Deep Sea Underwater Robotic Exploration in the Ice-Covered Arctic Ocean with AUVs

The Arctic seafloor remains one of the last unexplored areas on Earth. Exploration of this unique environment using standard remotely operated oceanographic tools has been obstructed by the dense Arctic ice cover. In the summer of 2007 the Arctic Gakkel Vents Expedition (AGAVE) was conducted with the express intention of understanding aspects of the marine biology, chemistry and geology associated with hydrothermal venting on the section of the mid-ocean ridge known as the Gakkel Ridge. Unlike previous research expeditions to the Arctic the focus was on high resolution imaging and sampling of the deep seafloor. To accomplish our goals we designed two new Autonomous Underwater Vehicles (AUVs) named Jaguar and Puma, which performed a total of nine dives at depths of up to 4062m. These AUVs were used in combination with a towed vehicle and a conventional CTD (conductivity, temperature and depth) program to characterize the seafloor. This paper describes the design decisions and operational changes required to ensure useful service, and facilitate deployment, operation, and recovery in the unique Arctic environment.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/86060/1/ckunz-17.pd

Scientific challenges and present capabilities in underwater robotic vehicle design and navigation for oceanographic exploration under-ice.

This paper reviews the scientific motivation and challenges, development, and use of underwater robotic vehicles designed for use in ice-covered waters, with special attention paid to the navigation systems employed for under-ice deployments. Scientific needs for routine access under fixed and moving ice by underwater robotic vehicles are reviewed in the contexts of geology and geophysics, biology, sea ice and climate, ice shelves, and seafloor mapping. The challenges of under-ice vehicle design and navigation are summarized. The paper reviews all known under-ice robotic vehicles and their associated navigation systems, categorizing them by vehicle type (tethered, untethered, hybrid, and glider) and by the type of ice they were designed for (fixed glacial or sea ice and moving sea ice). © 2020 by the authors

Underwater robotics in the future of arctic oil and gas operations

Master's thesis in Petroleum engineeringArctic regions have lately been in the centre of increasing attention due to high vulnerability to climate change and the retreat in sea ice cover. Commercial actors are exploring the Arctic for new shipping routes and natural resources while scientific activity is being intensified to provide better understanding of the ecosystems. Marine surveys in the Arctic have traditionally been conducted from research vessels, requiring considerable resources and involving high risks where sea ice is present. Thus, development of low-cost methods for collecting data in extreme areas is of interest for both industrial purposes and environmental management. The main objective of this thesis is to investigate the use of underwater vehicles as sensor platforms for oil and gas industry applications with focus on seabed mapping and monitoring. Theoretical background and a review of relevant previous studies are provided prior to presentation of the fieldwork, which took place in January 2017 in Kongsfjorden (Svalbard). The fieldwork was a part of the Underwater Robotics and Polar Night Biology course offered at the University Centre in Svalbard. Applied unmanned platforms included remotely operated vehicles (ROVs), autonomous underwater vehicles (AUVs) and an autonomous surface vehicle (ASV). They were equipped with such sensors as side-scan sonar, multi-beam echo sounder, camera and others. The acquired data was processed and used to provide information about the study area. The carried out analysis of the vehicle performance gives an insight into challenges specific to marine surveys in the Arctic regions, especially during the period of polar night. The discussion is focused on the benefits of underwater robotics and integrated platform surveying in remote and harsh environment. Recommendations for further research and suggestions for application of similar vehicles and sensors are also given in the thesis

Toward autonomous exploration in confined underwater environments

Author Posting. © The Author(s), 2015. 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 33 (2016): 994-1012, doi:10.1002/rob.21640.In this field note we detail the operations and discuss the results of an experiment conducted in the unstructured environment of an underwater cave complex, using an autonomous underwater vehicle (AUV). For this experiment the AUV was equipped with two acoustic sonar to simultaneously map the caves’ horizontal and vertical surfaces. Although the caves’ spatial complexity required AUV guidance by a diver, this field deployment successfully demonstrates a scan matching algorithm in a simultaneous localization and mapping (SLAM) framework that significantly reduces and bounds the localization error for fully autonomous navigation. These methods are generalizable for AUV exploration in confined underwater environments where surfacing or pre-deployment of localization equipment are not feasible and may provide a useful step toward AUV utilization as a response tool in confined underwater disaster areas.This research work was partially sponsored by the EU FP7-Projects: Tecniospring- Marie Curie (TECSPR13-1-0052), MORPH (FP7-ICT-2011-7-288704), Eurofleets2 (FP7-INF-2012-312762), and the National Science Foundation (OCE-0955674)

Physics and Ecology in the Marginal Ice Zone of the Fram Strait : a Robotic Approach

This thesis describes operations of an autonomous underwater vehicle (AUV) to investigate the complex interaction between physical forcing and ecological response in the marginal ice zone of the Fram Strait. The vehicle was equipped with instruments collecting physical, chemical, and biological data in the euphotic zone (0 - 50 m depth). After an introductory part, the thesis consists of six studies. The first four studies have a technical focus and they describe the integration of a water sample collector, sensors and a payload control computer. Additionally, supporting technologies such as flying drones and a filter to correct the AUV s navigation data are described. The fifth study tackles the issue of the purity and safety of the water samples inside the AUV. The last study has a scientific focus and presents the first direct observations of wind driven frontogenesis along a melt water front. Vehicle data were complemented by means of ship and model based data to explain the observed hydrographic structures and the distribution of chlorophyll a. In the final section of this thesis, open scientific questions and possible technological upgrades are presented

Application of unmanned underwater vehicles in polar research

The importance of polar ice as vital components of the global ocean–climate system is widely recognized. In this paper, we demonstrate the importance and urgency of polar research, describe the primary characteristics of sea ice and ice shelves, and outline the current status and difficulties associated with sub-ice research. We highlight the importance of Unmanned Underwater Vehicles (UUVs) as important tools for oceanographic research. We present recent progress in UUV deployment in sub-ice research in the Arctic and the Antarctic, and review the latest international developments in UUV structure, navigation, payload, and field operation. Moreover, Chinese polar UUVs and their deployments in the polar regions are presented in detail. Key technologies and solutions regarding polar application of UUVs (e.g., sub-ice navigation and positioning, energy supply and data transmission, and sub-ice guidance and recovery) are discussed. Given the current worldwide attention on polar science, the potential future directions of UUV-related polar research (e.g., observations under Antarctic ice shelves, long-range surveys beneath Arctic sea ice and application of intelligent technology) are discussed

Streaming Scene Maps for Co-Robotic Exploration in Bandwidth Limited Environments

This paper proposes a bandwidth tunable technique for real-time probabilistic scene modeling and mapping to enable co-robotic exploration in communication constrained environments such as the deep sea. The parameters of the system enable the user to characterize the scene complexity represented by the map, which in turn determines the bandwidth requirements. The approach is demonstrated using an underwater robot that learns an unsupervised scene model of the environment and then uses this scene model to communicate the spatial distribution of various high-level semantic scene constructs to a human operator. Preliminary experiments in an artificially constructed tank environment as well as simulated missions over a 10m$\times$10m coral reef using real data show the tunability of the maps to different bandwidth constraints and science interests. To our knowledge this is the first paper to quantify how the free parameters of the unsupervised scene model impact both the scientific utility of and bandwidth required to communicate the resulting scene model.Comment: 8 pages, 6 figures, accepted for presentation in IEEE Int. Conf. on Robotics and Automation, ICRA '19, Montreal, Canada, May 201

Ocean Floor Observation and Bathymetry System (OFOBS): A new Towed Camera/Sonar System for Deep-Sea Habitat Surveys

Towed camera systems are commonly used to collect photo and video images of the deep seafloor for a wide variety of purposes, from pure exploratory research to the development of management plans. Ongoing technological developments are increasing the quantity and quality of data collected from the deep seafloor. Despite these improvements, the area of seafloor, which towed systems can survey, optically remains limited by the rapid attenuation of visible wavelengths within water. We present an overview of a new towed camera platform integrating additional acoustical devices: the ocean floor observation and bathymetry system (OFOBS). The towed system maintains continuous direct communication via fiber optic cable with a support vessel, operational at depths up to 6000 m. In addition to collecting seafloor photo and video data, OFOBS gathers sidescan data over a 100-m swath width. OFOBS functionality is further augmented by a forward looking sonar, used to aid in hazard avoidance and real-time course correction. Data collected during the first field deployments of OFOBS, at a range of seamounts on the Langseth Ridge/Gakkel Ridge intersection (86° N, 61° E) in the high Arctic in September 2016, are presented to demonstrate the functionality of the system. Collected from a location with near continuous ice cover, this explanatory data set highlights the advantages of the system for deep-sea survey work in environments currently difficult to access for the majority of subsurface research platforms