1. Underwater Gliders at NRC-IOT Ralf Bachmayer NRC-Institute for Ocean Technology St. John’s, NL, Canada Ralf Bachmayer NRC-Institute for Ocean Technology St. John’s, NL, Canada Monday, June 28, 2004

2. NRC-IOT

3. Glider Tradeoffs Strength: Long term deployment Low cost deployment Shore-based control YoYo motion through the water column Weakness: Slow Low energy sensors YoYo motion through the water column Current Applications: Water column sampling Limited current measurements Homeland security (experimental) Potential application Long-term environmental monitoring Iceberg detection, tracking, profiling Hydrographic surveys

4. Purpose: Experimental Platform and Technology Carrier High fidelity hydrodynamic modelling Composite Structure Stiffness, Fatigue, Manufacturing Pressure Housing with Integrated Buoyancy Engine (blue) Advanced Sensor and Actuator Integration Hybrid propulsion (Propeller) Advanced Control Concepts High lift to Drag Ratio for Shallow Glide Angle IOT-Glider

5. Piston Driven Buoyancy Engine 1.Cylinder (PVC) with endcap 2.Diaphragm 3.Linear actuator 4.Single board computer (SBC) 5.Pressure Sensor (depth) 6.Tether for COMs and power Not shown: Internal pressure sensor Alternative: Pump Bladder Design Buoyancy Engine Design 2 1 6 4 3 5

6. Conception Bay/Trinity Bay Ocean Observation Modeling and Prediction Facility (OOMPF) –Partners: MUN, NRC-IOT, DFO –Status: Proposal Stage –Timeframe: 2005-2007 –IOT’s role: Low level control –Involves advanced hydrodynamic modeling and testing –Nonlinear controllers and observers to augment glider capabilities (e.g. local flow observer) High level control Avalon Peninsula (Newfoundland) showing Conception Bay and Trinity Bay

7. Glider flight path Typical Glider Flight Plot for 05 February 2003 200km of glider tracks 3 gliders continuously deployed Automated Glider real-time position display for AOSN-II, June-august 2003.

8. High Level Control Meteorological model & database Asset Location Last Projected Health Monitor Asset Status Last Planning Module Next Oceanographical model & database Buoys UAV Gliders AUVs Simulations, errors Gliders AUVs Ships

9. Needs and Goals Gliders –Need for Data-visualization –24/7 multi-vehicle operations require high degree of control center automation –Multi glider coordination/collaboration for path planning (e.g. in the presence of currents) NRC-IOT role –Laboratory scale glider Hydrodynamic modelling Low-level control Flowsensing –Ocean observation and modelling systems Integrated Asset Management Tool Multi-vehicle planning and coordination (homogeneous and heterogeneous groups)

10. Underwater Vehicle Technology 2004 Workshop in St. John’s, Newfoundland Date: 14-15 October Topic: Long endurance missions