A New Approach to Deploy Passive Acoustic Monitoring Systems in Autonomous Robotics

摘要

This paper reviews the experience of employing passive acoustic monitoring solutions from an uncrewed surface vehicle (USV) and a "floating quadcopter." These two platforms were independently developed and tasked by end users with deploying passive acoustic monitoring systems including omni-directional hydrophones and linear arrays. The development of a common winch system compatible with both these robotic vehicles is described. This paper covers; 1) Development and testing of a winch system that can deploy and retrieve the acoustic payloads on both vehicle types, 2) Adaptation of the winch and at sea test operations, and 3) Associated electronic systems design and adaptations to support the payload including power management and operation software.