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Underwater gliders are widely used in ocean survey operations due to their unique capability of long-range cruising with low energy consumption. As a critical technique, accurate attitude control is challenging due to the highly nonlinear, heavily coupled system model of an underwater glider with uncertain hydrodynamic parameters and suffering from environmental disturbances. To investigate this problem,...
The management of sensor nodes on the sea floor represents an important challenge due to the high difficulties associated to the deployment and recovering of untethered instruments on the seafloor. These difficulties are not only related to the management of the instruments themselves but also related to the valuable information that can be lost. Ambient sound and interferences, maritime traffic,...
Underwater glider is developed for the application of marine variables observation by changing the net buoyancy as a driving force. It has many advantages, such as gliding with high efficiency, less power consumption, low noise, no pollution and so on. An accurate buoyancy adjusting method which used for underwater glider based on the volume change of interior gas is introduced in this paper. Besides,...
As a key component for underwater gliders, the buoyancy engine plays an important role in the operation of gliders, the performance of which directly affects the monolithic reliability. In this paper, to lower costs of research on the buoyancy engine, a dynamic simulation is established by AMEsim software, in which the performance of the low-pressure boost gear pump and that of the high-pressure hydraulic...
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