Ictiobot-40 a low cost AUV platform for acoustic imaging surveying

Gerardo G. Acosta; Bruno V. Menna; Ignacio Carlucho; Mariano De Paula; Sebastian A. Villar; Hugo J. Curti; Alejandro F. Rozenfeld; Roberto J. De La Vega; Agustin Isasmendi; Roberto C. Leegstra; Luis M. Arrien

doi:10.1109/OCEANSE.2019.8867290

Ictiobot-40 a low cost AUV platform for acoustic imaging surveying

Gerardo G. Acosta, Bruno V. Menna, Ignacio Carlucho, Mariano De Paula, Sebastian A. Villar, Hugo J. Curti, Alejandro F. Rozenfeld, Roberto J. De La Vega, Agustin Isasmendi, Roberto C. Leegstra, Luis M. Arrien

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

Autonomous Underwater Vehicles (AUVs) are suitable platforms for a wide type of applications in the oceanic environment. These applications are developed in various fields such as scientific surveying, off-shore industry and defense. The employment of AUVs requires less human support and reduces operation costs. Due to the changing marine environment these vehicles must deal with uncertain and hostile conditions to perform its tasks. In the marine robotics matter, the INTELYMEC group has developed in 2012 an AUV prototype called Ictiobot, a low cost experimental platform for multipurpose missions. In this paper an upgrade of the original prototype is presented, the Ictiobot-40, conceived to perform acoustic imaging surveying missions of up to two hours and maximum depths of 40 meters. The new software and hardware architectures and mechanical structure improvements, are detailed. In addition to these technical details, initial experimental results of the AUV performance in quiet waters will be discussed. Also, the new approaches for systems under development are presented.

Original language	English
Title of host publication	OCEANS 2019 - Marseille
Publisher	IEEE
ISBN (Electronic)	9781728114507
DOIs	https://doi.org/10.1109/OCEANSE.2019.8867290
Publication status	Published - 14 Oct 2019
Event	OCEANS Marseille 2019 - Marseille, France Duration: 17 Jun 2019 → 20 Jun 2019

Conference

Conference	OCEANS Marseille 2019
Country/Territory	France
City	Marseille
Period	17/06/19 → 20/06/19

Keywords

Acoustic surveying
Autonomous Underwater Vehicle
Local Interconnect Network
Robot Operating System
SONAR

ASJC Scopus subject areas

Oceanography
Automotive Engineering
Management, Monitoring, Policy and Law
Water Science and Technology
Instrumentation

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/OCEANSE.2019.8867290

Cite this

@inproceedings{128493b5064c4cc5826f0c1b229968ae,

title = "Ictiobot-40 a low cost AUV platform for acoustic imaging surveying",

abstract = "Autonomous Underwater Vehicles (AUVs) are suitable platforms for a wide type of applications in the oceanic environment. These applications are developed in various fields such as scientific surveying, off-shore industry and defense. The employment of AUVs requires less human support and reduces operation costs. Due to the changing marine environment these vehicles must deal with uncertain and hostile conditions to perform its tasks. In the marine robotics matter, the INTELYMEC group has developed in 2012 an AUV prototype called Ictiobot, a low cost experimental platform for multipurpose missions. In this paper an upgrade of the original prototype is presented, the Ictiobot-40, conceived to perform acoustic imaging surveying missions of up to two hours and maximum depths of 40 meters. The new software and hardware architectures and mechanical structure improvements, are detailed. In addition to these technical details, initial experimental results of the AUV performance in quiet waters will be discussed. Also, the new approaches for systems under development are presented.",

keywords = "Acoustic surveying, Autonomous Underwater Vehicle, Local Interconnect Network, Robot Operating System, SONAR",

author = "Acosta, {Gerardo G.} and Menna, {Bruno V.} and Ignacio Carlucho and {De Paula}, Mariano and Villar, {Sebastian A.} and Curti, {Hugo J.} and Rozenfeld, {Alejandro F.} and {De La Vega}, {Roberto J.} and Agustin Isasmendi and Leegstra, {Roberto C.} and Arrien, {Luis M.}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; OCEANS Marseille 2019 ; Conference date: 17-06-2019 Through 20-06-2019",

year = "2019",

month = oct,

day = "14",

doi = "10.1109/OCEANSE.2019.8867290",

language = "English",

booktitle = "OCEANS 2019 - Marseille",

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AU - Acosta, Gerardo G.

AU - Menna, Bruno V.

AU - Carlucho, Ignacio

AU - De Paula, Mariano

AU - Villar, Sebastian A.

AU - Curti, Hugo J.

AU - Rozenfeld, Alejandro F.

AU - De La Vega, Roberto J.

AU - Isasmendi, Agustin

AU - Leegstra, Roberto C.

AU - Arrien, Luis M.

PY - 2019/10/14

Y1 - 2019/10/14

N2 - Autonomous Underwater Vehicles (AUVs) are suitable platforms for a wide type of applications in the oceanic environment. These applications are developed in various fields such as scientific surveying, off-shore industry and defense. The employment of AUVs requires less human support and reduces operation costs. Due to the changing marine environment these vehicles must deal with uncertain and hostile conditions to perform its tasks. In the marine robotics matter, the INTELYMEC group has developed in 2012 an AUV prototype called Ictiobot, a low cost experimental platform for multipurpose missions. In this paper an upgrade of the original prototype is presented, the Ictiobot-40, conceived to perform acoustic imaging surveying missions of up to two hours and maximum depths of 40 meters. The new software and hardware architectures and mechanical structure improvements, are detailed. In addition to these technical details, initial experimental results of the AUV performance in quiet waters will be discussed. Also, the new approaches for systems under development are presented.

AB - Autonomous Underwater Vehicles (AUVs) are suitable platforms for a wide type of applications in the oceanic environment. These applications are developed in various fields such as scientific surveying, off-shore industry and defense. The employment of AUVs requires less human support and reduces operation costs. Due to the changing marine environment these vehicles must deal with uncertain and hostile conditions to perform its tasks. In the marine robotics matter, the INTELYMEC group has developed in 2012 an AUV prototype called Ictiobot, a low cost experimental platform for multipurpose missions. In this paper an upgrade of the original prototype is presented, the Ictiobot-40, conceived to perform acoustic imaging surveying missions of up to two hours and maximum depths of 40 meters. The new software and hardware architectures and mechanical structure improvements, are detailed. In addition to these technical details, initial experimental results of the AUV performance in quiet waters will be discussed. Also, the new approaches for systems under development are presented.

KW - Acoustic surveying

KW - Autonomous Underwater Vehicle

KW - Local Interconnect Network

KW - Robot Operating System

KW - SONAR

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DO - 10.1109/OCEANSE.2019.8867290

M3 - Conference contribution

AN - SCOPUS:85079763644

BT - OCEANS 2019 - Marseille

PB - IEEE

T2 - OCEANS Marseille 2019

Y2 - 17 June 2019 through 20 June 2019

ER -

Ictiobot-40 a low cost AUV platform for acoustic imaging surveying

Abstract

Conference

Keywords

ASJC Scopus subject areas

UN SDGs

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