1. Darryl Symonds - Teledyne RD Instruments
ADCPs and Gliders
Presented By
Darryl Symonds - Teledyne RD Instruments
October 2012

2. ADCPs and Gliders
Contributors Jerry Mullison - Teledyne RD Instruments
Greg Rivalan - Teledyne RD Instruments
Clayton Jones – Teledyne Webb Research
Neil Trenaman – Liquid Robotics, Inc. (UVS Pty Ltd.)
Robert Olson - Liquid Robotics, Inc.
Rajesh Jha - Liquid Robotics, Inc.
Mike Cookson - Liquid Robotics, Inc.
Paul Wyatt - Liquid Robotics, Inc.

3. Outline Teledyne RD Instruments (TRDI) Background
TRDI Moving Platform ADCP Background
Teledyne Webb Research Slocum Glider and TRDI ADCP Integration
Liquid Robotics, Inc. Wave Glider® and TRDI ADCP Integration

4. Leaders in Acoustic Doppler Current Profilers Doppler Velocity Logs Conductivity, Temperature, and Depth

5. Teledyne serve’s niche market segments where performance, precision and reliability are critical. Our customers include government agencies, aerospace prime contractors, energy exploration and production companies, major industrial companies, and airlines and general aviation companies.

6. Founded: 1982; acquired by Teledyne in Aug. 2005 Products Lines:
Marine Measurements – Water in Motion
Water Resources – Water in Motion
Navigation – Motion in Water
Programs – Technology in Motion
Patented Technologies:
Bottom Tracking
Phased array
Waves processing
Internal Inductive Conductivity Sensor
Employees: 180+
Locations:
Main Office: Poway, CA, USA (certified: ISO9001: 2010, CE)
La Gaude, France
Shanghai, China

7. ADCPs On & In The Ocean

8. Surface Vessel ApplicationsOS WH
Climate Studies
Neptune
Surface Vessel Applications
Mars

9. Unmanned Vehicles Explorer WH Surface Gliders Underwater Gliders
Autonomous Underwater Vehicles (AUVs)
Remotely Operated Vehicles (ROVs)

10. Keys To Successful Data Collection on Moving Platforms
Mounting of Instrument (Where/Orientation)
External Sensor Input (Heading/Pitch/Roll)
Power Considerations
Synchronized External Sensors
Reference to Remove Platform Motion
Data Handling and Processing

11. Teledyne Webb Research - Slocum Glider
Teledyne RD Instruments – Explorer ADCP

12. Mounting – WH ADCP Mounted to Point 45° Starboard
Beam 3 at 0°
Beam 3 at 45° 3 3

13. Mounting - Explorer Flush To Slocum
Beam 3 at 0°
Beam 3 at 45°
AOA 0°
-30°
30°
-22°
22°
AOA -26°
-56°
-48°
-26°
-4° 4°
AOA 26°
56°
48°
26°
-4° 4°

14. Mounting - Explorer Mounted to Point 26° Forward
Beam 3 at 0°
Beam 3 at 45°
AOA 0°
56°
48°
26° 4°
-4°
AOA -26°
-22°
22°
-30°
30°
AOA 26°
82°
64°
52°
22°
30°

15. Mounting - Explorer Mounted to Point 11° Forward
Beam 3 at 0°
Beam 3 at 45°
AOA 0°
41°
43°
-19°
11°
-11°
AOA -26°
--45°
-37°
--15°
15° 7°
AOA 26°
67°
59°
37°
15° 7°

16. Mounting Angle Given a 25° Dive Angle
Mounting with a 11° pitch upward with beam 3 pointing 45° to port
Glider
Beam1
Beam2
Beam3
Beam4
Array Pitch Offset
Glider Pitch
BM Angle
Level 41 19 11 30
Diving down 16 44
-25
Diving Up 66 -6 25
Mounting with a 11° pitch upward with beam 3 pointing 0° (forward)
Glider
Beam1
Beam2
Beam3
Beam4
Array Pitch Offset
Glider Pitch
BM Angle
Level 11 41 19 30
Diving Down
-14 16 44
-25
Diving Up 36 66 -6 25

17. TRDI Data Reference
Attitude (Heading, Pitch, Roll) is input from On-Board Sensors
Vehicle Motion Reference
Bottom track used in shallow water
LADCP method when in deep water
Vehicle Position from GPS during Surfacing

18. Data Flow for System ADCP HPR GPS On Board Power On Board Computer
Batteries
On Board Computer
HPR
GPS
Data Transfer

19. Slocum Glider with Explorer ADCP Deployment Test – Solo Run
Teledyne RDI and Teledyne Webb collaborated to install an Explorer ADCP on a Slocum Glider for Rutgers University.

20. TRDI Data Review Using LADCP

21. TRDI Data Review Using LADCP
A test flight of the glider in shallow water was conducted with bottom track enabled.
The bottom track corrected velocities are compared with the velocities obtained with the LADCP Matlab-scripts, from Dr. Eric Firing at the University of Hawaii.
The agreement between the two techniques is in general very good, but wave action on the glider while it is near the surface badly contaminates the bottom track corrected measurements.

22. Liquid Robotics - Wave Glider® Teledyne RD Instruments – WH ADCP

23. Mounting – WH ADCP Mounted to Point 45° Starboard
Beam 3 at 0°
Beam 3 at 45° 3 3

24. TRDI Data Reference
Attitude (Heading, Pitch, Roll) is input from WH ADCP
Vehicle Motion Reference
Bottom track used in shallow water
GPS used in deep water
Vehicle Position from GPS during

25. Data Flow for System ADCP GPS On Board Computer On Board Power
Solar Panels
ADCP
GPS
Data Transfer

26. Wave Glider® with WH ADCP Deployment Test 1 – Shallow Water
Scripps Beach
Teledyne RDI and Liquid Robotics collaborated to install a WH ADCP on a Wave Glider® at Scripps Institute of Oceanography (SIO) locum Glider for Rutgers University.

27. Deployment One Contours

28. Box Averaged North Velocity

29. Box Averaged East Velocity
Shallow Water Tests illustrate that Wave Glider® wings contaminate one or two bins
Velocities above and below wings compare well with reference ADCP
Flow reversals can be seen
Large scale features compare will with reference ADCP

30. Wave Glider® with WH ADCP Deployment Test 2 – Deep Water
Scripps Beach
Teledyne RDI and Liquid Robotics collaborated to install a WH ADCP on a Wave Glider® at Scripps Institute of Oceanography (SIO) locum Glider for Rutgers University.

31. Repeated Transects

32. TRDI Data Review Using GPS
GPS can be used as a valid reference even within the small spatial areas covered by the Wave Glider®
Traveling in reciprocal transects provide identical data
Large features of oceanographic interest are economically captured by a Wave Glider® mounted ADCP

33. Wave Glider® with WH ADCP Deployment Test 3
Waialea Bay
Puako Bay
©2012 Liquid Robotics, Inc Moffett Park Drive, Sunnyvale, CA 94089, USA. All Rights Reserved. PROPRIETARY INFORMATION 33

34. Velocity Comparison: June 15 – June 16
Alongshore Velocity (m/s)
Cross-Shore Velocity (m/s) R1 R1 R2 R2
SH1
SH1
Bottom Mount
Bottom Mount
©2012 Liquid Robotics, Inc Moffett Park Drive, Sunnyvale, CA 94089, USA. All Rights Reserved. PROPRIETARY INFORMATION 34

35. Velocity Comparison: July 6 – July 8
Alongshore Velocity (m/s)
Cross-Shore Velocity (m/s)
Bottom Mount
Bottom Mount R1 R1 R2 R2
©2012 Liquid Robotics, Inc Moffett Park Drive, Sunnyvale, CA 94089, USA. All Rights Reserved. PROPRIETARY INFORMATION 35

36. ADCPs and Gliders Special Thanks For Their Help and Cooperation To:
The team at John Hildebrand’s laboratory at Scripps Institute of Oceanography (SIO) and to SIO
The team at Rutgers University

37. Contacts Main Office Teledyne RD Instruments, Inc. 14020 Stowe Drive
Poway, CA 92064
Main:
European Office
Teledyne RDI Europe
5 Avenue Hector Pintus
La Gaude, France
Main:
China Office
Teledyne RD Technologies:
1206 Dongfang Road, Pu Dong
Shanghai 20122
China
Main:
Local Representative Details:
UVS Pty Ltd
9 Macquarie Place
Boronia, VIC 3155, Australia
PO Box 129
Boronia VIC 3155
Main: +61 (0)