Robotic-based invESTigation and mOnitoring of Ross sEa with the PROTEUS unmanned marine vehicle - The RESTORE project

摘要

• PROTEUS: versatile, modular, Unmanned Marine Vehicle (UMV) for Antarctic surveys. • reduced size, weight and light logistics are key requirements for polar environments. • availability of real-time data during acquisition allows adaptive sampling. • FAIR data availability according to the UN Ocean Science Decade challenges. In the framework of the Programma Nazionale di Ricerche in Antartide (PNRA) Robotic-based invESTigation and mOnitoring of Ross sEa (RESTORE) project, during the XXXVIII Italian Expedition in Antarctica (2022–2023), the Portable RObotic TEchnology for Underwater Surveys (PROTEUS) Unmanned Marine Vehicle (UMV) was used to carry out multidisciplinary scientific surveys in the Ross Sea. (PROTEUS) is an innovative UMV, developed by the Marine Robotics research group of CNR-INM, which is particularly suitable for operating in extreme environments such as the polar ones, thanks to its compact size, lightweight design, modularity, reconfigurability, and open hardware and software architectures. In the first period of the Italian Antarctic scientific expedition (PROTEUS) was used underwater, in the Remotely Operated Vehicle (ROV) configuration. In a second phase it was transformed into a Unmanned Semi-Submersible Vehicle (USSV) for operating semi-submersed, and in a third and final phase it was further transformed into a Unmanned Surface Vehicle (USV) vehicle for operating on the sea surface. The versatility of Portable RObotic TEchnology for Underwater Surveys (PROTEUS) allowed the onboard installation and integration of several sensors to acquire a comprehensive collection of bio-geo-chemical and physical parameters of the water column (conductivity, temperature, pressure, dissolved oxygen, turbidity and chlorophyll), and acoustic and video data of the ice and the seabed. This paper presents a detailed description of the design of PROTEUS, encompassing its modular architecture, propulsion and power supply systems, navigation, guidance and control system, and sensory payload. The field campaign described herein will demonstrate the exceptional adaptability of PROTEUS which enables novel methodologies for oceanic observations and data collection. PROTEUS is a non-conventional marine vehicle not only because of its distinctive design, but also due to its hybrid nature, which allows it to operate as four different marine robotic vehicles: ROV, AUV, USSV and USV. Moreover, the unique mechanics, electronics, and software architecture enable all robotic subsystems to work in concert, ensuring the coordinated functioning of the entire mechatronic device. Ultimately, PROTEUS incorporates an integrated data processing system capable of collecting and combining environmental and robotic telemetry. This renders PROTEUS a remarkable example of an innovative ocean engineering platform dedicated to data campaigns in Antarctica.