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            Challenges in Subsea Robotics
		      	 By
	Jim Bellingham, Bill Kirkwood &	Kanna Rajan	
	    Monterey Bay Aquarium Research Institute
		     Moss Landing, California
		{jgb,kiwi,kanna}@mbari.org
			www.mbari.org

Abstract:

The intent of this tutorial is to expose AI and Autonomy researchers to
oceanographic science and engineering needs as well as highlighting data
considerations for underwater autonomous vehicle and robotic applications.

The tutorial will cover basic environmental differences between space,
terrestrial and underwater robots. The topics include platform options,
governing equations unique to the ocean environment and the associated
equipment for doing science in the oceans. Difficult aspects of the
environment are addressed along with discussion about how they impact system
solutions and instrument design for science. Key differences in optical,
electromagnetic and acoustics will be highlighted.

We will highlight the hard problems in oceanography and the associated
instrumentation and vehicular platforms that are currently fielded to attempt
to solve these key issues. We will also highlight the 'tall poles' in ocean
engineering with specific emphasis on sensing and control that directly impact
autonomous operations. These will include issues in Planning/Scheduling,
Execution, and Fault Diagnosis. We will also give our perspective on who the
key players are in this domain from a science, engineering as well as
programmatic perspective. And we'll provide additional links to encourage
tutorial participants to engage the oceanographic community which embodies the
diversity of physical, biological and chemical oceanographers, numerical
analysts for ocean modeling, roboticists, computer scientists, physicists and
engineers from all walks of the discipline.

One important goal of this course is to bring the similarities and differences
to academic disciplines interested in adapting current technologies in
terrestrial and space robotics to a new realm. The primary goal is to present
a compelling problem with societal relevance and foster innovative ideas and
projects for the future.