1. MARA - A modular underwater robot for confined spaces exploration
- Author
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Alfredo Martins, Carlos Almeida, Eduardo Silva, Ricardo José Garcia Pereira, Bruno Matias, Eduardo Soares, Denys Sytnyk, Tiago Augusto Rodrigues Pereira, and José Almeida
- Subjects
Underwater vehicle ,Software ,Computer science ,business.industry ,Robot ,Underwater robot ,ComputerSystemsOrganization_SPECIAL-PURPOSEANDAPPLICATION-BASEDSYSTEMS ,Underwater ,Modular design ,business ,Sonar ,Space exploration ,Marine engineering - Abstract
This paper presents an innovative modular autonomous underwater vehicle (MARA) developed for the exploration of underwater confined spaces such as underwater caves, flooded underground mines or complex tight infrastructures in underwater environments. The particular mission scenario of exploration of flooded underground mines was used as a key driver for the robot development. The autonomous underwater vehicle is described from the mechanical, hardware and software points of view. The availability of the INESC TEC underwater systems test tank and access conditions to Porto harbour and the Urgeirica mine allows for easy robot field validation. Preliminary results are also presented and discussed.
- Published
- 2020
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