Aquatis and Ryujin projects: First steps to remote sensing bottom of the sea by small homemade Autonomous Underwater Vehicles
| Autor: | V. Vittori, Antoine Gademer, Jean-Paul Rudant, L. Beaudoin, L. Avanthey, L. Dupessey |
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| Přispěvatelé: | Ecole Supérieure d'Informatique Electronique Automatique [Paris] (ESIEA), Université Paris-Est Marne-la-Vallée (UPEM) |
| Rok vydání: | 2012 |
| Předmět: |
[SDU.OCEAN]Sciences of the Universe [physics]/Ocean
Atmosphere Engineering 010504 meteorology & atmospheric sciences business.industry 0211 other engineering and technologies 02 engineering and technology CONTEST 01 natural sciences [SPI.AUTO]Engineering Sciences [physics]/Automatic Intervention AUV Underwater vehicle Information and Communications Technology Remote sensing (archaeology) Robot [INFO.INFO-ES]Computer Science [cs]/Embedded Systems 14. Life underwater Democratization Underwater business [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing 021101 geological & geomatics engineering 0105 earth and related environmental sciences Remote sensing |
| Zdroj: | IGARSS IEEE International Geoscience and Remote Sensing Symposium (IGARSS) IEEE International Geoscience and Remote Sensing Symposium (IGARSS), 2012, Munich, Germany. ⟨10.1109/IGARSS.2012.6352405⟩ |
| DOI: | 10.1109/igarss.2012.6352405 |
| Popis: | International audience; For many applications such as pipeline surveys, environmental, archeological or security studies, precise information on the sea bottom can be critical. But because of the difficulties of underwater exploration, even coastal areas are mostly unsurveyed. The main issues are due to the hostility of the sea environment: pressure, salinity, and a limited visibility (less than 15 meters most of the time). It is also very difficult to get a precise localisation: there is a huge drift and it is impossible to use such device as the GPS data for live geo-positionning. For all these reasons, it takes a lot of time to cover an area undersea, and the use of divers may be too dangerous or expensive. That is why the use of underwater robots is considered as an efficient solution: it allows deeper and longer diving as well as the use of optimized payloads.In a divide and conquer approach, using a team of robots allows to decrease the time needed to cover the area of interest. The main hindrance to such development is the cost (> 10,000 euros) and the size (manipulation, transportation, etc.) of the robots. That is why we present in this article two small low cost homemade underwater robots. These robots are called Aquatis and Ryujin and benefited from the experience earned on our previous aerial robotic work [?, ?, ?]. A first section summarize the technical aspects of the robots (mechanical and electronic designs, software developments). Then we present the first operational results obtained during pool tests and also during an international student contest dedicated to autonomous underwater robotics. This section ends with pedagogical return of experience. |
| Databáze: | OpenAIRE |
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