Hybrid Autonomous Underwater Glider (HAUG) Obstacle Detection and Avoidance

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.

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EFFECT OF WATER CURRENT ON UNDERWATER GLIDER VELOCITY AND RANGE

Jurnal Teknologi ◽

10.11113/jt.v78.9890 ◽

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.

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Oceanic Feature Boundary Mapping with an Autonomous Underwater Glider

2018 Annual American Control Conference (ACC) ◽

10.23919/acc.2018.8431011 ◽

2018 ◽

Author(s):

Chiara Mellucci ◽

Prathyush P. Menon ◽

Christopher Edwards ◽

Peter Challenor

Keyword(s):

Underwater Glider ◽

Autonomous Underwater Glider ◽

Boundary Mapping

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Bouyancy compensation analysis of an autonomous underwater glider

Proceedings of 2011 International Conference on Electronic & Mechanical Engineering and Information Technology ◽

10.1109/emeit.2011.6022896 ◽

2011 ◽

Author(s):

Yijun Wang ◽

Yanhui Wang ◽

Zhigang He

Keyword(s):

Underwater Glider ◽

Autonomous Underwater Glider

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

Marine Technology Society Journal ◽

10.4031/mtsj.52.3.5 ◽

2018 ◽

Vol 52 (3) ◽

pp. 19-27 ◽

Cited By ~ 1

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.

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