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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ftpubmed:oai:pubmedcentral.nih.gov:7874182 2023-05-15T14:51:41+02:00 Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders Duguid, Zachary Camilli, Richard 2021-01-18 http://www.ncbi.nlm.nih.gov/pmc/articles/PMC7874182/ https://doi.org/10.3389/frobt.2020.579256 en eng Frontiers Media S.A. http://www.ncbi.nlm.nih.gov/pmc/articles/PMC7874182/ http://dx.doi.org/10.3389/frobt.2020.579256 Copyright © 2021 Duguid and Camilli. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. CC-BY Front Robot AI Robotics and AI Text 2021 ftpubmed https://doi.org/10.3389/frobt.2020.579256 2021-02-14T01:43:55Z 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. Text Arctic PubMed Central (PMC) Arctic Frontiers in Robotics and AI 7 |
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language |
English |
topic |
Robotics and AI |
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Robotics and AI Duguid, Zachary Camilli, Richard Improving Resource Management for Unattended Observation of the Marginal Ice Zone Using Autonomous Underwater Gliders |
topic_facet |
Robotics and AI |
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 |
Text |
author |
Duguid, Zachary Camilli, Richard |
author_facet |
Duguid, Zachary Camilli, Richard |
author_sort |
Duguid, Zachary |
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 |
http://www.ncbi.nlm.nih.gov/pmc/articles/PMC7874182/ https://doi.org/10.3389/frobt.2020.579256 |
geographic |
Arctic |
geographic_facet |
Arctic |
genre |
Arctic |
genre_facet |
Arctic |
op_source |
Front Robot AI |
op_relation |
http://www.ncbi.nlm.nih.gov/pmc/articles/PMC7874182/ http://dx.doi.org/10.3389/frobt.2020.579256 |
op_rights |
Copyright © 2021 Duguid and Camilli. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
op_rightsnorm |
CC-BY |
op_doi |
https://doi.org/10.3389/frobt.2020.579256 |
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Frontiers in Robotics and AI |
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7 |
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1766322807969415168 |