@article {5515,
	title = {Preliminary Polar Sea Trials of Nereid-UI: A Remotely Operated Underwater Vehicle for Oceanographic Access Under Ice},
	year = {2014},
	month = {Dec 15 - 19},
	address = {San Francisco, CA},
	abstract = {<p>We report the development and deployment of a remotely-controlled underwater robotic vehicle capable of being teleoperated under ice under real-time human supervision. The Nereid Under-Ice (Nereid-UI or NUI) vehicle enables exploration and detailed examination of biological and physical environments including the ice-ocean interface in marginal ice zones, in the water column of ice-covered seas, at glacial ice-tongues, and ice-shelf margins, delivering realtime high definition video in addition to survey data from on board acoustic, optical, chemical, and biological sensors. The vehicle employs a novel lightweight fiber-optic tether that will enable it to be deployed from a ship to attain standoff distances of up to 20 km from an ice-edge boundary. We conducted NUI\&rsquo;s first under-ice deployments during the July 2014 F/V Polarstern PS86 expedition at 86\&deg; N 6 W\&deg; in the Arctic Ocean - near the Aurora hydrothermal vent site on the Gakkel Ridge approximately 200 km NE of Greenland. We conducted 4 dives to evaluate and develop NUI\&rsquo;s overall functioning and its individual engineered subsystems. On each dive, dead-reckoning (Ice-locked Doppler sonar and north-seeking gyrocompass) complemented by acoustic ranging provided navigation, supporting closed-loop control of heading, depth, and XY position relative to the ice. Science operations included multibeam transects of under-ice topography, precision vertical profiles for the bio-sensor suite and IR/radiance sensor suite, IR/radiance/multibeam transects at constant depth interlaced with vertical profiles and upward-looking digital still-camera surveys of the ice, including areas rich with algal material. The fiber-optic tether remained intact throughout most of all 4 dives. Consistent with the NUI concept of operations, in 3 of 4 dives the fiber-optic tether eventually failed, and the vehicle was then commanded acoustically in a series of short-duration maneuvers to return to Polarstern for recovery. These preliminary dives ranging up to 800 m from Polarstern at a max. depth of 45 m, and traveling up to 3.7 km under moving sea ice. SUPPORT: NSF OPP (ANT-1126311), NOAA OER (NA14OAR4320158), WHOI, James Family Foundation, George Frederick Jewett Foundation East, PS86 Chief Scientist Antje Boetius, and the Captain and Crew of F/V Polarstern PS86.</p>
},
	author = {Whitcomb, Louis L and Jakuba, Michael and Christopher R. German and Bowen, Andrew and Dana Yoerger and Kinsey, J and Larry A Mayer and McFarland, C. and Suman, S. and Bailey, J. and Judge, C. and Elliott, S. and Gomez-Ibanez, D. and Taylor, Christopher and Machado, Casey and Howland, J and C.L. Kaiser and Heintz, Matthew and Pontbriand, C. and O{\textquoteright}hara, L. and McDonald, G. and Boetius, A.}
}
@article {5285,
	title = {Design and Fabrication of Nereid-UI: A Remotely Operated Underwater Vehicle for Oceanographic Access Under Ice},
	year = {2013},
	month = {9-13 December},
	address = {San Francisco, CA},
	keywords = {nereid-ui, under ice},
	author = {Whitcomb, Louis L and Bowen, Andrew and Dana Yoerger and Christopher R. German and Kinsey, J and Larry A Mayer and Jakuba, Michael and Gomez-Ibanez, D. and Taylor, Christopher and Machado, Casey and Howland, J and C.L. Kaiser and Heintz, Matthew and Pontbriand, C. and Suman, S. and O{\textquoteright}hara, L.}
}
