Towards basin-scale in-situ characterization of sea-ice using an Autonomous Underwater Glider
Submitted in partial fulfillment of the requirements for the degree of Master of Science in Mechanical Engineering at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 2020. This thesis presents an Autonomous Underwater Glider (AUG) architecture that is...
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Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
2020
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ftwhoas:oai:darchive.mblwhoilibrary.org:1912/26056 2023-05-15T14:43:19+02:00 Towards basin-scale in-situ characterization of sea-ice using an Autonomous Underwater Glider Duguid, Zachary Camilli, Richard 2020-09 https://hdl.handle.net/1912/26056 en_US eng Massachusetts Institute of Technology and Woods Hole Oceanographic Institution WHOI Theses https://hdl.handle.net/1912/26056 doi:10.1575/1912/26056 doi:10.1575/1912/26056 Autonomous Underwater Glider (AUG) Sea-ice Energy efficient Thesis 2020 ftwhoas https://doi.org/10.1575/1912/26056 2022-10-22T22:57:09Z Submitted in partial fulfillment of the requirements for the degree of Master of Science in Mechanical Engineering at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 2020. This thesis presents an Autonomous Underwater Glider (AUG) architecture that is intended for basin-scale unattended survey of Arctic sea-ice. The distinguishing challenge for AUG operations in the Arctic environment is the presence of year-round sea-ice cover which prevents vehicle surfacing for localization updates and shore-side communication. Due to the high cost of operating support vessels in the Arctic, the proposed AUG architecture minimizes external infrastructure requirements to brief and infrequent satellite updates on the order of once per day. This is possible by employing onboard acoustic sensing for sea-ice observation and navigation, along with intelligent management of onboard resources. To enable unattended survey of Arctic sea-ice with an AUG, this thesis proposes a hierarchical acoustics-based sea-ice characterization scheme to perform science data collection and assess environment risk, a multi-factor terrain-aided navigation method that leverages bathymetric features and active ocean current sensing to limit localization error, and a set of energy-optimal propulsive and hotel policies that react to evolving environmental conditions to improve AUG endurance. These methods are evaluated with respect to laboratory experiments and preliminary field data, and future Arctic sea-ice survey mission concepts are discussed. Support for this research was provided through the National Science Foundation Navigating the New Arctic Grant #1839063 and the NASA PSTAR Grant #NNX16AL08G. Additionally, this research was supported by the Walter A. Rosenblith Presidential Fellowship. Thesis Arctic Sea ice Woods Hole Scientific Community: WHOAS (Woods Hole Open Access Server) Arctic Woods Hole, MA |
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Open Polar |
collection |
Woods Hole Scientific Community: WHOAS (Woods Hole Open Access Server) |
op_collection_id |
ftwhoas |
language |
English |
topic |
Autonomous Underwater Glider (AUG) Sea-ice Energy efficient |
spellingShingle |
Autonomous Underwater Glider (AUG) Sea-ice Energy efficient Duguid, Zachary Towards basin-scale in-situ characterization of sea-ice using an Autonomous Underwater Glider |
topic_facet |
Autonomous Underwater Glider (AUG) Sea-ice Energy efficient |
description |
Submitted in partial fulfillment of the requirements for the degree of Master of Science in Mechanical Engineering at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 2020. This thesis presents an Autonomous Underwater Glider (AUG) architecture that is intended for basin-scale unattended survey of Arctic sea-ice. The distinguishing challenge for AUG operations in the Arctic environment is the presence of year-round sea-ice cover which prevents vehicle surfacing for localization updates and shore-side communication. Due to the high cost of operating support vessels in the Arctic, the proposed AUG architecture minimizes external infrastructure requirements to brief and infrequent satellite updates on the order of once per day. This is possible by employing onboard acoustic sensing for sea-ice observation and navigation, along with intelligent management of onboard resources. To enable unattended survey of Arctic sea-ice with an AUG, this thesis proposes a hierarchical acoustics-based sea-ice characterization scheme to perform science data collection and assess environment risk, a multi-factor terrain-aided navigation method that leverages bathymetric features and active ocean current sensing to limit localization error, and a set of energy-optimal propulsive and hotel policies that react to evolving environmental conditions to improve AUG endurance. These methods are evaluated with respect to laboratory experiments and preliminary field data, and future Arctic sea-ice survey mission concepts are discussed. Support for this research was provided through the National Science Foundation Navigating the New Arctic Grant #1839063 and the NASA PSTAR Grant #NNX16AL08G. Additionally, this research was supported by the Walter A. Rosenblith Presidential Fellowship. |
author2 |
Camilli, Richard |
format |
Thesis |
author |
Duguid, Zachary |
author_facet |
Duguid, Zachary |
author_sort |
Duguid, Zachary |
title |
Towards basin-scale in-situ characterization of sea-ice using an Autonomous Underwater Glider |
title_short |
Towards basin-scale in-situ characterization of sea-ice using an Autonomous Underwater Glider |
title_full |
Towards basin-scale in-situ characterization of sea-ice using an Autonomous Underwater Glider |
title_fullStr |
Towards basin-scale in-situ characterization of sea-ice using an Autonomous Underwater Glider |
title_full_unstemmed |
Towards basin-scale in-situ characterization of sea-ice using an Autonomous Underwater Glider |
title_sort |
towards basin-scale in-situ characterization of sea-ice using an autonomous underwater glider |
publisher |
Massachusetts Institute of Technology and Woods Hole Oceanographic Institution |
publishDate |
2020 |
url |
https://hdl.handle.net/1912/26056 |
geographic |
Arctic |
geographic_facet |
Arctic |
genre |
Arctic Sea ice |
genre_facet |
Arctic Sea ice |
op_source |
doi:10.1575/1912/26056 |
op_relation |
WHOI Theses https://hdl.handle.net/1912/26056 doi:10.1575/1912/26056 |
op_doi |
https://doi.org/10.1575/1912/26056 |
op_publisher_place |
Woods Hole, MA |
_version_ |
1766314993173659648 |