Micro-Submersible Lake Exploration Device (MSLED) - Development of first generation propelled slim-hole device for subglacial lake (& aquatic enviornments ) exploration

该项目旨在开发、测试和部署一种小型潜水器，用于调查冰下湖泊和其他偏远和危险的水生环境。微型潜湖探测设备（MSLED）将通过将各种水文和视觉传感器集成到一个紧凑的模块化机器人平台中，扩大可访问环境的范围。MSLED的设计是为了在原位测量期间尽量减少对环境的干扰，并将配备适当的原位化学传感器和高分辨率成像系统，以确定其周围环境的地质、水文和化学特征。MSLED将实现以下目标：(1)测量水平和垂直的化学、温度和压力梯度，以确定冰下水的来源和汇，并描述生物可居住性；(2)提供这些地点的性质及其可能承载的新生态系统的第一个视觉特征；(3)获取图像和基本水文和成分数据，以帮助了解冰盖与水的相互作用。在南极洲麦克默多站附近的一个试验场进行了彻底的测试后，mled的第一次现场部署将在南极洲西部冰盖的惠兰斯冰流进行。这一实地活动将在即将到来的南方夏季与WISSARD项目合作进行。mled的开发和部署将建立在PI之前在EaGER项目中的努力基础上，并基于喷气推进实验室南极钻孔相机的现有版本。在初始部署期间，MSLED将是一种远程操作的车辆，但将进一步发展成为一个自主平台，用于未来的冰下湖部署。该研究平台将通过包括额外的传感器和扩大在冰下水体的可观测空间范围来扩展以前的观测能力。与简单的钻孔探头相比，这将提高MSLED的科学价值。为了简化和降低风险，MSLED将与南极冰钻孔探测器（AIBP）耦合。该探针将作为MSLED的主机载体。然后，MSLED和AIBP将通过钻孔进入冰下湖泊。一旦到达那里，MSLED将与主机分离并自主导航，收集化学和物理特征，同时记录并通过光纤电缆将数字视频图像传输到控制站

This project is to develop, test and deploy a miniaturized submersible for investigating subglacial lakes and other remote and hazardous aquatic environments. The Micro-Submersible Lake Exploration Device (MSLED) will expand the range of accessible environments by integrating a variety of hydrological and vision sensors into a compact and modular robotic platform. The MSLED is designed to minimally disturb the environment during in-situ measurements, and will be equipped with appropriate in-situ chemical sensors and a high resolution imaging system to determine the geological, hydrological and chemical characteristics of its surroundings. The MSLED will accomplish the following objectives: (1) Measure horizontal and vertical chemical, temperature and pressure gradients to determine sources and sinks of subglacial water, and describe biological habitability; (2) Provide the first visual characterization of the nature of such sites and the novel ecosystems they might host; (3) Acquire images and basic hydrographical and compositional data to aid in understanding ice sheet interactions with water. After thorough testing in a test site near McMurdo Station in Antarctica, the first field deployment for the MSLED will be in Whillans Ice Stream located in the West Antarctic Ice Sheet. This field campaign will be conducted in collaboration with the WISSARD project during the upcoming Austral summer. The proposed development and deployment of the MSLED will build on previous efforts by the PI during an EaGER project, and is based on a currently existing version of the Jet Propulsion Lab Antarctic borehole camera. The MSLED will be a remotely operated vehicle during its initial deployment, but will be further developed into an autonomous platform for use in future subglacial lake deployments. This research platform will extend the previous observational capabilities by including additional sensors and extending observable spatial range in subglacial water bodies. This will enhance the scientific value of MSLED as compared to a simple borehole probe. For simplicity and risk reduction, the MSLED will be coupled to the Antarctic Ice Borehole Probe (AIBP). This probe will serve as the host vehicle to the MSLED. The MSLED and AIBP will then descend through the borehole to access the subglacial lakes. Once there, the MSLED will separate from its host and autonomously navigate, collecting chemical and physical signatures while recording and transmitting digital video images to the control station through a fiber optic cable