A Framework to Evolutionary Path Planning for Autonomous Underwater Glider

2014 ◽  
pp. 1-11 ◽  
Author(s):  
Shih Chien-Chou ◽  
Yang Yih ◽  
Horng Mong-Fong ◽  
Pan Tien-Szu ◽  
Pan Jeng-Shyang
Keyword(s):  
Path Planning ◽  
Underwater Glider ◽  
Evolutionary Path ◽  
Autonomous Underwater Glider

A genetic-based effective approach to path-planning of autonomous underwater glider with upstream-current avoidance in variable oceans

2016 ◽  
Vol 21 (18) ◽  
pp. 5369-5386 ◽  
Author(s):  
Chien-Chou Shih ◽  
Mong-Fong Horng ◽  
Tien-Szu Pan ◽  
Jeng-Shyang Pan ◽  
Chun-Yu Chen
Keyword(s):  
Path Planning ◽  
Underwater Glider ◽  
Autonomous Underwater Glider

Optimization Design for the Pressure Shell of Autonomous Underwater Glider Based on GDO Method

2013 ◽  
Vol 312 ◽  
pp. 80-84 ◽  
Author(s):  
Jin Liu ◽  
Yan Hui Wang ◽  
Yu Hong Liu ◽  
Fang Liu
Keyword(s):  
Carrying Capacity ◽  
Weight Reduction ◽  
Total Mass ◽  
Optimization Design ◽  
Underwater Robot ◽  
Underwater Glider ◽  
Effective Measure ◽  
Autonomous Underwater Glider ◽  
Ansys Workbench

Autonomous Underwater Glider (AUG) is a kind of unmanned underwater robot. Weight reduction is an effective measure to extend the duration performance and increase the carrying capacity of the AUG. In this paper, on the basis of the application of ANSYS-workbench, optimization for the structure and mass of the pressure hull of the AUG was conducted through the goal-driven optimization (GDO) method. After optimization, the total mass was reduced from 12.74 kg to 11.06 kg. The present work plays a key role for improving duration performance of AUG.

Hybrid Autonomous Underwater Glider (HAUG) Obstacle Detection and Avoidance

2021 ◽  
Author(s):  
A. A. Gde Jenana Putra ◽  
Bambang Riyanto Trilaksono ◽  
Egi Muhammad Idris Hidayat
Keyword(s):  
Obstacle Detection ◽  
Underwater Glider ◽  
Autonomous Underwater Glider

EFFECT OF WATER CURRENT ON UNDERWATER GLIDER VELOCITY AND RANGE

2016 ◽  
Vol 78 (10-4) ◽  
Author(s):  
Muhammad Yasar Javaid ◽  
Mark Ovinis ◽  
Fakhruldin Mohd Hashim ◽  
Adi Maimun ◽  
Yasser M. Ahmed ◽  
...  
Keyword(s):  
Steady State ◽  
Numerical Simulations ◽  
Relative Motion ◽  
Water Current ◽  
Underwater Glider ◽  
Water Currents ◽  
Effect Of Water ◽  
Actuation System ◽  
Autonomous Underwater Glider

An autonomous underwater glider speed and range is influenced by water currents. This is compounded by a weak actuation system for controlling its movement. In this work, the effects of water currents on the speed and range of an underwater glider at steady state glide conditions are investigated. Extensive numerical simulations have been performed to determine the speed and range of a glider with and without water current at different net buoyancies. The results show that the effect of water current on the glider speed and range depends on the current relative motion and direction. In the presence of water current, for a given glide angle, glide speed can be increased by increasing the net buoyancy of the glider.

Oceanic Feature Boundary Mapping with an Autonomous Underwater Glider

2018 ◽  
Author(s):  
Chiara Mellucci ◽  
Prathyush P. Menon ◽  
Christopher Edwards ◽  
Peter Challenor
Keyword(s):  
Underwater Glider ◽  
Autonomous Underwater Glider ◽  
Boundary Mapping

Cross-Shelf Exchange Associated With the Gulf Stream in the South Atlantic Bight: Direct Observations Using an Autonomous Underwater Glider

2018 ◽  
Vol 52 (3) ◽  
pp. 19-27 ◽  
Author(s):  
Ruoying He ◽  
Austin C. Todd ◽  
Chad Lembke ◽  
Todd Kellison ◽  
Chris Taylor ◽  
...  
Keyword(s):  
Gulf Stream ◽  
Moving Boundary ◽  
South Atlantic ◽  
South Atlantic Bight ◽  
Underwater Glider ◽  
The South ◽  
Underwater Gliders ◽  
Direct Observations ◽  
Autonomous Underwater Glider

AbstractAn autonomous underwater glider was deployed in March 2014 to sample the Gulf Stream and its adjacent shelf waters in the South Atlantic Bight, providing a new look at cross-shelf exchange associated with Gulf Stream dynamics. Observations collected over 4 weeks reveal significant cross-shelf exchange (up to 0.5 Sv) at the shoreward edge of the Gulf Stream, which was 2 orders of magnitude larger than estimates from long-term mean hydrographic conditions. Gulf Stream frontal eddies may have contributed to some of the largest fluxes of heat (0.5°C Sv) and salt (0.03 Sv g/kg) onto the shelf. We estimate that the largest upwelling event during the mission could have brought nitrate concentrations over 20 μM to within 125 m of the surface. This study demonstrates clear capabilities of autonomous underwater gliders for sampling in and near fast moving boundary currents to obtain unique and critical in situ observations effectively.

Adaptive robust sliding mode control of autonomous underwater glider with input constraints for persistent virtual mooring

2020 ◽  
Vol 95 ◽  
pp. 102027 ◽  
Author(s):  
Hexiong Zhou ◽  
Zhaoyu Wei ◽  
Zheng Zeng ◽  
Caoyang Yu ◽  
Baoheng Yao ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Input Constraints ◽  
Underwater Glider ◽  
Mode Control ◽  
Autonomous Underwater Glider
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