An effective anomaly detection system is critical for marine autonomous systems operating in complex and dynamic environments to reduce operational costs achieve concurrent large-scale fleet deployments. However, developing an automated fault remains challenging several reasons including limited data transmission via satellite services. Currently, most systems, such as underwater gliders, rely ...

This paper describes an underwater glider motion control system intended to enhance locomotive efficiency by reducing the energy expended by vehicle guidance and control. In previous work, the authors derived an approximate analytical expression for steady turning motion by applying regular perturbation theory to a sophisticated vehicle dynamic model. Using these steady turn solutions, includin...

Autonomous underwater gliders (AUG) are a class of vehicles that move using buoyancy engine and forces from wings. Gliders execute turning motion with the help rudder or an internal roll control mechanism trajectory turn is spiral. This paper analyses sensitivity characteristics spiral manoeuvre on hydrodynamic coefficients glider. Based dynamics model gliding fish whose enabled by rudder, effe...

In this thesis we use nonlinear systems analysis to study dynamics and design control solutions for vehicles subject to hydrodynamic or aerodynamic forcing. Application of energy-based methods for such vehicles is challenging due to the presence of energyconserving lift and side forces. We study how the lift force determines the geometric structure of vehicle dynamics. A Hamiltonian formulation...

A class of underwater vehicles are modelled as Newtonian particles for navigation and control. We show a general method that controls cooperative Newtonian particles to generate patterns on closed smooth curves. These patterns are chosen for good sampling performance using mobile sensor networks. We measure the spacing between neighbouring particles by the relative curve phase along the curve. ...

Ryan N. Smith School of Engineering Systems, Queensland University of Technology, Brisbane, Queensland 4000, Australia e-mail: [email protected] Mac Schwager GRASP Lab, University of Pennsylvania, Philadelphia, Pennsylvania 19104 e-mail: [email protected] Stephen L. Smith Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada e-mail: stephen.smi...

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...

Coordinated fleet of Autonomous Underwater Gliders (AUGs) can provide significant benefit to a number of marine applications including ocean sampling, mapping, surveillance and communication. Traditional techniques for navigating underwater vehicles have been designed for single-vehicle operations and do not scale well to multi-vehicle operations and missions. In this paper a navigation system ...

Glider-type autonomous underwater vehicles are today one of the most promising areas marine robotics. This is confirmed by frequent and remarkable results various research missions projects. The cumulative group application no less innovative wave gliders can significantly reduce time obtaining oceanographic data. Together with gliders, such robotic objects increase efficiency, volume There big...