Both underwater and wave gliders are known as autonomous unmanned energy-saving vehicles which have recently found applications for monitoring the world ocean. The paper under consideration discusses simplified mathematical models of these platforms enabling straightforward parametric investigation into relationships between their parameters performance. In its first part equations describing m...

For underwater gliders (UGs), high trajectory accuracy is an important factor in improving the observation of ocean phenomena. In this paper, a novel method optimization proposed to increase UGs, which approximately based on nonlinear dynamic model, rather than linearization model. Firstly, model UGs established analyze effect input parameters error, some approximate models that replaced due it...

High accuracy attitude and position determination is very important for underwater gliders. The cross-coupling among three attitude angles (heading angle, pitch angle and roll angle) becomes more serious when pitch or roll motion occurs. This cross-coupling makes attitude angles inaccurate or even erroneous. Therefore, the high accuracy attitude and position determination becomes a difficult pr...

The dynamics of the rule 54 one-dimensional, two-state cellular automaton (CA) are a discrete analog of a space-time dynamics of excitations in a nonlinear active medium with mutual inhibition. A cell switches its state 0 to state 1 if one of its two neighbors is in state 1 (propagation of a perturbation), and a cell remains in state 1 only if its two neighbors are in state 0. A lateral inhibit...

The study of depth-averaged currents is great significance for the application underwater gliders. In order to solve problem low prediction accuracy time series-based current method, factors affecting are analyzed and a data-driven method an glider with sailing parameters proposed in this paper. First, glider’s historical profile period navigation taken as inputs construct multi-input double-ou...

Four acoustic Seagliders were deployed in the Philippine Sea November 2010 to April 2011 in the vicinity of an acoustic tomography array. The gliders recorded over 2000 broadband transmissions at ranges up to 700 km from moored acoustic sources as they transited between mooring sites. The precision of glider positioning at the time of acoustic reception is important to resolve the fundamental a...

Gliding robotic fish, a new type of underwater robot, combines both strengths of underwater gliders and robotic fish, featuring long operation duration and high maneuverability. In this paper, we present both analytical and experimental results on a novel gliding motion, tail-enabled three-dimensional (3D) spiraling, which is well suited for sampling a water column. A dynamic model of a gliding...

The U.S. Navy’s use of tactical mid-frequency active sonar has been linked to marine mammal strandings and fatalities (NMFS 2001). These events have generated legal challenges to the Navy’s peacetime use of mid-frequency sonar, and have limited the Navy’s at-sea anti-submarine warfare training time. Beaked whales may be particularly sensitive to mid-frequency sonar. A mobile, persistent surveil...