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

Abstract / Description of output

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	Institute of Electrical and Electronics Engineers
Number of pages	10
ISBN (Electronic)	978-1-7281-1450-7
ISBN (Print)	978-1-7281-1451-4
DOIs	https://doi.org/10.1109/OCEANSE.2019.8867290
Publication status	Published - 14 Oct 2019
Event	OCEANS 2019 - Marseille - Marseille, France Duration: 17 Jun 2019 → 20 Jun 2019

Publication series

Name
Publisher	IEEE
ISSN (Print)	0197-7385

Conference

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

Keywords / Materials (for Non-textual outputs)

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

Access to Document

10.1109/OCEANSE.2019.8867290Licence: All Rights Reserved

https://ieeexplore.ieee.org/document/8867290Licence: All Rights Reserved

Cite this

@inproceedings{75bed34656094286b8d2b1d83cfa5be8,

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

author = "Acosta, {Gerardo G.} and Menna, {Bruno V.} and Ignacio Carlucho and Paula, {Mariano De} 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.}",

year = "2019",

month = oct,

day = "14",

doi = "10.1109/OCEANSE.2019.8867290",

language = "English",

isbn = "978-1-7281-1451-4",

publisher = "Institute of Electrical and Electronics Engineers",

booktitle = "OCEANS 2019 - Marseille",

note = "OCEANS 2019 - Marseille ; Conference date: 17-06-2019 Through 20-06-2019",

}

Acosta, GG, Menna, BV, Carlucho, I, Paula, MD, Villar, SA, Curti, HJ, Rozenfeld, AF, de la Vega, RJ, Isasmendi, A, Leegstra, RC & Arrien, LM 2019, Ictiobot-40 a low cost AUV platform for acoustic imaging surveying. in OCEANS 2019 - Marseille. Institute of Electrical and Electronics Engineers, OCEANS 2019 - Marseille, Marseille, France, 17/06/19. https://doi.org/10.1109/OCEANSE.2019.8867290

TY - GEN

T1 - Ictiobot-40 a low cost AUV platform for acoustic imaging surveying

AU - Acosta, Gerardo G.

AU - Menna, Bruno V.

AU - Carlucho, Ignacio

AU - Paula, Mariano De

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 - Autonomous Underwater Vehicle

KW - acoustic surveying

KW - Local Interconnect Network

KW - Robot Operating System

KW - SONAR

U2 - 10.1109/OCEANSE.2019.8867290

DO - 10.1109/OCEANSE.2019.8867290

M3 - Conference contribution

SN - 978-1-7281-1451-4

BT - OCEANS 2019 - Marseille

PB - Institute of Electrical and Electronics Engineers

T2 - OCEANS 2019 - Marseille

Y2 - 17 June 2019 through 20 June 2019

ER -

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

Abstract / Description of output

Publication series

Conference

Keywords / Materials (for Non-textual outputs)

Access to Document

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Cite this