The first goal of this project involves the further development and transition of ChemFIN, a prototype autonomous profiling sensor for chemicals and biomolecules, into a commercial product that can be readily deployed on fixed or mobile ocean observation platforms such as coastal gliders, profiling moorings, and propeller driven unmanned underwater vehicles (UUVs). The second goal of this proje...

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...

This dissertation concerns the development of a feedback control framework for coordinating multiple, sensor-equipped, autonomous vehicles into mobile sensing arrays to perform adaptive sampling of observed fields. The use of feedback is central; it maintains the array, i.e. regulates formation position, orientation, and shape, and directs the array to perform its sampling mission in response t...

Glider class autonomous underwater vehicles operate and collect water column data for long periods of time, even weeks, before the need for recovery. However, they possess only rudimentary navigation and localization capabilities. Gliders are under-actuated vehicles and prone to water currents disturbances hence their localization error increase significantly while dead-reckoning underwater. In...

Accurate quantitative plankton observation is significant for biogeochemistry and environmental monitoring. However, current equipment mostly shipborne, there a lack of long-term, large-scale, low-cost methods observation. This paper proposes solution to investigate using Seascan holographic camera equipped with “Petrel-II” underwater glider longer time sequence at larger scale. Aiming the new ...

Marine growth has been observed to cause a drop in the horizontal and vertical velocities of underwater gliders, thus making them unresponsive needing immediate recovery. Currently, no strategies exist correctly identify onset marine for gliders only limited data sets biofouled hulls exist. Here, field test conducted first investigate impact on dynamics power consumption then design an anomaly ...