Adaptive Heading Controller on an Underwater Glider for Underwater Iceberg Profiling

Authors
Mingxi Zhou (Memorial University of Newfoundland) | Ralf Bachmayer (Memorial University of Newfoundland) | Brad deYoung (Memorial University of Newfoundland)
DOI
https://doi.org/10.4043/27471-MS
Document ID
OTC-27471-MS
Publisher
Offshore Technology Conference
Source
Arctic Technology Conference, 24-26 October, St. John's, Newfoundland and Labrador, Canada
Publication Date
2016
Document Type
Conference Paper
Language
English
ISBN
978-1-61399-489-4
Copyright
2016. Offshore Technology Conference
Downloads
1 in the last 30 days
37 since 2007
Show more detail
View rights & permissions
Price: USD 10.00
Abstract

A Slocum-class underwater glider has been modified for autonomous mapping of the underside of icebergs. A scanning sonar has been integrated inside the extended nose-section of the vehicle. The sonar is oriented to scan a sector to forward-side of the vehicle. A control algorithm using returns from the sector scanning sonar has been implemented in order to adapt the path of the vehicle around an iceberg. With the sonar implemented together with the adaptive heading controller, the Slocum glider is programmed to circumnavigate the target iceberg at a desired standoff distance. In this paper, the design of the adaptive control algorithm will be presented. Initially, the control algorithm is validated in a simulation environment that models the iceberg-profiling mission for a moving iceberg with the modified Slocum underwater glider. In July 2015, the Slocum glider was deployed to map an iceberg in Conception Bay, Newfoundland, with the proposed adaptive controller integrated. The detailed planning for this field trial together with results will be presented. The results show that using the Slocum-class underwater glider for underwater iceberg profiling has the potential of reducing the operational cost, while improving the quality of the data obtained on icebergs. The operation of underwater glider only requires minimal number of operational personnel and equipment. The acoustic noise is much lower than for a larger support vessel, and the glider can stay closer to the iceberg resulting in improved quality of the sonar measurements. More importantly, environmental data around the iceberg, such as salinity, water temperature and potentially water current profiles, are also measured during the mission that is necessary for scientists in understanding iceberg dynamics leading to an improved iceberg drift prediction model.

File Size  1 MBNumber of Pages   9

Akkiraju, N., Edelsbrunner, H., Facello, M., Fu, P., Mucke, E. P., and Varela, C.. 1995. Alpha shapes: definition and software. Proc. International Computatioanl Geometry Software Workshop.

Bachmayer, R., deYoung, B., and Holland, D. M.. 2007. Working Towards Ice Profiling Using Underwater Gliders: Operational Experience In Western Greenland (69°13'17" N 51°5'40'W). Symposium on Unmanned Untethered Submersible Technology (UUST07).

Benedict, C. P.. 1974. Underwater Profiling of Icebergs. Second International Conference on Port and Ocean Engineering Under Arctic Conditions.

Claus, B.. 2010. Development of an Underwater Glider Equipped with an Auxiliary Propulsion Module. Master's thesis, Memorial University of Newfoundland, September 2010.

Forrest, A. L., Hamilton, A. K., Schmidt, V., Laval, B. E., Mueller, D., Crawford, A., Brucker, S., and Hamilton, T.. 2012. Digital terrain mapping of Petermann Ice Island fragments in the Canadian High Arctic. 21st IAHR International Symposium on Ice.

Fugro. 2014. Integrated 3D Iceberg Mapping. https://www.fugro.com.

Hodgson, G., Lever, J., Woodworth-Lynas, C. and Lewis, C. 1988. Dymanics of Iceberg Grounding and Scouring (DIGS Experiment). Environmental Studies Revolving Funds No. 094. 1998. p. 306–316.

Kimball, P. and Rock, S.. 2008. Sonar-Based Iceberg-Relative AUV Navigation. AUV 2008. http://dx.doi.org/10.1109/AUV.2008.5290534.

Lapierre, L. and Soetanto, D. 2007. Nonlinear path-following control of an AUV. Ocean Engineering 34 (2007) 1734–1744. http://dx.doi.org/10.1016Zj.oceaneng.2006.10.019.

Lekkas, A. M. and Fossen, T. I.. 2014. Integral LOS Path Following for Curved Paths Based on a Monotone Cubic Hermite Spline. IEEE Transactions on Control Systems Technology. Vol. 22, No. 66, November 2014. http://dx.doi.org/10.1109/TCST.2014.2306774.

Mooney, B. R., Collins, D., and Boatman, J.. 2001. Review of Autonomous Underwater Vehicle (AUV) Developments. Naval Meteorology and Oceanography Command.

Norgren, P. and Skjetne, R. 2015. Line-of-sight Iceberg Edge-following using an AUV Equipped with Multibeam Sonar. IFAC 48016 (2015) 081–088. http://dx.doi.org/10.1016/j.ifacol.2015.10.262.

MathWork, 2016, http://www.mathworks.com/help/curvefit/smoothing.html

Oceans Ltd. 2004. Determination of Iceberg Draft and Shape. PERD/CHC Report 20-75.

RD Instruments. 1996. Acoustic Doppler Current Profiler Principles of Operation A Practical Primer. RD Instruments.

Rudnick, D. L., Davis, R. E., Eriksen, C. C., Fratantoni, D. M., and Perry, M. J.. 2004. Underwater Gliders for Ocean Research. Marine Technology Society Journal. Vol. 38 (2004). http://dx.doi.org/10.4031/002533204787522703.

Stewart, W. K.. 1988. Multisensor Modeling Underwater with Uncertain Information. Department of Ocean Engineering MIT. http://hdl.handle.net/1721.1/6980.

Thrun, S. 2003. Learning Occupancy Grid MapsWith Forward Sensor Models. Autonomous Robots 15 (2003) 111–127. http://dx.doi.org/0.1023/A:1025584807625.

Zhou, M., Bachmayer, R., and deYoung, B.. 2014a. Initial Performance Analysis on Underside Iceberg Profiling with Autonomous Underwater Vehicle. OCEANS 2014. http://dx.doi.org/10.1109/OCEANS.2014.7003239.

Zhou, M., Bachmayer, R., and deYoung, B.. 2014b. Working Towards Seafloor and Underwater Iceberg Mapping with a Slocum Glider. AUV 2014. http://dx.doi.org/10.1109/AUV.2014.7054413.

Zhou, M. and Bachmayer, R.. 2011. Working Towards Single Beam Acoustic Iceberg Profiling Using Active Roll Control on a Slocum Glider. UT'11 and SSC'11. http://dx.doi.org/10.1109/UT.2011.5774106.

Other Resources

Looking for more? 

Some of the OnePetro partner societies have developed subject- specific wikis that may help.


  

PetroWiki was initially created from the seven volume  Petroleum Engineering Handbook (PEH) published by the  Society of Petroleum Engineers (SPE).







The SEG Wiki is a useful collection of information for working geophysicists, educators, and students in the field of geophysics. The initial content has been derived from : Robert E. Sheriff's Encyclopedic Dictionary of Applied Geophysics, fourth edition.