Developing the next generation of Autonomous Underwater Gliders
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 2022. This thesis presents a novel, hybrid Autonomous Underwater Glider (AUG) archite...
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Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
2022
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ftwhoas:oai:darchive.mblwhoilibrary.org:1912/29343 2023-05-15T15:12:19+02:00 Developing the next generation of Autonomous Underwater Gliders Ventola, Peter T. Camilli, Richard 2022-09 https://hdl.handle.net/1912/29343 en_US eng Massachusetts Institute of Technology and Woods Hole Oceanographic Institution WHOI Theses https://hdl.handle.net/1912/29343 doi:10.1575/1912/29343 doi:10.1575/1912/29343 AUG Glider Slocum Thesis 2022 ftwhoas https://doi.org/10.1575/1912/29343 2023-01-21T23:56:59Z 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 2022. This thesis presents a novel, hybrid Autonomous Underwater Glider (AUG) architecture developed for improved performance in shallow, high-current environments while maintaining all capabilities inherent to a deep, 1000m-rated AUG. Numerous regions of scientific interest, such as the marginal ice zone (MIZ) and continental shelf breaks present significant challenges to conventional AUG operations due to a combination of changing ocean currents and depths. AUGs are traditionally optimized for performance in shallow (less than 200m) or deep water (200m to 1000m) environments. The design of a buoyancy drive on a deep-rated AUG does not support the pump rate required for fast inflections in narrow depth bands. Contained within this thesis is the framework to expand the operational envelope of a Teledyne Webb Research (TWR) G3 Slocum glider through substantial modification of the glider’s hardware components backed by rigorous hydrodynamic analysis and computational fluid dynamics (CFD) modelling. Since AUGs are limited in both speed and maneuverability, the goal of this thesis is to improve and modify the glider’s flight characteristics, specifically the glider’s speed through water, its inflection rate, and its efficiency. These performance improvements are accomplished through the introduction of a high-power thruster, modified wings, and aft fin surfaces. The modified glider’s efficacy is evaluated through various laboratory experiments and field data obtained in Buzzards Bay and the Caribbean Sea. Design concepts for a future, more advanced glider are also discussed. Support for this research was provided through grants from the National Science Foundation (NSF) Navigating the New Arctic Grant (NNA #1839063) and the National Ocean Partnership Program (NOPP) Enhanced Propulsion Integrated ... Thesis Arctic Woods Hole Scientific Community: WHOAS (Woods Hole Open Access Server) Arctic Webb ENVELOPE(146.867,146.867,-67.867,-67.867) |
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Open Polar |
collection |
Woods Hole Scientific Community: WHOAS (Woods Hole Open Access Server) |
op_collection_id |
ftwhoas |
language |
English |
topic |
AUG Glider Slocum |
spellingShingle |
AUG Glider Slocum Ventola, Peter T. Developing the next generation of Autonomous Underwater Gliders |
topic_facet |
AUG Glider Slocum |
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 2022. This thesis presents a novel, hybrid Autonomous Underwater Glider (AUG) architecture developed for improved performance in shallow, high-current environments while maintaining all capabilities inherent to a deep, 1000m-rated AUG. Numerous regions of scientific interest, such as the marginal ice zone (MIZ) and continental shelf breaks present significant challenges to conventional AUG operations due to a combination of changing ocean currents and depths. AUGs are traditionally optimized for performance in shallow (less than 200m) or deep water (200m to 1000m) environments. The design of a buoyancy drive on a deep-rated AUG does not support the pump rate required for fast inflections in narrow depth bands. Contained within this thesis is the framework to expand the operational envelope of a Teledyne Webb Research (TWR) G3 Slocum glider through substantial modification of the glider’s hardware components backed by rigorous hydrodynamic analysis and computational fluid dynamics (CFD) modelling. Since AUGs are limited in both speed and maneuverability, the goal of this thesis is to improve and modify the glider’s flight characteristics, specifically the glider’s speed through water, its inflection rate, and its efficiency. These performance improvements are accomplished through the introduction of a high-power thruster, modified wings, and aft fin surfaces. The modified glider’s efficacy is evaluated through various laboratory experiments and field data obtained in Buzzards Bay and the Caribbean Sea. Design concepts for a future, more advanced glider are also discussed. Support for this research was provided through grants from the National Science Foundation (NSF) Navigating the New Arctic Grant (NNA #1839063) and the National Ocean Partnership Program (NOPP) Enhanced Propulsion Integrated ... |
author2 |
Camilli, Richard |
format |
Thesis |
author |
Ventola, Peter T. |
author_facet |
Ventola, Peter T. |
author_sort |
Ventola, Peter T. |
title |
Developing the next generation of Autonomous Underwater Gliders |
title_short |
Developing the next generation of Autonomous Underwater Gliders |
title_full |
Developing the next generation of Autonomous Underwater Gliders |
title_fullStr |
Developing the next generation of Autonomous Underwater Gliders |
title_full_unstemmed |
Developing the next generation of Autonomous Underwater Gliders |
title_sort |
developing the next generation of autonomous underwater gliders |
publisher |
Massachusetts Institute of Technology and Woods Hole Oceanographic Institution |
publishDate |
2022 |
url |
https://hdl.handle.net/1912/29343 |
long_lat |
ENVELOPE(146.867,146.867,-67.867,-67.867) |
geographic |
Arctic Webb |
geographic_facet |
Arctic Webb |
genre |
Arctic |
genre_facet |
Arctic |
op_source |
doi:10.1575/1912/29343 |
op_relation |
WHOI Theses https://hdl.handle.net/1912/29343 doi:10.1575/1912/29343 |
op_doi |
https://doi.org/10.1575/1912/29343 |
_version_ |
1766343015122599936 |