@inproceedings{spears2014,
title = {Design and development of an under-ice autonomous underwater vehicle for use
in Polar regions},
booktitle = {2014 OCEANS - St. John's},
author = {Anthony Spears and Ayanna M. Howard and Britney Schmidt and Matthew Meister
and Michael West and Thomas Collins},
pages = {1-6},
month = {September},
year = {2014},
keywords = {autonomous underwater vehicles;geophysics computing;hydrological
equipment;middleware;Antarctica;Earth ice shelves;Europa;Icefin autonomous
underwater vehicle;Jupiter moon;MOOS middleware framework;environmental
challenges;extreme temperatures;full sensor suite;hardware design;human diver
deployments;manned submarines;modular man portable vertically deployed
vehicle;polar regions;scientific data collection;small ice hole;software
design;software suite;under-ice autonomous underwater vehicle;under-ice
environment;under-ice missions;unmanned underwater vehicle
deployment;Antarctica;Computers;Ice;Sea surface;Sonar;Underwater
vehicles;Vehicles;AUV; Antarctica;MOOS;UUV;autonomous;sonar;
under-ice;underwater;unmanned},
abstract = {Presented here is the initial hardware and software design of the Icefin
autonomous underwater vehicle for use in under-ice missions in Antarctica.
Exploration of the ocean beneath hundreds of meters of ice in Antarctica is a
difficult task. However, many areas of science are interested in obtaining
data from this environment and other similar environments including Jupiter's
moon Europa. Deployment of an unmanned underwater vehicle to obtain data
beneath Earth's ice shelves is much less dangerous and expensive than manned
submarines or human diver deployments. However, the under-ice environment
presents many unique challenges for an unmanned underwater vehicle including
deployment through a small ice hole and extreme temperatures. The Icefin
vehicle is designed as a modular, man portable, vertically deployed vehicle
able to withstand the environmental challenges of the Polar Regions and the
extreme depths required for the missions of interest. The Icefin has been
designed with a full sensor suite to facilitate the necessary scientific data
collection. The software suite used by the vehicle is designed around the MOOS
middleware framework. This vehicle is slated to be deployed in Antarctica
starting October 2014.}}