UX 1 system design - A robotic system for underwater mining exploration

Alfredo Martins, José Almeida, Carlos Almeida, André Dias, Nuno Dias, Jussi Aaltonen, Arttu Heininen, Kari Koskinen, Claudio Rossi, Sergio Dominguez, Csaba Vörös, Stephen Henley, Mike McLoughlin, Hilco van Moerkerk, James Tweedie, Balazs Bodo, Norbert Zajzon, Eduardo Silba

    Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

    18 Citations (Scopus)


    This paper describes the UX-1 underwater mine exploration robotic system under development in the context of the UNEXMIN project. UNEXMIN is an international innovation action funded under the EU H2020 program, aiming to develop new technologies and services allowing the exploration of flooded underground mines. The system is comprised by the UX-1 robot prototype, launch and recovery system, command and control subsystem and a data management and post-processing computational infrastructure. The UX-1 robot is a small spherical robot equipped with a multibeam sonar, five digital cameras and rotating laser line structured light systems. It is capable of obtaining an accurate point cloud of the surrounding environment along with high resolution imagery. A set of mineralogy, water parameters and geophysical sensors was also developed in order to obtain a more comprehensive mine model. These comprise a multi-spectral camera, electro-conductivity, pH, magnetic field sensors, a subbottom sonar, total natural gamma-ray detector, UV-light for fluorescent observation and a water sampling unit. The design of the system is presented along with the robot design. Some preliminary results are also presented and discussed
    Original languageEnglish
    Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Subtitle of host publicationOctober, 1-5, 2018, Madrid, Spain
    Number of pages7
    ISBN (Electronic)978-1-5386-8094-0
    ISBN (Print)978-1-5386-8095-7
    Publication statusPublished - 5 Oct 2018
    Publication typeA4 Article in conference proceedings
    EventIEEE/RSJ International Conference on Intelligent Robots and Systems -
    Duration: 1 Jan 1900 → …

    Publication series

    ISSN (Electronic)2153-0866


    ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
    Period1/01/00 → …

    Publication forum classification

    • Publication forum level 1


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