UNEXMIN H2020 project: an autonomous underwater explorer for flooded mines
UNEXMIN (Underwater Explorer for Flooded Mines, Grant Agreement No. 690008, www.unexmin.eu) is a project funded by the European Commission’s HORIZON2020 Framework Programme. The project is developing a multi-platform robotic system for the autonomous exploration and mapping of flooded underground mi...
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Technische Universitaet Bergakademie Freiberg Universitaetsbibliothek "Georgius Agricola"
2018
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ndltd-DRESDEN-oai-qucosa.de-bsz-105-qucosa-2311062018-03-23T03:26:50Z UNEXMIN H2020 project: an autonomous underwater explorer for flooded mines Lopes, Luís Zajzon, Norbert Bodo, Balázs Bakker, Edine Žibret, Gorázd Real-Time Mining Konferenz Real-Time Mining Conference ddc:624 Bergbau Bergwerk Markscheidekunde Geoinformation Prospektion UNEXMIN (Underwater Explorer for Flooded Mines, Grant Agreement No. 690008, www.unexmin.eu) is a project funded by the European Commission’s HORIZON2020 Framework Programme. The project is developing a multi-platform robotic system for the autonomous exploration and mapping of flooded underground mines. The robotic system – UX-1 – will use non-invasive methods for the 3D mapping of abandoned underground flooded mines, bringing new important geological data that currently cannot be obtained by other means without having significant costs and safety risks. The deployment of a multi-robotic system in a confined and unknown environment poses challenges to the autonomous operation of the robot, and there is a risk of damaging the equipment and the mine itself. Key challenges are related to 1) structural design for robustness and resilience, 2) localization, navigation and 3D mapping, 3) guidance, propulsion and control, 4) autonomous operation and supervision, 5) data processing, interpretation and evaluation. Underwater environments constrain basic robotic functions as well as the size and weight of any operable robot. The limiting factors in these environments influence the type and amount of equipment able to be mounted onto a robotic system. Crucial abilities for an underwater robot’s functionality include unobstructed movement, autonomy, mapping and environmental awareness. To enable these critical functions, we employ components such as cameras, SONAR, thrusters, structured-light laser scanners, and on-board computers, rechargeable batteries and protective pressure hulls. In UNEXMIN, additional underwater instrumentation is being developed to measure pH, pressure, temperature, water chemistry and conductivity, magnetic fields, and gamma radiation levels. An on-board geophysical system will enable sub-bottom profiling, and multispectral and UV fluorescence imaging units are being installed for mineralogical identification. All these tailor-made instruments are been tested in laboratory and real environment conditions. Technische Universitaet Bergakademie Freiberg Universitaetsbibliothek "Georgius Agricola" TU Bergakademie Freiberg, Geowissenschaften, Geotechnik und Bergbau 2018-03-22 doc-type:conferenceObject application/pdf http://nbn-resolving.de/urn:nbn:de:bsz:105-qucosa-231106 urn:nbn:de:bsz:105-qucosa-231106 http://www.qucosa.de/fileadmin/data/qucosa/documents/23110/5.Unexmin%20H2020_RTM2017-5_1b.pdf eng |
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Real-Time Mining Konferenz Real-Time Mining Conference ddc:624 Bergbau Bergwerk Markscheidekunde Geoinformation Prospektion |
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Real-Time Mining Konferenz Real-Time Mining Conference ddc:624 Bergbau Bergwerk Markscheidekunde Geoinformation Prospektion Lopes, Luís Zajzon, Norbert Bodo, Balázs Bakker, Edine Žibret, Gorázd UNEXMIN H2020 project: an autonomous underwater explorer for flooded mines |
description |
UNEXMIN (Underwater Explorer for Flooded Mines, Grant Agreement No. 690008, www.unexmin.eu) is a project funded by the European Commission’s HORIZON2020 Framework Programme. The project is developing a multi-platform robotic system for the autonomous exploration and mapping of flooded underground mines. The robotic system – UX-1 – will use non-invasive methods for the 3D mapping of abandoned underground flooded mines, bringing new important geological data that currently cannot be obtained by other means without having significant costs and safety risks.
The deployment of a multi-robotic system in a confined and unknown environment poses challenges to the autonomous operation of the robot, and there is a risk of damaging the equipment and the mine itself. Key challenges are related to 1) structural design for robustness and resilience, 2) localization, navigation and 3D mapping, 3) guidance, propulsion and control, 4) autonomous operation and supervision, 5) data processing, interpretation and evaluation.
Underwater environments constrain basic robotic functions as well as the size and weight of any operable robot. The limiting factors in these environments influence the type and amount of equipment able to be mounted onto a robotic system. Crucial abilities for an underwater robot’s functionality include unobstructed movement, autonomy, mapping and environmental awareness. To enable these critical functions, we employ components such as cameras, SONAR, thrusters, structured-light laser scanners, and on-board computers, rechargeable batteries and protective pressure hulls. In UNEXMIN, additional underwater instrumentation is being developed to measure pH, pressure, temperature, water chemistry and conductivity, magnetic fields, and gamma radiation levels. An on-board geophysical system will enable sub-bottom profiling, and multispectral and UV fluorescence imaging units are being installed for mineralogical identification. All these tailor-made instruments are been tested in laboratory and real environment conditions. |
author2 |
TU Bergakademie Freiberg, Geowissenschaften, Geotechnik und Bergbau |
author_facet |
TU Bergakademie Freiberg, Geowissenschaften, Geotechnik und Bergbau Lopes, Luís Zajzon, Norbert Bodo, Balázs Bakker, Edine Žibret, Gorázd |
author |
Lopes, Luís Zajzon, Norbert Bodo, Balázs Bakker, Edine Žibret, Gorázd |
author_sort |
Lopes, Luís |
title |
UNEXMIN H2020 project: an autonomous underwater explorer for flooded mines |
title_short |
UNEXMIN H2020 project: an autonomous underwater explorer for flooded mines |
title_full |
UNEXMIN H2020 project: an autonomous underwater explorer for flooded mines |
title_fullStr |
UNEXMIN H2020 project: an autonomous underwater explorer for flooded mines |
title_full_unstemmed |
UNEXMIN H2020 project: an autonomous underwater explorer for flooded mines |
title_sort |
unexmin h2020 project: an autonomous underwater explorer for flooded mines |
publisher |
Technische Universitaet Bergakademie Freiberg Universitaetsbibliothek "Georgius Agricola" |
publishDate |
2018 |
url |
http://nbn-resolving.de/urn:nbn:de:bsz:105-qucosa-231106 http://nbn-resolving.de/urn:nbn:de:bsz:105-qucosa-231106 http://www.qucosa.de/fileadmin/data/qucosa/documents/23110/5.Unexmin%20H2020_RTM2017-5_1b.pdf |
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AT lopesluis unexminh2020projectanautonomousunderwaterexplorerforfloodedmines AT zajzonnorbert unexminh2020projectanautonomousunderwaterexplorerforfloodedmines AT bodobalazs unexminh2020projectanautonomousunderwaterexplorerforfloodedmines AT bakkeredine unexminh2020projectanautonomousunderwaterexplorerforfloodedmines AT zibretgorazd unexminh2020projectanautonomousunderwaterexplorerforfloodedmines |
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