UX 1 system design - A robotic system for underwater mining exploration
Alfredo Martins, José Almeida, Carlos Almeida, André Dias, Nuno Dias, Jussi Aaltonen, Arttu Heininen, Kari T. Koskinen
Abstract
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.
BibTeX
@inproceedings{iros2018_ux1systemdesigna,
title = {UX 1 system design - A robotic system for underwater mining exploration},
author = {Alfredo Martins and José Almeida and Carlos Almeida and André Dias and Nuno Dias and Jussi Aaltonen and Arttu Heininen and Kari T. Koskinen and Claudio Rossi and Sergio Dominguez and Csaba Vörös and Stephen Henley and Mike McLoughlin and Hilco van Moerkerk and James Tweedie and Balazs Bodo and Norbert Zajzon and Eduardo Silva},
booktitle = {IROS 2018},
year = {2018}
}