• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.26 no.12
• /
• pp.1890-1897
• /
• 2022

In this paper, we design a navigation filter for an underwater glider. Underwater gliders are low-cost, reusable, and can be used for a long time. Two types of filters are designed considering characteristics such as small size, low cost, and low power. The navigation filter estimates the reference velocity of the underwater glider's body frame based on the minimum sensor output. The sensor configuration of the first filter consists of an accelerometer, a magnetometer, and a depth sensor. the second filter include extra a gyroscope in the same configuration. The estimated velocity is fused with the attitude, converted into the velocity of the navigation frame and finally the position is estimated. To analyze the performance of the proposed filter, analysis was performed using Monte Carlo numerical analysis method, and the results were analyzed with standard deviation (1σ). Standard deviations of each filter's position error are 334.34m, 125.91m.

• Journal of Advanced Marine Engineering and Technology
• /
• v.39 no.7
• /
• pp.709-715
• /
• 2015

Underwater gliders do not typically have separate propellers for forward motion. They generate propulsive forces based on the difference between their buoyancy and gravity. They can control the volume from the buoyancy engine to adjust the propulsive force. In addition, the attitude of the underwater glider is controlled by a rubberless motion controller. The motion controller can change the mass center and moment of inertia of the inner moving mass. Owing to the change in these parameters, the attitude of the underwater glider is changed. In this study, we derive nonlinear, six degree of freedom (DOF) mathematical models for the motion controller and buoyancy engine. Using these equations, we perform dynamic simulations of the proposed underwater glider, and verify the suitability of the design and dynamic performances of the proposed underwater glider. We then perform the motion control simulation for the pitch and roll angle, and analyze the dynamic performance according to the pitch and roll angles.

• Journal of Advanced Navigation Technology
• /
• v.21 no.6
• /
• pp.537-543
• /
• 2017

Underwater glider is the long-term operating underwater robot that was developed with a purpose of continuous oceanographic observations and explorations. Torpedo-type underwater glider is not efficient from an aspect of maneuverability, because it uses a single buoyancy engine and motion controller for obtaining propulsive forces and moments. This paper introduces a ray-type underwater glider(RUG) with dual buoyancy engine, which improves the control performance of buoyancy and motion compared with torpedo-type underwater glider. Carrying out Computational Fluid Dynamics (CFD) analysis as static pitch drift test, the performance of fluid resistance for gliding motion was identified. Based on the calculated hydrodynamic coefficients, the dynamic simulation compared and analyzed the motion performance of torpedo-type and ray-type while controlling same volume of buoyancy engine. Small-sized model of RUG was developed to perform fundamental performance tests.

• Bulletin of the Society of Naval Architects of Korea
• /
• v.57 no.3
• /
• pp.28-33
• /
• 2020

• Journal of Advanced Navigation Technology
• /
• v.21 no.1
• /
• pp.21-29
• /
• 2017

In this paper, we studied the control of the hybrid underwater glider (HUG), which has the advantage of high precision route search function and long-term mission capability. Dynamic modeling of HUG is based on numerical model of the attitude controller and buoyancy engine, thruster. We designed the control part considering the smooth control and precise sailing of HUG. A buoyancy engine capable of inhaling water is designed to control the buoyancy of HUG. And mass shifter carrying the battery was designed for controlling pitching motion of HUG. A control system for controlling the buoyancy engine and the attitude controller was constructed. In order to verify performance, we performed water tank test using manufactured HUG.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
• /
• v.29 no.1
• /
• pp.56-76
• /
• 2024

We for the first time made a successful longest continuous sectional observation in the East Sea by an underwater glider during 95 days from September 18 to December 21 2020 in the Korea along the 106 Line (129.1 °E ~ 131.5 °E at 37.9 °N) of the regular shipboard measurements by the National Institute of Fishery Science (NIFS) and obtained twelve hydrographic sections with high spatiotemporal resolution. The glider was deployed at 129.1 °E in September 18 and conducted 88-days flight from September 19 to December 15 2020, yielding twelve hydrographic sections, and then recovered at 129.2 °E in December 21 after the last 6 days virtual mooring operation. During the total traveled distance of 2550 km, the estimated deviation from the predetermined zonal path had an average RMS distance of 262 m. Based on these high-resolution long-term glider measurements, we conducted a comparative study with the bi-monthly NIFS measurements in terms of spatial and temporal resolutions, and found distinguished features. One is that spatial features of sub-mesoscale such as sub-mesoscale frontal structure and intensified thermocline were detected only in the glider measurements, mainly due to glider's high spatial resolution. The other is the detection of intramonthly variations from the weekly time series of temperature and salinity, which were extracted from glider's continuous sections. Lastly, there were deviations and bias in measurements from both platforms. We argued these deviations in terms of the time scale of variation, the spatial scale of fixed-point observation, and the calibration status of CTD devices of both platforms.

• Journal of Advanced Navigation Technology
• /
• v.26 no.2
• /
• pp.105-112
• /
• 2022

In this paper, unmanned underwater glider was designed for high-depth operation and adopted a bladder-type buoyancy controller for improving battery efficiency, and the motion controller controls the pitch angle by moving the internal mass battery. To improve the energy efficiency of the unmanned underwater glider, a layered PID controller that performs control by section was designed. Simulation program including 6-DOF motion equations and hydrodynamics coefficients of an unmanned underwater glider is constructed using Matlab/Simulink program. Control methods such as PID controller, sliding mode controller and layered PID controller were applied to the simulator to compare the dynamics performance and energy efficiency. As a result, the layered PID controller showed improved control performance compared to other controllers and improved energy efficiency of approximately 7.2% compared to PID controller.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
• /
• v.17 no.2
• /
• pp.130-137
• /
• 2012

The underwater glider using conception of Lagrangian method, is a new observation platform to understand the properties of the ocean vertically. In 2011 March, KORDI made a first successful autonomous trip from Hupo to west coast of Uleungdo piloting Littoral Glider of Alaska Native Technology LLC. The journey considered many environmental variables and route vigilantly selected, the glider covered 177 km horizontally and took approximately 6 days (153 hours). Despite the existence of 1 kt eddy current, Sound velocity sampling was conducted from 5 meters and reaching maximum of 200 meters depth at each dive. It successfully collected sound velocity and temperature profile at every 5 seconds totaling up to 1408 profiles using SVT&P sensor. During the flight it was also a mission to check the diverse modes of the glider i.e. spiral, waypoints, heading, drift and hover could function without a defect in a given situation. These modes were thoroughly monitored and it could be considered that the glider handled it well during the flight. As a result of this test flight, it was evident that the given underwater glider could operate under 2kt current environment with users defined heading and depth, also with the payload up to 5 kg without changing internal buoyancy.

• Journal of Ocean Engineering and Technology
• /
• v.28 no.6
• /
• pp.546-551
• /
• 2014

This paper addresses a feedback linearization control problem for the nonlinear dynamics of an underwater glider system. We consider the buoyancy and moment as control inputs, which come from the mass variation and elevator control, respectively. Moment-to-force coupling increases the nonlinearities, which make the controller design difficult. By using a feedback linearization technique, we convert the nonlinear underwater glider to an equivalent linear model and design a linear controller. The controller for the equivalent converted linear system is designed using sufficient conditions in terms of linear matrix inequalities. Then, the control input of the nonlinear model of an underwater glider is formulated from the linear control input. An experimental examination is implemented to verify the effectiveness of the proposed technique.

• Journal of Ocean Engineering and Technology
• /
• v.30 no.5
• /
• pp.381-388
• /
• 2016

An underwater glider makes it easy to explore a wide area with low power. However, an underwater glider is difficult to use for rapid collection, because the surfacing location cannot be predicted after a dive. Thus, simulation research is needed to predict the swimming path. In this paper, based on research, a linearized equation is derived for the drag coefficient at each angle of attack by assuming the boundary conditions for the Slocum underwater glider and performing a computational flow analysis.