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...

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 ...

One of the challenges Internet Underwater Things (IoUT) is design nodes for collecting information from underwater, with features low cost, long term, range, voyage routing, and real-time communications. Wave glider, has shown great potential acting as IoUT through its persistent, long-range traveling, flexibility underwater. In this article, we propose an architecture IoUT, involving multiple ...

Underwater gliders are a class of AUVs designed for high endurance over long distances, but their reduced velocity makes them more susceptible to ocean currents during deployment. Thus, feasible paths need to be generated through the ocean current field. This paper proposes a method for determining energy-optimal paths that account for the influence of ocean currents. The proposed technique is ...

Ocean processes are dynamic, complex, and occur on multiple spatial and temporal scales. To obtain a synoptic view of such processes, ocean scientists collect data over long time periods. Historically, measurements were continually provided by fixed sensors, e.g., moorings, or gathered from ships. Recently, an increase in the utilization of autonomous underwater vehicles has enabled a more dyna...

Underwater gliders are a class of ocean observation equipment driven by buoyancy, and their energy consumption source is mainly generated the active regulation buoyancy. The periodic elastic deformation pressure hull during upward downward movement underwater glider can have large impact on its driving This paper relates optimization problem with glider, improvement factor taken as objective. B...