Design and Construction of Hybrid Autonomous Underwater Glider for Underwater Research

, and Ralf Bachmayer Autonomous Underwater at Memorial University Research Glider

Autonomous Underwater Gliders (AUGs) are becoming the tool of choice for oceanographers to collect in-situ data on the world’s oceans. Since the summer of 2006, the National Research Council-Institute for Ocean Technology (NRC-IOT) and Memorial University (MUN) have been exploring the potential for AUGs to gather oceanographic information with application to the Newfoundland Shelf. Our group ha...

Analysis of an Autonomous Underwater Glider

Underwater gliders have proven to be a powerful tool in oceanography because they are reusable, inexpensive and achieve a high duration. These qualities have made the acquisition of oceanographic data sets more accessible. The purpose of this article is to present a study aimed at modelling an underwater glider in the longitudinal and lateral plane. The proposed glider possesses a single stroke...

OPTIMIZED FUZZY CONTROL DESIGN OF AN AUTONOMOUS UNDERWATER VEHICLE

In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...

Design and construction of an autonomous underwater vehicle

An Autonomous Underwater Vehicle as an Underwater Glider and Its Depth Control

Abstract: To provide a conventional autonomous underwater vehicle with gliding capability, we assume a moving battery and a buoyancy bag installed in a torpedo shaped autonomous underwater vehicle. We develop a mathematical model for the underwater vehicle and derive a stable gliding condition for it. Then an LQR controller is designed to control the zigzag depth of the vehicle, where the deriv...