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UX 1 system design - A robotic system for underwater mining exploration

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
Otsikko2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
AlaotsikkoOctober, 1-5, 2018, Madrid, Spain
KustantajaIEEE
Sivut1494-1500
Sivumäärä7
ISBN (elektroninen)978-1-5386-8094-0
ISBN (painettu)978-1-5386-8095-7
DOI - pysyväislinkit
TilaJulkaistu - 5 lokakuuta 2018
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS -
Kesto: 1 tammikuuta 1900 → …

Julkaisusarja

Nimi
ISSN (elektroninen)2153-0866

Conference

ConferenceIEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS
Ajanjakso1/01/00 → …

Tiivistelmä

This paper describes the UX-1 underwater mine exploration robotic system under development in the context of the UNEXMIN project. UNEXMIN is an international innovation action funded under the EU H2020 program, aiming to develop new technologies and services allowing the exploration of flooded underground mines. The system is comprised by the UX-1 robot prototype, launch and recovery system, command and control subsystem and a data management and post-processing computational infrastructure. The UX-1 robot is a small spherical robot equipped with a multibeam sonar, five digital cameras and rotating laser line structured light systems. It is capable of obtaining an accurate point cloud of the surrounding environment along with high resolution imagery. A set of mineralogy, water parameters and geophysical sensors was also developed in order to obtain a more comprehensive mine model. These comprise a multi-spectral camera, electro-conductivity, pH, magnetic field sensors, a subbottom sonar, total natural gamma-ray detector, UV-light for fluorescent observation and a water sampling unit. The design of the system is presented along with the robot design. Some preliminary results are also presented and discussed

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