CONTENTSCONTENTS IntroductionIntroduction Topics dealt with…Topics dealt with… Underwater glidersUnderwater gliders Working of an underwater gliderWorking of an underwater glider ApplicationsApplications Objective of the experimentObjective of the experiment Glider operationsGlider operations Future developments and applications at the Institute Of Ocean Future developments and applications at the Institute Of Ocean

TechnologyTechnology ASMTASMT Laboratory scale gliderLaboratory scale glider ConclusionConclusion Thank you…Thank you…

INTRODUCTIONINTRODUCTION

Sampling of oceans has traditionally been Sampling of oceans has traditionally been conducted from ships.conducted from ships.

HMS challenger(1872-1876).HMS challenger(1872-1876).Took an awesome period of 23yrs.to Took an awesome period of 23yrs.to

compile the results.compile the results.Emergence of alternative technologiesEmergence of alternative technologiesHas brought us a long way from the Has brought us a long way from the

“CHALLENGER CRUISE”.“CHALLENGER CRUISE”.

TOPICS DEALT WITH…TOPICS DEALT WITH…

AUVs ( Autonomous underwater vehicles)AUVs ( Autonomous underwater vehicles)AOSN-2 field expt in Monterey bay, AOSN-2 field expt in Monterey bay,

California.California.Current efforts to develop a laboratory scale Current efforts to develop a laboratory scale

glider.glider.

Underwater glidersUnderwater gliders

Represent a rapidly maturing technologyRepresent a rapidly maturing technologyLarge cost saving potentialLarge cost saving potential

Working of an Underwater GliderWorking of an Underwater Glider

Buoyancy engine to change their weight in Buoyancy engine to change their weight in water.water.

Generation of hydrodynamic lift and drag Generation of hydrodynamic lift and drag forcesforces

Closed loop control of attitude and depth- Closed loop control of attitude and depth- performed by an on-board computer that performed by an on-board computer that executes a pre-programmed mission while executes a pre-programmed mission while submergedsubmerged

A receiver to compare the position with the desired A receiver to compare the position with the desired position from the mission planposition from the mission plan

Position error used to compute the average current Position error used to compute the average current flow encountered…… which is used to correct the dive flow encountered…… which is used to correct the dive parameters for the next dive cycle.parameters for the next dive cycle.

Communication at the surface using an IRIDIUM Communication at the surface using an IRIDIUM satellite connection.satellite connection.

Antennae’s are integrated into the glidersAntennae’s are integrated into the glidersFor a SLOCUM glider antennae and receiver are For a SLOCUM glider antennae and receiver are

embedded within the rudder assembly.embedded within the rudder assembly.Glider collects data from their scientific sensors Glider collects data from their scientific sensors Besides CTD sensors, they even carry PAR sensors Besides CTD sensors, they even carry PAR sensors

and Fluorometers and Fluorometers

APPLICATIONS

Autonomous Ocean Sampling Network 2-Autonomous Ocean Sampling Network 2-Monterey Bay 2003Monterey Bay 2003

Conducted during the summer of 2003 in Conducted during the summer of 2003 in Monterey Bay, CaliforniaMonterey Bay, California

Bay was chosen for its accessibility, resident Bay was chosen for its accessibility, resident research institutions with on site hardware research institutions with on site hardware (ships, airplanes, AUVs) and its interesting (ships, airplanes, AUVs) and its interesting bathymetry.bathymetry.

A certain drawback due to additional sensors as well A certain drawback due to additional sensors as well as frequent communication and shallow dives is:as frequent communication and shallow dives is:

Increase in power consumption thereby a reduction in Increase in power consumption thereby a reduction in mission length.mission length.

OBJECTIVE OF THE EXPERIMENTOBJECTIVE OF THE EXPERIMENT

To demonstrate the feasibility of an integrated ocean observation ,modeling and To demonstrate the feasibility of an integrated ocean observation ,modeling and prediction system.prediction system.

This expt differs from the previous efforts because of its high degree of system This expt differs from the previous efforts because of its high degree of system integrationintegration

GLIDER OPERATIONSGLIDER OPERATIONS

Two types of gliders were available: SPRAY Two types of gliders were available: SPRAY gliders & SLOCUM glidersgliders & SLOCUM gliders

Prior to the expt all gliders were shipped to Prior to the expt all gliders were shipped to the MBARI in Moss landing, California.the MBARI in Moss landing, California.

Sensor data were closely monitored during Sensor data were closely monitored during the course of the experiment. the course of the experiment.

Undue advantage of the different depth Undue advantage of the different depth capabilities of gliders were takencapabilities of gliders were taken

.communication to and from the gliders using .communication to and from the gliders using IRIDIUM satellite.IRIDIUM satellite.

Due to more frequent inflections and higher sensor Due to more frequent inflections and higher sensor load SLOCUM gliders were recovered during the load SLOCUM gliders were recovered during the course of the experiment.course of the experiment.

After recovery ,gliders battery packs were After recovery ,gliders battery packs were replaced system re-ballasted, checked out and replaced system re-ballasted, checked out and readied for deployment.readied for deployment.

A real time operational display was made available A real time operational display was made available at the control center at MBARI.at the control center at MBARI.

The display was improved during the course The display was improved during the course of the expt. (display was automated)of the expt. (display was automated)

FINDINGSFINDINGSGliders sometimes advanced marginally Gliders sometimes advanced marginally

over the course of some several hoursover the course of some several hoursFar above its theoretical limitsFar above its theoretical limitsThis phenomenon was observed 3-4 timesThis phenomenon was observed 3-4 times

The performance of several multi-vehicle expts shows The performance of several multi-vehicle expts shows the potential for added value by using coordinated the potential for added value by using coordinated control strategiescontrol strategies

New tools are under development that allow for New tools are under development that allow for improved planning and monitoring of the observational improved planning and monitoring of the observational assets which will provide a higher degree of autonomy assets which will provide a higher degree of autonomy during future deployments.during future deployments.

FUTURE DEVELOPMENTS AND FUTURE DEVELOPMENTS AND APPLICATIONS AT THEINSTITUTEAPPLICATIONS AT THEINSTITUTE

OF OCEAN TECHNOLOGYOF OCEAN TECHNOLOGYNewfoundland Ocean Observation, modeling Newfoundland Ocean Observation, modeling

and prediction facility (NOOMPF) and prediction facility (NOOMPF) A Team of researchers from NRC-IOT, Memorial A Team of researchers from NRC-IOT, Memorial

University of Newfoundland (MUN) and the University of Newfoundland (MUN) and the department of fisheries and oceans (DFO)department of fisheries and oceans (DFO)

Currently developing a plan to implement a Currently developing a plan to implement a regional coupled ocean observation and modeling regional coupled ocean observation and modeling system in Newfoundland (NOOMPF)system in Newfoundland (NOOMPF)

Possible sites –Conception Bay, Trinity Bay and Possible sites –Conception Bay, Trinity Bay and Placentia Bay.Placentia Bay.

Goal is to develop a capability for Goal is to develop a capability for automated coupled oceanautomated coupled ocean

observation and model predictions on a observation and model predictions on a regional scale.regional scale.

Enhance our ability to predict and manage the Enhance our ability to predict and manage the oceanocean

Observations will be based on a suite of different Observations will be based on a suite of different sampling platformssampling platforms

Conventional observations + data available from Conventional observations + data available from satellites + autonomous mobile platforms.satellites + autonomous mobile platforms.

NRC-IOT ’s role is to develop the control and NRC-IOT ’s role is to develop the control and communication infrastructure necessary to communication infrastructure necessary to direct and monitor the observational assets.direct and monitor the observational assets.

ASMT

WILL SERVE AS THE MAIN CONTROLWILL SERVE AS THE MAIN CONTROL AND MONITORIG SURFACEAND MONITORIG SURFACE..

LABORATORY SCALE GLIDERLABORATORY SCALE GLIDER

NRC-IOT is considering developing a lab. Scale NRC-IOT is considering developing a lab. Scale gliderglider

Purpose of a lab. Scale glider is to conduct expts. Purpose of a lab. Scale glider is to conduct expts. for hydrodynamic testing and control and to for hydrodynamic testing and control and to provide a test –bed for new actuation and flow provide a test –bed for new actuation and flow sensing technologiessensing technologies

Design alternatives and constraints of a buoyancy Design alternatives and constraints of a buoyancy engineengine

Vertical motion testsVertical motion tests After completion of design of buoyancy engine –After completion of design of buoyancy engine –

hydrodynamic design of the gliderhydrodynamic design of the glider

CONCLUSIONCONCLUSION

Autonomous underwater vehicles, and in Autonomous underwater vehicles, and in particular autonomous underwater gliders particular autonomous underwater gliders represent a maturing technology with a large represent a maturing technology with a large cost saving potential over current ocean cost saving potential over current ocean sampling technologies for sustained (month sampling technologies for sustained (month at a time) real time measurements.at a time) real time measurements.

THANK YOU.THANK YOU.