Underwater Glider Research Articles

Constrained Control of Autonomous Underwater Gliders Based on Disturbance Estimation and Tracking Back Calculation

ABSTRACTThis article presents an anti‐disturbance constrained control scheme for the pitch channel of autonomous underwater gliders subject to internal and external disturbances, as well as actuator saturation. First, the integral control technique is employed to develop a disturbance observer to estimate the overall effect of possible uncertainties and disturbances on the nominal vehicle model, which is referred to as the mismatched lumped disturbance. Then, a disturbance rejection control law is constructed based on the disturbance observer. Following that, a straightforward anti‐windup modification is proposed to handle potential input constraints by using the tracking back calculation technique. Specifically, the difference between saturated and unsaturated control input signals is utilized to create a feedback signal that addresses the disturbance observer input, thereby alleviating system windup during actuator saturation events. Furthermore, the stability of the overall closed‐loop system is established in term of the Lyapunov stability theorem, demonstrating that the tracking error is ultimately bounded. Compared with some existing anti‐windup control schemes, the suggested approach offers intuitive design guidelines, resulting in a simple controller that can be easily implemented. Finally, the effectiveness and robustness of the proposed control scheme are verified through simulation results.

Mesoscale eddy in situ observation and characterization via underwater glider and complex network theory.

Mesoscale eddies have attracted increased attention due to their central role in ocean energy and mass transport. The observations of their three-dimensional structure will facilitate the understanding of nonlinear eddy dynamics. In this paper, we propose a novel framework, the mesoscale eddy characterization from ordinal modalities recurrence networks method (MeC-OMRN), that utilizes a Petrel-II underwater glider for in situ observations and vertical structure characterization of a moving mesoscale eddy in the northern South China Sea. First, higher resolution continuous observation profile data collected throughout the traversal by the underwater glider are acquired and preprocessed. Subsequently, we analyze and compute these nonlinear data. To further amplify the hidden structural features of the mesoscale eddy, we construct ordinal modalities sequences rich in spatiotemporal characteristics based on the measured vertical density of the mesoscale eddy. Based on this, we employ ordinal modalities recurrence plots (OMRPs) to depict the vertical structure inside and outside the eddy, revealing significant differences in the OMRPs and the unevenness of density stratification within the eddy. To validate our intriguing findings from the perspective of complex network theory, we build the multivariate weighted ordinal modalities recurrence networks, through which network measures exhibit a more random distribution of vertical density stratification within the eddy, possibly due to more intense vertical convection and oscillations within the eddy's seawater micelles. These framework and intriguing findings are anticipated to be applied to more data-driven in situ observation tasks of oceanic phenomena.

Evaluation of reconnaissance capabilities in blended-wing-body underwater gliders

Evaluation of reconnaissance capabilities in blended-wing-body underwater gliders

Machine learning-based semi-online performance optimisation for long-range underwater glider missions

Machine learning-based semi-online performance optimisation for long-range underwater glider missions

The analysis of Gurney flap applications for autonomous underwater gliders

ABSTRACT In this paper, the Gurney flap structure (GF) from aeronautical research was applied to underwater gliders for improving the lift-to-drag ratio. Firstly, the numerical simulation method was used to verify the lift enhancement principle of the GF structure and the feasibility of its application to autonomous underwater gliders (AUG). Secondly, the performance of different GF was simulated and analysed, and a variable GF structure was proposed with the requirements of the operating modes. The GF parameters were optimised by a genetic algorithm. The results show that the performance of GF in water is similar to that in air, so it is feasible to apply GF to AUG. When the height of GF is close to the turbulent boundary layer of the trailing edge of the wing, the lift-to-drag ratio is significantly improved, especially in the range of small angle of attack and the maximum increase is up to 30%.

Marine Characteristic Changes Associated with Typhoon Soulik Observed Using Wave and Underwater Gliders

To assess the impact of Typhoon Soulik on the marine environment, unmanned platforms, specifically wave and underwater gliders, are used for surveys in the East Sea. From August 20 to 30, 2018, the wave glider collected meteorological data, while the underwater glider conducts CTD measurements within the typhoon’s impact zone. The data are compared with marine buoy data from the Korea Meteorological Administration and forecast model outputs using RMSE and correlation coefficients to evaluate the characteristics of each data source. The unmanned platform effectively capture the marine environmental changes during the typhoon passage, and the forecast model results show relatively lower RMSE and correlation with the observed data. The study also determines the time required for conditions to revert to pre-typhoon states. This research demonstrates the potential of unmanned platform data for enhancing marine surveys and forecast model accuracy.

Canard-configured underwater gliders lift enhancement investigation

ABSTRACT To enhance the lift performance of underwater gliders, this study investigates the application of the canard configuration. Initial experiments conducted in the towing tank confirm the feasibility of the canard configuration in enhancing lift on underwater gliders. Numerical simulations were conducted to determine the effects of canard shape and position on lift. The findings show that the canard vortex induces beneficial upwash, enhancing lift by facilitating flow separation and expanding the negative pressure region on the wing. Specifically, smaller canard sweep angles result in stronger canard vortices, increasing the impact of canards on the wings. A 45° canard sweep angle optimizes both lift and stability for underwater gliders. Positioning canards above and away from wings minimize adverse wake interactions with wing vortices, enhancing glider performance. Compared with the canard-off underwater glider, the lift-to-drag ratio of the canard-on underwater glider was improved by a maximum of 9.8%.

Adaptive fault tolerant control of unmanned underwater glider with predefined-time stability

Actuator faults of the underwater gliders (UGs) not only jeopardize the motion control performance but may also threaten the sailing safety. This paper proposes an adaptive sliding mode fault-tolerant controller with predefined-time stability for the UGs, considering the modeling uncertainties and the unknown disturbances. Three types of actuator faults are developed and incorporated in the fault model of the UGs, which are utilized for the fault tolerant controller design. Then, the adaptive terms are utilized to estimate the modeling uncertainties and the unknown disturbances. An adaptive sliding mode fault tolerant controller is thus designed with the theoretical proof that the global stability can be achieved within a predefined time. The hardware-in-the-loop simulations are conducted to verify the effectiveness of the proposed fault tolerant controller. The simulation results show that the UG can achieve the stability of the pitching attitude under three kinds of actuator fault conditions.

A regional NEMO 4.0 configuration of the subpolar North Atlantic

The dynamics of the North Atlantic subpolar gyre (SPG) largely control the Atlantic Meridional Overturning Circulation (AMOC), thus affecting the long-term climate variability of the global ocean. Many key processes in the North Atlantic SPG, such as Gulf Stream detachment, eddy activity, deep convection and overflows, are frequently incorrectly presented or misrepresented in modern ocean general circulation models. Here, we present a new regional eddy-resolving model of the subpolar North Atlantic based on the NEMO4 configuration and analyze its ability to adequately represent the dynamics of the subpolar North Atlantic. The model performance is assessed using in situ data (cross-section hydrography, Argo and sea gliders), remote sensing data (satellite sea surface temperature and salinity) and the ANDRO and ARMOR3D products based on optimal interpolation products. In the next step, we analyze the effects of high-resolution forcing and several recent developments in ocean modeling to improve the model solution. The implementation of the self-diffusive momentum advection scheme with additional viscosity allows for the simulation of more realistic Deep Western Boundary Current and Irminger Rings lifecycle characteristics. The surface current feedback parameterization implemented in the forcing function and the modification of the kinetic energy budget in the upper ocean, especially in intensively eddying areas, simulate the behavior predicted by coupled models. While the model is sensitive to the implementation of cool skin–warm layer parameterization, this parameterization does not significantly improve the solution compared to the observational data. Regional implementation of the local-sigma vertical coordinate system in cascading areas allows overflow waters to spread over the ocean bottom more realistically. The remote effect of the implementation of the local-sigma coordinate is traced in the vertical thermohaline structure at the western slopes of the Irminger Sea and Iceland Basin as well as in the Deep Western Boundary Current in the Labrador Sea. Compared to z-partial step setting, local-sigma allows for correct representation of continuous densification of the water in the overturning part of the AMOC and thus North Atlantic Deep-Water formation. The potential of the new model configuration for analyzing the subpolar North Atlantic, including convective activity, is discussed.

Advancing glider-based acoustic measurements of underwater-radiated ship noise.

Ocean gliders are versatile and efficient passive acoustic monitoring platforms in remote marine environments, but few studies have examined their potential to monitor ship underwater noise. This study investigates a Slocum glider's capability to assess ship noise compared to the ability of fixed observers. Trials were conducted in shallow coastal inlets and deep bays in Newfoundland, Canada, using a glider, hydrophone array, and single-moored system. The study focused on (1) the glider's self-noise signature, (2) range-depth-dependent propagation loss (PL) models, and (3) identifying the location of the vessel to the glider using glider acoustic measurements. The primary contributors to the glider's self-noise were the buoyancy pump and rudder. The pitch-motor noise coincided with the buoyancy pump activation and did not contribute to the glider self-noise in our experiments. PL models showed that seafloor bathymetry and sound speed profiles significantly impacted estimates compared to models assuming flat and range-independent profiles. The glider's performance in recording ship noise was superior to that of other platforms. Using its hydrophones, the glider could identify the bearing from the vessel, although a third hydrophone would improve reliability and provide range. The findings demonstrate that gliders can characterize noise and enhance our understanding of ocean sound sources.

Submesoscale Processes in the Northern Red Sea: Insights From Underwater Glider Observations

AbstractThe critical role of oceanic submesoscale currents in promoting energy cascade and modulating biogeochemical processes as well as the heat budget in the upper ocean has gained wide recognition. Although high‐resolution numerical simulations have enabled qualitative investigation of the spatiotemporal variability of submesoscale processes in the north Red Sea (NRS), observational evidence remains scarce. This study investigated the submesoscale processes in the NRS through field observations of underwater gliders. High‐resolution glider and satellite observation data sets reveal the spatiotemporal variation characteristics of submesoscale fronts and deepen mixed layer depth during winter. Diagnosis of potential vorticity (PV) and classifications of submesoscale instabilities demonstrate conducive conditions for the mixed layer baroclinic, gravitational, and symmetric instability. The significant negative PV induced by atmospheric cooling associated with robust fronts promotes the development of submesoscale processes. Combining the Omega equation with biogeochemical observations suggests that coherent pathways via submesoscale processes lead to the vertical transport of biomass and oxygen patches, supplying nutrients into the euphotic layer and ventilating hypoxic waters at depths. These results demonstrate the fundamental role of submesoscale processes in the ocean dynamics of the NRS.

Bi-level task planning strategy for blended-wing-body underwater gliders

ABSTRACT This study focuses on the task planning problem of the blended-wing-body underwater glider (BWBUG), which must autonomously navigate through a sequence of underwater visitation points while ensuring safety and economy. Firstly, the task planning problem of the BWBUG is analysed, with attention given to operational space and task requirements. Subsequently, a bi-level planning framework that incorporates both the bottom-level and top-level planners is proposed. The bottom-level planner optimises the glide path between any two visit points by considering safety and glide angle constraints, with the objective of minimising energy usage. The top-level planner focuses on the task constraints and optimises the global visitation path of the BWBUG to achieve the objective of global energy minimisation. Simulations demonstrate the effectiveness of the bi-level based task planning strategy proposed in this study. The solution algorithms are highly competitive, capable of planning rational global visitation paths for the BWBUG.

Hierarchical decision-making approach for the task planning of the BWBUG cluster with three-dimensional time-varying ocean currents

This study concerns the task planning problem for a Blended-Wing-Body Underwater Glider (BWBUG) cluster with three-dimensional, time-varying ocean currents. The objective is to achieve task allocation and three-dimensional glide path planning for the BWBUG cluster in a manner that ensures safety and cost-effectiveness. First, the task planning problem for the BWBUG cluster is analyzed, detailing the task requirements and operational space. Next, a hierarchical decision-making approach is proposed, which comprises an upstream planner and a downstream planner. The upstream planner aims to determine a feasible task space for the BWBUG cluster while satisfying task constraints. The downstream planner fully considers the impact of ocean currents on BWBUG movement, as well as the safety and kinematic constraints of BWBUGs. It optimizes the three-dimensional movement trajectories of each BWBUG with the objective of minimizing energy consumption. Inspired by the nest-seeking behavior of bees, a novel heuristic algorithm called the Bee Nesting Optimization Algorithm (BNOA) is proposed to solve both upstream and downstream planning problems. The results of the simulations demonstrate the efficacy of the hierarchical decision-making approach developed in this study. Additionally, the proposed BNOA is highly competitive, offering reasonable task allocations and optimal three-dimensional glide paths for the BWBUG cluster.

A surrogate-assisted expensive constrained multi-objective global optimization algorithm and application

Expensive multi-objective optimization problems (MOPs) have seen the successful applications of surrogate-assisted evolutionary algorithms (SAEAs). Nevertheless, the majority of SAEAs are developed for costly unconstrained optimization, and costly constrained MOPs (CMOPs) have received less attention. Therefore, this article proposes a surrogate-assisted global optimization algorithm (named CTEA) for solving CMOPs within a very limited number of fitness evaluations. The proposed algorithm combines two selection frameworks, a bi-level selection framework, and an adaptive sampling framework, to enhance optimization performance. Leveraging on a constraint-improving strategy and a Pareto-based three-indicator criterion (convergence, constraint, and diversity indicators) at the different levels, the proposed bi-level selection framework can select more promising solutions. Moreover, an adaptive sampling framework is developed to prioritize objective and constraint functions and select the candidate solutions for real function evaluations according to the priority. Experimental results demonstrate that the proposed CTEA exhibits superior performance when compared with five state-of-the-art algorithms, achieving the best results in 61.9 % out of the 64 test instances. Finally, CTEA is applied to the multidisciplinary design optimization of blended-wing-body underwater gliders, and an impressive solution set is obtained.

Radial velocity estimation method for a single hydrophone based on passive target line spectrum characteristics

Passive radial velocity estimation based on a single hydrophone has a wide range of applications in engineering, and can be used in small underwater platforms such as submerged buoys and underwater gliders. The conventional passive radial velocity estimation method based on a single hydrophone has poor performance due to the influence of noise. In this paper, the time delay coherence coefficient (TDCC) of passive target line spectrum is derived based on a single hydrophone. Further, the radial velocity can be obtained by the time delay required by the phase change of TDCC for one period. Based on the characteristics that the line spectrum phase is stable and the noise phase is random, coherent averaging (CA) is applied to suppress noise. The use of CA greatly reduces the influence of noise on TDCC and efficiently improves the accuracy of radial velocity estimation. The performance and system error of the proposed CA-TDCC method are analyzed through a series of simulations. Finally, the CA-TDCC method is used to process SwellEx-96 data, and the relative error of radial velocity estimation is less than 10%, which verifies the effectiveness of this method in practical applications.Abbreviation: CA, Coherent averaging; SNRs, Signal-to-noise ratios; TDCC, Time delay coherence coefficient; TMA, Target motion analysis.

Hydrodynamic features specific to the dynamic movements of an underwater glider

The purpose of this study was to show the influence of the underwater glider's motion on its hydrodynamic coefficients. The proposed drone was based on a scaled-down geometry of the DARPA suboff bare hull model that was equipped with wings and fins. A series of Computer Fluid Dynamics simulations were performed using the ANSYS Fluent software. It was shown that with the increase of the drone's rotational velocity, the detachment of flow on the wings was delayed, and thus, the overall lift was increased. The hysteresis present in the characteristics of hydrodynamic properties during pitching movement had higher amplitude with increased pitching frequency. It was concluded that the parameters of the underwater glider's motion can have a significant influence on its hydrodynamic properties.

Oceanic response to tropical cyclone in the northern South China Sea observed by underwater gliders during 2018 and 2020

In this study, we mainly used in-situ observations from underwater gliders to analyze the ocean response in the northern South China Sea affected by Son-tinh (2018), Mandal et al. (2018) Mangkhut (2018)and Noul (2020). The results showed that these TCs caused 0.6 °C, 1.1 °C and 1.7 °C maximum sea surface temperature cooling respectively, which were weaker than general conditions because of long distance, weak intensity and fast movement speed. Net solar radiation, precipitation, 10-m wind and sea surface heat flux also made contribution in changes of SST. The mixed layer depth (MLD) became shallower after Son-Tinh and Noul passed through, while during Mangkhut it did not change significantly. After TCs passed through, the stratification around MLD became more obvious, with a banded distribution and stronger high-value areas of buoyancy frequency. Within 1 week after the shortest distance, the temperature and salinity responses in the upper ocean were stronger than those at the sea surface, and the gradients of temperature and salinity and their anomalies were more evident in the subsurface layer. The results of this study show that underwater glider observations are important for understanding oceanic responses to tropical cyclones and are useful for studying tropical cyclone activities.

Autonomous underwater gliders to observe the ocean

Autonomous underwater gliders to observe the ocean

Three-dimensional deployment strategy for a multi-BWBUG cooperative system at deep depths

ABSTRACT This study investigates the issue of the three-dimensional deployment for blended-wing-body underwater gliders (BWBUGs) at deep depths. Initially, an underwater three-dimensional deployment optimisation model is formulated, considering factors such as the three-dimensional coverage ratio and the balance of node communication energy consumption. Subsequently, a sine-logistic chaos strategy with excellent ergodicity is proposed. Thereafter, the dynamic decision-assisted heuristic method (DDHM) is proposed based on the dynamic decision framework, sine-logistic chaos strategy, and opposition-based learning. The well-designed dynamic decision framework effectively avoids the premature convergence and local optimum of the algorithm. Additionally, the multi-objective variant of DDHM, referred to as MDDHM, is established utilising the archival mechanism. Lastly, the performance of the DDHM and MDDHM is evaluated by simulation experiments. Statistical analysis demonstrates that DDHM is highly effective for the underwater three-dimensional deployment of the multi-BWBUG cooperative system. Furthermore, its overall performance surpasses that of other comparative methods.

A Heterogeneous Glider System with Underwater Acoustic Communication and Positioning

Abstract Autonomous underwater vehicles are increasingly frequently used in the fields of ocean observation, data collection, and tactical surveillance. Underwater navigation and near real-time communication are the most important factors limiting the performance of these vehicles. In this article, an underwater acoustic communication and positioning system (UACPS) based on heterogeneous gliders is presented. The system consists of an acoustic wave glider and an acoustic underwater glider, and includes an ultrashort baseline and an acoustic modem. The program and communication protocol of the communication and positioning algorithm are independently developed, and the hardware circuit design of the communication and ultra-short baseline positioning, as well as the embedded surface wave gliders and gliders are independently implemented. Sea trial results indicate that the communication distance of the system is more than 3 km and the positioning error is less than 5%. With the further improvement of system performance, the low cost, long time, long distance and near real-time communication characteristics of our UACPS can be used to integrate multiple autonomous unmanned platforms as part of intelligent surveillance robot networks.