Iceberg worm: Biomimetic AUV for sea ice thickness survey using non-contact laser ultrasonic method

We propose a robot, named Iceberg worm, clinging to lower surface of ice shelf (or iceberg) for ice thickness measurement. The key technologies of the proposed robot are 1) Inverse buoyancy setting and adjustable buoyancy control system; 2) Biomimetic legs and crampons like insects feet; 3) Non-contact laser-ultrasonic ranging system; 4) Acoustic-taxis navigation like positive photo-taxis of bugs. A distinguishing characteristic of the proposed system is non-contact ice thickness measurement system by using laser-induced ultrasound, which improves measurement method on the cold and non-homogeneous rough surface of ice. In this paper, we presented technical issues to develop the proposed robot and imaginary methodologies.