A remote anomaly detection system for Slocum underwater gliders

Slocum Gliders: Robust and ready

Routing strategies for underwater gliders

rapidly reach a specified waypoint or to maximize the ability to map a measured field, both in the presence of significant currents. For rapid transit in a frozen velocity field, direct minimization of travel time provides a trajectory ‘‘ray’’ equation. A simpler routing algorithm that requires less information is also discussed. Two approaches are developed to maximize the mapping ability, as ...

Stabilization and Coordination of Underwater Gliders

An underwater glider is a buoyancy-driven, fixedwing underwater vehicle that redistributes internal mass to control attitude. We examine the dynamics of a glider restricted to the vertical plane and derive a feedback law that stabilizes steady glide paths. The control law is physically motivated and with the appropriate choice of output can be interpreted as providing input-output feedback line...

The potential for Autonomous Underwater Gliders in large lake research

a r t i c l e i n f o While Autonomous Underwater Gliders (AUGs) have become a mainstay of coastal and open ocean observing , few observations have been made in lakes using AUGs. This short commentary discusses the role that gliders play in ocean observing systems, discusses a set of observations made in Lake Superior using an AUG, and presents some initial merging of glider and remote sensing ...

Passivity - Based Stabilization of Underwater Gliders With a Control Surface

The problem of stabilizing steady gliding is critical for an underwater glider, which is subject to many non-negligible disturbances from the aquatic environment. In this paper, we propose a new systematic controller design and implementation approach for the stabilization problem, including a nonlinear, passivity-based controller and a nonlinear model-based observer, where the actuation is rea...