ROBEX - innovative robotic technologies for ocean observations, a deep-sea demonstration mission

Wenzhoefer, Frank; Wulff, Thorben; Floegel, S.; Sommer, Stefan; Waldmann, Christoph

doi:10.1109/oceans.2016.7761215

Cited by 8 publications

(8 citation statements)

References 10 publications

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“…The basic crawler design was developed within the Crawler Design Team of the HGFAlliance ROBEX [5], and is based on the crawler Wally [6]. A common design of the main crawler frame and caterpillar propulsion was identified where modular systems for docking and scientific payloads can be added depending on the different scientific question [7].…”

Section: Benthic Crawler Trampermentioning

confidence: 99%

“…During its mission at the seafloor the pre-programmed mission scenario is performed consisting of consecutive sleeping, moving and measurement cycles (Fig. 12) [7]. When active TRAMPER starts with a movement of 15m at 14m min -1 to avoid sediment resuspension.…”

Section: System Deploymentmentioning

confidence: 99%

“…Thus at the end of this cruise TRAMPER was deployed for its first long-term mission at the central HAUSGARTEN site in July 2016. The crawler will stay in the Arctic deep-sea at 2500m for more than one year and will be recovered during the ROBEX Demonstration mission cruise with RV Polarstern PS108 in August 2017 [7]. V. FUTURE DEVELOPMENTS Future developments in autonomous crawler technology at the AWI for long-term benthic ecosystems studies at FRAM include additional scientific payloads for benthic community studies.…”

Section: System Deploymentmentioning

confidence: 99%

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Tramper

Wenzhöfer

Lemburg

Hofbauer

et al. 2016

OCEANS 2016 MTS/IEEE Monterey

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-TRAMPER is an autonomous benthic crawler equipped with oxygen sensors to perform long-term flux time series measurements at abyssal depth. The crawler is developed within the HGF-Alliance ROBEX. TRAMPER has five main subsystems: the titanium frame with the flotation, the caterpillar drive system, recovery and communication systems, energy and electronics and a multi-optode profiler as the scientific payload. A lithium-ion battery pack provides the energy to run an oxygen profiling system performing consecutive measurements (>52 cycles) along its transecting moving on the seafloor. This new generation of optode-based oxygen monitoring system allows using 18 oxygen optodes and is able to perform in situ calibrations. A video-guided launching system is used to deploy the crawler at the seafloor. At the seafloor the pre-programmed mission scenario is performed consisting of consecutive sleeping, moving and measurement cycles. The aim is to cover a seasonal cycle of settling organic matter on the seafloor and to resolve the impact on the benthic community respiration activity.

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Section: Benthic Crawler Trampermentioning

confidence: 99%

Section: System Deploymentmentioning

confidence: 99%

Section: System Deploymentmentioning

confidence: 99%

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Tramper

Wenzhöfer

Lemburg

Hofbauer

et al. 2016

OCEANS 2016 MTS/IEEE Monterey

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“…Benthic landers are equipped with diverse sensors and devices according to the tasks they are deployed to perform, including microprofilers, planar optodes, and digital cameras to study sediment-water interface properties; eddy correlation systems to measure the fluxes of dissolved chemical species in extensive areas; video cameras to investigate the deep sea biota; and oceanographic sensors (O 2 , pH, redox potential (Eh or ORP), optical turbidity, CTD, current meters, sediment traps) to study the water column [8,9,23,24,25,26,27,28]. In the past few years, other and much more complex and expensive devices have also been developed, such as landers for hadal environments [29,30,31,32,33], for multipurpose uses, and for transporting other mobile devices [34,35,36,37].…”

Section: Introductionmentioning

confidence: 99%

The AMERIGO Lander and the Automatic Benthic Chamber (CBA): Two New Instruments to Measure Benthic Fluxes of Dissolved Chemical Species

Spagnoli¹,

Penna²,

Giuliani³

et al. 2019

Sensors

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Marine environments are currently subject to strong ecological pressure due to local and global anthropic stressors, such as pollutants and atmospheric inputs, which also cause ocean acidification and warming. These strains can result in biogeochemical cycle variations, environmental pollution, and changes in benthic-pelagic coupling processes. Two new devices, the Amerigo Lander and the Automatic Benthic Chamber (CBA), have been developed to measure the fluxes of dissolved chemical species between sediment and the water column, to assess the biogeochemical cycle and benthic-pelagic coupling alterations due to human activities. The Amerigo Lander can operate in shallow as well as deep water (up to 6000 m), whereas the CBA has been developed for the continental shelf (up to 200 m). The lander can also be used to deploy a range of instruments on the seafloor, to study the benthic ecosystems. The two devices have successfully been tested in a variety of research tasks and environmental impact assessments in shallow and deep waters. Their measured flux data show good agreement and are also consistent with previous data.

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“…Japan "KAIKO" ROV and United States "Nereus" Hybrid Remotely Operated Vehicle (HROV) were lost, and since then Japan, Germany, United States and other countries competing to develop miniaturized deep-sea crawlers. These crawler vehicles can coordinate with other equipment, such as benthic observatory or lander, which product some new modes of benthic exploration [6][7] [8].…”

Section: Introductionmentioning

confidence: 99%

Mechanism-Parameters Optimization of a Reconfigurable Tracked Mobile Modular Deep-Sea Rover ROV

Zhang

et al. 2018

2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)

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It is extremely difficult and expensive to operate a traditional remotely operated vehicle (ROV) in the deep sea. In this paper, a small and reconfigurable tracked mobile modular deep-sea rover ROV (R-ROV) is designed to conduct regional fine-sounding operations. The R-ROV can be placed inside a deep-sea lander, which can be operated in 3000m depth seafloor. When the lander lands seafloor, R-ROV can walk out in crawling or cruising mode operated in a fan-shaped area with long working time. In order to obtain mechanism-parameters and improve R-ROV's adaptability and motility, multi-objective genetic algorithm is used in this paper. So the relationship between the objective functions and mechanism-parameters of the transformable vehicle is established. There are two typical objective obstacles for the crawl mode R-ROV, stair and gully. However, different from the robot walking on land, it is difficult to find the optimal configuration across the stairs underwater because of the buoyancy of water. This paper proposes a method to obtain optimized mechanism-parameters for the R-ROV considering the underwater environment, which has been calculated through simulation. The results are reported in detail.

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ROBEX - innovative robotic technologies for ocean observations, a deep-sea demonstration mission

Cited by 8 publications

References 10 publications

Tramper

Tramper

The AMERIGO Lander and the Automatic Benthic Chamber (CBA): Two New Instruments to Measure Benthic Fluxes of Dissolved Chemical Species

Mechanism-Parameters Optimization of a Reconfigurable Tracked Mobile Modular Deep-Sea Rover ROV

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