Into the Deep Black Sea: The Icefin Modular AUV for Ice-Covered Ocean Exploration

Abstract:

The Icefin autonomous underwater vehicle (AUV) was designed to enable long-range oceanographic exploration of physical and biological ocean environments in ice-covered regions. The vehicle is capable of surveying under-ice geometry, ice and ice-ocean interface properties, as well as water column conditions beneath the ice interface. It was developed with both cryospheric and planetary-analog exploration in mind. The first Icefin prototype was successfully operated in Antarctica in Austral summer 2014. The vehicle was deployed through a borehole in the McMurdo Ice Shelf near Black Island and successfully collected sonar, imaging, video and water column data down to 450 m depth.

Icefin was developed using a modular design. Each module is designed to perform specific tasks, dependent on the mission objective. Vehicle control and data systems can be stably developed, and power modules added or subtracted for mission flexibility. Multiple sensor bays can be developed in parallel to serve multiple science objectives. This design enables the vehicle to have greater depth capability as well as improved operational simplicity compared to larger vehicles with equivalent capabilities. As opposed to those vehicles that require greater logistics and associated costs, Icefin can be deployed through boreholes drilled in the ice. Thus, Icefin satisfies the demands of achieving sub-ice missions while maintaining a small form factor and easy deployment necessary for repeated, low-logistical impact field programs.