Observatorio de I+D+i UPM

Descripción
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
Internacional	Si
Nombre congreso	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Tipo de participación	960
Lugar del congreso	Madrid
Revisores	Si
ISBN o ISSN	9781538680957
DOI
Fecha inicio congreso	01/10/2018
Fecha fin congreso	05/10/2018
Desde la página	1494
Hasta la página	1500
Título de las actas	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Esta actividad pertenece a memorias de investigación

• Autor: Claudio Rossi (UPM)
• Autor: Sergio Dominguez Cabrerizo (UPM)
• Autor: ALFREDO MARTINS (INESCTEC)

• 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