IEEE Robotics & Automation Magazine - December 2016 - 38

rotation to a horizontal pitch state, as desired. Currently, the
drop weight is released on command from a vehicle operator
at the surface. However, this capability is integrated into the
autonomy infrastructure of the control software and can be
completed autonomously at a preset desired depth in future
missions. The main goal of the deep-field Antarctic deployment described herein was to obtain characteristic data of

the water column extending from the surface to the seafloor,
images, video, and sonar imagery of the ice-water boundary
and the sub-ice seafloor (Figure 9). Upon reaching the seafloor and releasing the drop weight, the vehicle was
commanded in a random exploratory pattern (mostly yaw
and surge) by the human operator in search of interesting
features and life forms [Figure 9(d)-(f)].
Sonar and video imagery as well as water column salinity,
temperature, altimetry, and depth data were recorded during
deployment for postanalysis. Video imagery of the seafloor
includes views of sea stars, brittle stars, crustaceans, anemones, and sponges (Figure 9). The ocean floor at this location
was previously unexplored. Observations and imagery of life
that is able to sustain itself in such harsh sub-ice environments are of interest to biologists. Ocean currents and water
properties affect how the ice shelf and ocean interact, including whether ice is melted or accreted and types of ice forms
present. Salinity and temperature versus depth plots of the
water column from initial data analysis of the collected current transformer sensor data are shown in Figure 10. In this
case, the distinct water profile within the ice hole (first ~15 m) is
evident from lower salinity and higher temperature. The
water column below the ice shelf is well mixed to the seafloor,

Figure 8. The field camp for Icefin deep-field deployment through
the McMurdo Ice Shelf. To the right is the hot-water drill that is
used to drill holes through the ice. In the middle of the photo is
the vehicle tripod. To the left is the surface control station tent.

10 cm

10 cm
(a)

10 cm
(b)

10 cm

10 cm
(d)

(c)

10 cm
(e)

(f)

Figure 9. Images captured by the Icefin vehicle during its Antarctic deep-field deployment. (a)-(c) The crystal-like platelet ice found
at the ice-water boundary under the McMurdo Ice Shelf formed by slow freezing of the seawater. (d)-(f) A variety of life found on the
seafloor 482 m below the ice, including anemones, brittle stars, and crustaceans. Scale is estimated from sonar range and camera
field of view.

38

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IEEE ROBOTICS & AUTOMATION MAGAZINE

*

DECEMBER 2016



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