NDLI: Exploration of Teisi Knoll by autonomous underwater vehicle "R-One robot"

Content Provider	IEEE Xplore Digital Library
Author	Ura, T. Obara, T. Takagawa, S. Gamo, T.
Copyright Year	2001
Description	Author affiliation: Inst. of Ind. Sci., Univ. of Tokyo, Japan (Ura, T.)
Abstract	Outlines the exploration of Teisi Knoll by the autonomous underwater vehicle the R-One Robot, as carried out October 19-22, 2000, and presents images taken by the sidescan sonar fitted to the bottom of the vehicle. The R-One Robot was launched from the R/V Kaiyo, started diving near the support ship, followed pre-determined tracklines which were defined by waypoints and finally came back to the destination where it was recovered by the support vessel. In order to minimize positioning error, which is determined by the inertial navigation system and Doppler sonar, the robot ascended to the surface several times to ascertain its precise position using the Global Positioning System, the antenna of which is fitted on the vertical fin. Taking advantage of this positioning system, the robot followed the pre-determined tracklines with an error of less than 40 meters in 30 minutes of continuous diving. Disturbance to the robot is small enough compared to towed vehicles that its movement can be regarded as stable. This stability resulted in clear side scanning images of the knoll and the surrounding sea floor. The robot stopped at the center of the knoll, and descended vertically into the crater. When the vehicle was in the crater, anomalous manganese ion concentrations were detected by the in situ trace metal micro-analyzer GAMOS at the front of the robot.
Starting Page	456
Ending Page	461
File Size	936070
Page Count	6
File Format	PDF
ISBN	0933957289
DOI	10.1109/OCEANS.2001.968767
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-11-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Marine Technology Soc.
Subject Keyword	Underwater vehicles Remotely operated vehicles Mobile robots Marine vehicles Underwater tracking Inertial navigation Sonar navigation Sea surface Global Positioning System Stability
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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