Journal ArticleDOI
Seaglider: a long-range autonomous underwater vehicle for oceanographic research
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Seagliders are small, reusable autonomous underwater vehicles designed to glide from the ocean surface to a programmed depth and back while measuring temperature, salinity, depth-averaged current, and other quantities along a sawtooth trajectory through the water as mentioned in this paper.Abstract:
Seagliders are small, reusable autonomous underwater vehicles designed to glide from the ocean surface to a programmed depth and back while measuring temperature, salinity, depth-averaged current, and other quantities along a sawtooth trajectory through the water. Their low hydrodynamic drag and wide pitch control range allow glide slopes in the range 0.2 to 3. They are designed for missions in a range of several thousand kilometers and durations of many months. Seagliders are commanded remotely and report their measurements in near real time via wireless telemetry. The development and operation of Seagliders and the results of field trials in Puget Sound are reported.read more
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Journal ArticleDOI
Collective Motion, Sensor Networks, and Ocean Sampling
Naomi Ehrich Leonard,Derek A. Paley,Francois Lekien,Rodolphe Sepulchre,David M. Fratantoni,Russ E. Davis +5 more
TL;DR: This paper addresses the design of mobile sensor networks for optimal data collection by using a performance metric, used to derive optimal paths for the network of mobile sensors, to define the optimal data set.
Journal ArticleDOI
The autonomous underwater glider "Spray"
TL;DR: In this paper, a small (50-kg, 2-m long) underwater vehicle with operating speeds of 20-30 cm/s and ranges up to 6000 km has been developed and field tested.
Journal ArticleDOI
Multi-AUV Control and Adaptive Sampling in Monterey Bay
E. Fiorelli,Naomi Ehrich Leonard,Pradeep Bhatta,Derek A. Paley,Ralf Bachmayer,David M. Fratantoni +5 more
TL;DR: In this paper, the authors describe a methodology for cooperative control of multiple AUVs based on virtual bodies and artificial potentials (VBAP) which allows for adaptable formation control and can be used for missions such as gradient climbing and feature tracking.
Journal ArticleDOI
Model-based feedback control of autonomous underwater gliders
Naomi Ehrich Leonard,J.G. Graver +1 more
TL;DR: In this article, the authors describe the development of feedback control for autonomous underwater gliders and derive a nonlinear dynamic model of a nominal glider complete with hydrodynamic forces and coupling between the vehicle and the movable internal mass.
Journal ArticleDOI
Cooperative localization for autonomous underwater vehicles
James C. Preisig,Alexander Bahr +1 more
TL;DR: An algorithm for distributed acoustic navigation for Autonomous Underwater Vehicles that is computationally efficient, meets the strict bandwidth requirements of available AUV modems, and has potential to scale well to networks of large numbers of vehicles.
References
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Genesis and Evolution of the 1997-98 El Niño
TL;DR: The 1997-98 El Nino was, by some measures, the strongest on record, with major climatic impacts felt around the world, according to a newly completed tropical Pacific atmosphere-ocean observing system.
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Mean Water and Current Structure during the Hawaii-to-Tahiti Shuttle Experiment
Klaus Wyrtki,Bernard Kilonsky +1 more
TL;DR: In this article, mean geostrophic transports for the individual currents identify the south equatorial current as the strongest flow, transporting 55 × 106 m3 s−1, and information derived from the water mass and nutrient distributions is used to develop a consistent picture of the transverse circulation and of the role of the different divergences and convergences.
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The Autonomous Lagrangian Circulation Explorer (ALACE)
TL;DR: The autonomous Lagrangian circulation explorer (ALACE) as mentioned in this paper is a subsurface float that cycles vertically from a depth where it is neutrally buoyant to the surface where it relays data to, System Argos satellites.
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Preliminary results from directly measuring middepth circulation in the tropical and South Pacific
TL;DR: In the World Ocean Circulation Experiment, 300 Autonomous Lagrangian Circulation Explorer floats were deployed in the tropical and South Pacific to measure the general circulation at 900 m depth as mentioned in this paper.