Video_1_Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders.MP4
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...
Main Authors: | , |
---|---|
Format: | Dataset |
Language: | unknown |
Published: |
2021
|
Subjects: | |
Online Access: | https://doi.org/10.3389/frobt.2020.579256.s002 https://figshare.com/articles/media/Video_1_Improving_Resource_Management_for_Unattended_Observation_of_the_Marginal_Ice_Zone_Using_Autonomous_Underwater_Gliders_MP4/13602101 |
id |
ftfrontimediafig:oai:figshare.com:article/13602101 |
---|---|
record_format |
openpolar |
spelling |
ftfrontimediafig:oai:figshare.com:article/13602101 2023-05-15T14:54:43+02:00 Video_1_Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders.MP4 Zachary Duguid Richard Camilli 2021-01-18T04:52:26Z https://doi.org/10.3389/frobt.2020.579256.s002 https://figshare.com/articles/media/Video_1_Improving_Resource_Management_for_Unattended_Observation_of_the_Marginal_Ice_Zone_Using_Autonomous_Underwater_Gliders_MP4/13602101 unknown doi:10.3389/frobt.2020.579256.s002 https://figshare.com/articles/media/Video_1_Improving_Resource_Management_for_Unattended_Observation_of_the_Marginal_Ice_Zone_Using_Autonomous_Underwater_Gliders_MP4/13602101 CC BY 4.0 CC-BY Artificial Intelligence and Image Processing Control Systems Robotics and Automation Adaptive Agents and Intelligent Robotics Artificial Life Computer Vision Image Processing Artificial Intelligence and Image Processing not elsewhere classified Applied Ethics not elsewhere classified Bioethics (human and animal) autonomous underwater glider under-ice long-range onboard acoustic sensing environment state estimation marginal ice zone adaptive control energy efficiency Dataset Media 2021 ftfrontimediafig https://doi.org/10.3389/frobt.2020.579256.s002 2021-01-20T23:58:40Z 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. Dataset Arctic Frontiers: Figshare Arctic |
institution |
Open Polar |
collection |
Frontiers: Figshare |
op_collection_id |
ftfrontimediafig |
language |
unknown |
topic |
Artificial Intelligence and Image Processing Control Systems Robotics and Automation Adaptive Agents and Intelligent Robotics Artificial Life Computer Vision Image Processing Artificial Intelligence and Image Processing not elsewhere classified Applied Ethics not elsewhere classified Bioethics (human and animal) autonomous underwater glider under-ice long-range onboard acoustic sensing environment state estimation marginal ice zone adaptive control energy efficiency |
spellingShingle |
Artificial Intelligence and Image Processing Control Systems Robotics and Automation Adaptive Agents and Intelligent Robotics Artificial Life Computer Vision Image Processing Artificial Intelligence and Image Processing not elsewhere classified Applied Ethics not elsewhere classified Bioethics (human and animal) autonomous underwater glider under-ice long-range onboard acoustic sensing environment state estimation marginal ice zone adaptive control energy efficiency Zachary Duguid Richard Camilli Video_1_Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders.MP4 |
topic_facet |
Artificial Intelligence and Image Processing Control Systems Robotics and Automation Adaptive Agents and Intelligent Robotics Artificial Life Computer Vision Image Processing Artificial Intelligence and Image Processing not elsewhere classified Applied Ethics not elsewhere classified Bioethics (human and animal) autonomous underwater glider under-ice long-range onboard acoustic sensing environment state estimation marginal ice zone adaptive control energy efficiency |
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 |
Dataset |
author |
Zachary Duguid Richard Camilli |
author_facet |
Zachary Duguid Richard Camilli |
author_sort |
Zachary Duguid |
title |
Video_1_Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders.MP4 |
title_short |
Video_1_Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders.MP4 |
title_full |
Video_1_Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders.MP4 |
title_fullStr |
Video_1_Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders.MP4 |
title_full_unstemmed |
Video_1_Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders.MP4 |
title_sort |
video_1_improving resource management for unattended observation of the marginal ice zone using autonomous underwater gliders.mp4 |
publishDate |
2021 |
url |
https://doi.org/10.3389/frobt.2020.579256.s002 https://figshare.com/articles/media/Video_1_Improving_Resource_Management_for_Unattended_Observation_of_the_Marginal_Ice_Zone_Using_Autonomous_Underwater_Gliders_MP4/13602101 |
geographic |
Arctic |
geographic_facet |
Arctic |
genre |
Arctic |
genre_facet |
Arctic |
op_relation |
doi:10.3389/frobt.2020.579256.s002 https://figshare.com/articles/media/Video_1_Improving_Resource_Management_for_Unattended_Observation_of_the_Marginal_Ice_Zone_Using_Autonomous_Underwater_Gliders_MP4/13602101 |
op_rights |
CC BY 4.0 |
op_rightsnorm |
CC-BY |
op_doi |
https://doi.org/10.3389/frobt.2020.579256.s002 |
_version_ |
1766326479178694656 |