Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 14 of 14 for “"Underwater Glider"”.
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Analytical and Numerical Optimal Motion Planning for an Underwater Glider
The use of autonomous underwater vehicles (AUVs) for oceanic observation and research is becoming more common. Underwater gliders are a specific class of AUV that do not use conventional propulsion. Instead they change their buoyancy and center of mass location to control attitude and trajectory. …
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Homeostatic-inspired controller algorithm for a hybrid-driven autonomous underwater glider
The autonomous hybrid-driven underwater glider presented in this thesis combines the concept of a buoyancy-driven underwater glider and a conventional autonomous underwater vehicle. It is classified as a new kind of autonomous underwater glider. The existing buoyancy-driven gliders have proven to …
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Towards basin-scale in-situ characterization of sea-ice using an Autonomous Underwater Glider
This thesis presents an Autonomous Underwater Glider (AUG) architecture that is intended for basin-scale unattended survey of Arctic sea-ice. The distinguishing challenge for AUG operations in the Arctic environment is the presence of year-round sea-ice cover which prevents vehicle surfacing for …
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In-situ characterization of sea state with improved navigation on an Autonomous Underwater Glider
This thesis presents an Autonomous Underwater Glider (AUG) architecture with improved onboard navigation and acoustics-based sensing intended to enable basin-scale unattended surveys of our Earth’s most remote oceans. Traditional AUGs have long-been an important platform for oceanographic surveys …
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In-situ Characterization of Sea State with Improved Navigation on an Autonomous Underwater Glider
This thesis presents an Autonomous Underwater Glider (AUG) architecture with improved onboard navigation and acoustics-based sensing intended to enable basin-scale unattended surveys of our Earth's most remote oceans. Traditional AUGs have long-been an important platform for oceanographic surveys …
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Characterizing the impact of underwater glider observations on the Navy Coastal Ocean Model (NCOM) in the Gulf Stream Region
… across large property gradients. Autonomous underwater gliders conduct routine, high-resolution surveys along the U.S. East Coast, including within the Gulf Stream. These observations are assimilated into the operational Navy Coastal Ocean Model (NCOM). An investigation of the …
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Characterizing the Impact of Underwater Glider Observations on the Navy Coastal Ocean Model (NCOM) in the Gulf Stream Region
… across large property gradients. Autonomous underwater gliders conduct routine, high-resolution surveys along the U.S. East Coast, including within the Gulf Stream. These observations are assimilated into the operational Navy Coastal Ocean Model (NCOM). An investigation of the …
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Long Basline Ranging Acoustic Positioning System
A long-baseline (LBL) underwater acoustic communication and localization system was developed for the Virginia Tech Underwater Glider (VTUG). Autonomous underwater vehicles, much like terrestrial and aerial robots require an effective positioning system, like GPS to perform a wide variety of …
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Efficient Motion Planning and Control for Underwater Gliders
Underwater gliders are highly efficient, winged autonomous underwater vehicles that propel themselves by modifying their buoyancy and their center of mass. The center of mass is controlled by a set of servo-actuators which move one or more internal masses relative to the vehicle's frame. Underwater …
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Improving Seaglider Efficiency: An Analysis of Wing Shapes, Hull Morphologies, and Propulsion Methods
<p>Autonomous underwater gliders are a family of autonomous underwater vehicles used for long-term observation of oceanic environments. These gliders leverage changes in buoyancy and the resulting vertical motion, to generate forward locomotion via hydrodynamic surfaces. In order to function for …
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Developing the next generation of Autonomous Underwater Gliders
This thesis presents a novel, hybrid Autonomous Underwater Glider (AUG) architecture developed for improved performance in shallow, high-current environments while maintaining all capabilities inherent to a deep, 1000m-rated AUG. Numerous regions of scientific interest, such as the marginal ice …
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Developing the Next Generation of Autonomous Underwater Gliders
This thesis presents a novel, hybrid Autonomous Underwater Glider (AUG) architecture developed for improved performance in shallow, high-current environments while maintaining all capabilities inherent to a deep, 1000m-rated AUG. Numerous regions of scientific interest, such as the marginal ice …
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Optimal Paths in Gliding Flight
Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) …