Memorias de investigación
Communications at congresses:
UX 1 system design - A robotic system for underwater mining exploration
Year:2018

Research Areas
  • Automatic

Information
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
International
Si
Congress
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
960
Place
Madrid
Reviewers
Si
ISBN/ISSN
9781538680957
Start Date
01/10/2018
End Date
05/10/2018
From page
1494
To page
1500
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Participants

Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial