ICEFIN: LESSONS LEARNED FROM THE 2017 ANTARCTIC FIELD SEASON - (PPT)

摘要

Camera capture solution was non-ideal due to integration challenges with our control software. Forward-looking sonar sensor was malfunctioning and in need of repair. Current navigation solution relies heavily on DVL without leveraging IMU. Large thruster power draw can cause brown-outs at low battery voltages, which can restart the embedded computing platform. Optical fiber tether solution performed ideally, but requires constant cleaning and maintenance for optimal performance. Only one thermal problem was encountered despite sub-freezing ambient temperatures and internal electronics with high levels of heat dissipation. The deployment drop weight at the fore of the vehicle was useful for stability in high-current scenarios.