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Citation link: https://doi.org/10.26092/elib/3648
Meurer_Thorgeirsson_Bachmeyer_ SPiraling Intelligent Robotic Underwater monitoring pLAtform (SPIRULA)_2024_accepted-version.pdf
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SPiraling Intelligent Robotic Underwater monitoring pLAtform (SPIRULA) - towards repeated, high density and low-cost seafloor monitoring


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Meurer_Thorgeirsson_Bachmeyer_ SPiraling Intelligent Robotic Underwater monitoring pLAtform (SPIRULA)_2024_accepted-version.pdf2.79 MBAdobe PDFView/Open
Authors: Meurer, Christian  
Thorgeirsson, Adam Thor  
Bachmayer, Ralf  
Abstract: 
Repeated multi-modal seafloor observations over an extended period of time have significant applications in marine biology, chemistry and geology. Reducing the logistical effort, cost and complexity in monitoring technology for such tasks, will help to increase accessibility and availability of relevant long-term monitoring data. To this end, a new design concept, the SPiraling Intelligent Robotics Underwater monitoring pLAtform (SPIRULA), is introduced and evaluated. The key idea for SPIRULA is the combination of a static lander and a mobile autonomous vehicle, which is permanently tethered to the lander. Through shared data and energy between the two sub-systems SPIRULA can be made robust, small and with reduced complexity. By unwinding and winding from a passive drum with a taught tether the SPIRULA vehicle is forced on a circle involute path around the SPIRULA lander, which can be analytically described and used during system design and for navigation purposes. Spiraling paths have shown to be efficient in terms of coverage, for instance, a tether length of approximately 20 m allows already for a monitoring coverage of 1200 m2 around the lander. Given a conservative estimate of the energy expenditure of the SPIRULA system and a desired survey area of 1200 m2 at a constant speed along the path of 0.5 m/s it can be shown, that a total energy storage of 10 kWh would provide the system with the ability to conduct between 38 to 82 surveys depending on the sensor suite used. Those surveys can then be spread over days to months to provide a first step towards repeated long-term environmental monitoring on the seafloor with SPIRULA.
Keywords: Long-term seafloor monitoring; Autonomous underwater systems; Spiral surveys; ROS2; micro-ROS
Issue Date: 18-Sep-2024
Publisher: IEEE
Project: AIMS3: Alternate scenarios, Innova- tive technologies, and Monitoring approaches for Sub-Seabed Storage of carbon dioxide 
Funders: German Marine Research Alliance (DAM) research mission ‘Marine carbon sinks in decarbonization pathways’.
Grant number: Grant 03F0894C
Journal/Edited collection: Proceedings of the 2024 Symposium on Autonomous Underwater Vehicle Technology (AUV), September 19 to 21, 2024, Boston, Massachussetts, USA 
Type: Konferenzbeitrag
Conference: IEEE OES AUV Symposium 2024 
Secondary publication: yes
Document version: Postprint
DOI: 10.26092/elib/3648
URN: urn:nbn:de:gbv:46-elib87283
Institution: Universität Bremen 
Faculty: Werner Siemens Innovationszentrum für Tiefsee-Umweltüberwachung
Institute: Marum – Zentrum für Marine Umweltwissenschaften 
Appears in Collections:Forschungsdokumente

  

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