Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders
We present control policies for use with a modified autonomous underwater glider that are intended to enable remote launch/recovery and long-range unattended survey of the Arctic's marginal ice zone (MIZ). This region of the Arctic is poorly characterized but critical to the dynamics of ice adv...
Published in: | Frontiers in Robotics and AI |
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Frontiers Media S.A.
2021
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Online Access: | https://doi.org/10.3389/frobt.2020.579256 https://doaj.org/article/d9c78577800c4e3986f479ea77296ab6 |
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ftdoajarticles:oai:doaj.org/article:d9c78577800c4e3986f479ea77296ab6 2023-05-15T14:53:36+02:00 Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders Zachary Duguid Richard Camilli 2021-01-01T00:00:00Z https://doi.org/10.3389/frobt.2020.579256 https://doaj.org/article/d9c78577800c4e3986f479ea77296ab6 EN eng Frontiers Media S.A. https://www.frontiersin.org/articles/10.3389/frobt.2020.579256/full https://doaj.org/toc/2296-9144 2296-9144 doi:10.3389/frobt.2020.579256 https://doaj.org/article/d9c78577800c4e3986f479ea77296ab6 Frontiers in Robotics and AI, Vol 7 (2021) autonomous underwater glider under-ice long-range onboard acoustic sensing environment state estimation marginal ice zone Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 article 2021 ftdoajarticles https://doi.org/10.3389/frobt.2020.579256 2022-12-31T12:06:51Z We present control policies for use with a modified autonomous underwater glider that are intended to enable remote launch/recovery and long-range unattended survey of the Arctic's marginal ice zone (MIZ). This region of the Arctic is poorly characterized but critical to the dynamics of ice advance and retreat. Due to the high cost of operating support vessels in the Arctic, the proposed glider architecture minimizes external infrastructure requirements for navigation and mission updates to brief and infrequent satellite updates on the order of once per day. This is possible through intelligent power management in combination with hybrid propulsion, adaptive velocity control, and dynamic depth band selection based on real-time environmental state estimation. We examine the energy savings, range improvements, decreased communication requirements, and temporal consistency that can be attained with the proposed glider architecture and control policies based on preliminary field data, and we discuss a future MIZ survey mission concept in the Arctic. Although the sensing and control policies presented here focus on under ice missions with an unattended underwater glider, they are hardware independent and are transferable to other robotic vehicle classes, including in aerial and space domains. Article in Journal/Newspaper Arctic Directory of Open Access Journals: DOAJ Articles Arctic Frontiers in Robotics and AI 7 |
institution |
Open Polar |
collection |
Directory of Open Access Journals: DOAJ Articles |
op_collection_id |
ftdoajarticles |
language |
English |
topic |
autonomous underwater glider under-ice long-range onboard acoustic sensing environment state estimation marginal ice zone Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 |
spellingShingle |
autonomous underwater glider under-ice long-range onboard acoustic sensing environment state estimation marginal ice zone Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 Zachary Duguid Richard Camilli Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders |
topic_facet |
autonomous underwater glider under-ice long-range onboard acoustic sensing environment state estimation marginal ice zone Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 |
description |
We present control policies for use with a modified autonomous underwater glider that are intended to enable remote launch/recovery and long-range unattended survey of the Arctic's marginal ice zone (MIZ). This region of the Arctic is poorly characterized but critical to the dynamics of ice advance and retreat. Due to the high cost of operating support vessels in the Arctic, the proposed glider architecture minimizes external infrastructure requirements for navigation and mission updates to brief and infrequent satellite updates on the order of once per day. This is possible through intelligent power management in combination with hybrid propulsion, adaptive velocity control, and dynamic depth band selection based on real-time environmental state estimation. We examine the energy savings, range improvements, decreased communication requirements, and temporal consistency that can be attained with the proposed glider architecture and control policies based on preliminary field data, and we discuss a future MIZ survey mission concept in the Arctic. Although the sensing and control policies presented here focus on under ice missions with an unattended underwater glider, they are hardware independent and are transferable to other robotic vehicle classes, including in aerial and space domains. |
format |
Article in Journal/Newspaper |
author |
Zachary Duguid Richard Camilli |
author_facet |
Zachary Duguid Richard Camilli |
author_sort |
Zachary Duguid |
title |
Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders |
title_short |
Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders |
title_full |
Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders |
title_fullStr |
Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders |
title_full_unstemmed |
Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders |
title_sort |
improving resource management for unattended observation of the marginal ice zone using autonomous underwater gliders |
publisher |
Frontiers Media S.A. |
publishDate |
2021 |
url |
https://doi.org/10.3389/frobt.2020.579256 https://doaj.org/article/d9c78577800c4e3986f479ea77296ab6 |
geographic |
Arctic |
geographic_facet |
Arctic |
genre |
Arctic |
genre_facet |
Arctic |
op_source |
Frontiers in Robotics and AI, Vol 7 (2021) |
op_relation |
https://www.frontiersin.org/articles/10.3389/frobt.2020.579256/full https://doaj.org/toc/2296-9144 2296-9144 doi:10.3389/frobt.2020.579256 https://doaj.org/article/d9c78577800c4e3986f479ea77296ab6 |
op_doi |
https://doi.org/10.3389/frobt.2020.579256 |
container_title |
Frontiers in Robotics and AI |
container_volume |
7 |
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1766325202894979072 |