the desired standoff distance. Several field experiments have been conducted on an iceberg to evaluate the system performance. With repeated observations, the underside of the target iceberg was successfully reconstructed, and iceberg shape comparisons are presented.

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“…The measurements from the MBE sensor are greatly affected by AUV motions like rolling and pitching, since the sonar head is fixed to the the AUV body. The targeted AUV during the simulator development is the RE-MUS 100 AUV (Norgren and Skjetne, 2014). The model parameters have been taken from a previous REMUS 100 model by Prestero (1994).…”

Section: Auv Modelmentioning

confidence: 99%

“…The obtained parameters may be used for example for drift forecasting. The AUV is assumed to be a torpedo-shaped vehicle, more specifically, we assume that the AUV is a REMUS 100 vehicle (Norgren and Skjetne, 2014). The AUV is assumed to have a robust and accurate orientation sensor, capable of measuring the attitude of the AUV at a high rate.…”

Section: Problem Formulationmentioning

confidence: 99%

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Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar

Norgren

Skjetne

2015

IFAC-PapersOnLine

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Obtaining 3D information about ice features, like icebergs, are of interest to researchers and offshore operators moving into the Arctic. Icebergs are affected by wind, and ocean currents, and can have unpredictable drift patterns, causing challenges when it comes to mapping objectives. Autonomous underwater vehicles (AUVs) equipped with multibeam echosounders are suitable for obtaining measurements of the underwater geometry of icebergs, but advances in autonomy are needed to map drifting icebergs reliably. This paper details a guidance algorithm for detecting and circumnavigating an iceberg -following the iceberg edge. The guidance scheme is implemented as a state machine, starting in an iceberg detection-mode.Once an iceberg is detected, the AUV will enter a mapping-mode. An edge detection algorithm will determine the position of the edge, and a line-of-sight approach will be used for edgefollowing. A six degree-of-freedom AUV simulator is used to perform a simulation study, to show how AUV dynamics affect the results. The simulation study presented shows the algorithm's effectiveness, both when the iceberg is assumed stationary, and when the iceberg is drifting and rotating with constant velocity.

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Using Autonomous Underwater Vehicles as Sensor Platforms for Ice-Monitoring

Cited by 16 publications

References 45 publications

A New Remotely Operated Sensor Platform for Interdisciplinary Observations under Sea Ice

A New Remotely Operated Sensor Platform for Interdisciplinary Observations under Sea Ice

Mapping the underside of an iceberg with a modified underwater glider

Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar

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