Towards a Pantograph-based Interventional AUV for Under-ice Measurements

Byun, H; Kim, J; Liu, D; Woolfrey, J

Towards a Pantograph-based Interventional AUV for Under-ice Measurements

Byun, H Kim, J

Liu, D

Woolfrey, J

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Publication Type:: Conference Proceeding
Citation:: Australasian Conference on Robotics and Automation, ACRA, 2021, 2021-December
Issue Date:: 2021-01-01

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Field	Value	Language
dc.contributor.author	Byun, H
dc.contributor.author	Kim, J https://orcid.org/0000-0003-4505-1103
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582
dc.contributor.author	Woolfrey, J https://orcid.org/0000-0001-5926-5669
dc.date.accessioned	2022-05-25T04:28:06Z
dc.date.available	2022-05-25T04:28:06Z
dc.date.issued	2021-01-01
dc.identifier.citation	Australasian Conference on Robotics and Automation, ACRA, 2021, 2021-December
dc.identifier.isbn	9781713841487
dc.identifier.issn	1448-2053
dc.identifier.uri	http://hdl.handle.net/10453/157683
dc.description.abstract	This paper addresses the design of a novel interventional robotic platform, aiming to perform an autonomous sampling and measurement under the thin ice in the Antarctic environment. We propose a pantograph mechanism, which can effectively generate a constant interaction force to the surface during the contact, which is crucial for reliable measurements. We provide the proof-of-concept design of the pantograph with a robotic prototype with foldable actuation. Preliminary results of the pantograph mechanism and the localisation system are provided, confirming the feasibility of the system.
dc.language	en
dc.relation.ispartof	Australasian Conference on Robotics and Automation, ACRA
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Towards a Pantograph-based Interventional AUV for Under-ice Measurements
dc.type	Conference Proceeding
utslib.citation.volume	2021-December
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	open_access	*
dc.date.updated	2022-05-25T04:28:05Z
pubs.publication-status	Published
pubs.volume	2021-December

Abstract:

This paper addresses the design of a novel interventional robotic platform, aiming to perform an autonomous sampling and measurement under the thin ice in the Antarctic environment. We propose a pantograph mechanism, which can effectively generate a constant interaction force to the surface during the contact, which is crucial for reliable measurements. We provide the proof-of-concept design of the pantograph with a robotic prototype with foldable actuation. Preliminary results of the pantograph mechanism and the localisation system are provided, confirming the feasibility of the system.

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http://hdl.handle.net/10453/157683