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A. Kukulya, A. Plueddemann, T. Austin, R. Stokey, M. Purcell, B. Allen, R. Littlefield, L. Freitag, P. Koski, E. Gallimore, J. Kemp, K. Newhall and J. Pietro
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, Under-Ice Operatioins with a REMUS-100 AUV in the Arctic, Proceedings IEEE , 2010
Abstract— Use of a REMUS-100 AUV to obtain hydrographic observations beneath coastal sea ice offshore of Barrow, Alaska is described. The work is motivated by the desire to obtain cross-shore hydrographic transects that would provide estimates of the transport of relatively dense, salty water from the Chukchi Sea to the Arctic Ocean in winter. The horizontal scales (~10 km), maximum water depths (~100 m) and desired measurements (temperature, salinity and velocity vs. depth) in the study region match the capabilities of a small AUV such as the REMUS-100. It was recognized that achieving the science goals would require increasing the range of acoustic navigation and communication as well as developing a robust approach to through-ice deployment and recovery. These needs drove three modifications to the AUV: 1) Incorporation of a lower frequency (10 kHz) transducer and associated hardware for navigation and communication, 2) Addition of special-purpose sensors and hardware in a hull extension module, 3) Development of a homing algorithm utilizing an Ultra-Short Base Line (USBL) array in the AUV nose cone. In March 2010, twelve days of field work offshore of Barrow provided successful demonstration of the system. A total of 14 km of track lines beneath a coastal ice floe were obtained from four missions, each successfully terminated by net-capture recovery.
Index Terms—Autonomous vehicles, navigation, launch and recovery, Arctic.
FILE » REMUS-100 Under-ice Operations
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