Anderlini, E;
Thomas, G;
Woodward, SCA;
Real-Arce, DA;
Morales, T;
Barrera, C;
Hernandez-Brito, JJ;
(2020)
Identification of the Dynamics of Biofouled Underwater Gliders.
In:
Proceedings of the 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV).
IEEE: St. John's, Canada.
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Abstract
Marine growth has been observed to cause a drop in the horizontal and vertical velocities of underwater gliders, thus making them unresponsive and needing immediate recovery. Currently, no strategies exist to correctly identify the onset of marine growth for gliders and only limited datasets of biofouled hulls exist. Here, a field test has been run to investigate the impact of marine growth on the dynamics of underwater gliders. A Slocum glider was deployed first for eight days with drag stimulators to simulate severe biofouling; then the vehicle was redeployed with no additions to the hull for a further 20 days. The biofouling caused a speed reduction due to a significant increase in drag. Additionally, the lower speed causes the steady-state flight stage to last longer and thus a shortening of mission duration. As actual biofouling due to p. pollicipes happened during the deployment, it was possible to develop and test a system that successfully detects and identifies high levels of marine growth on the glider using steady-state flight data. The system will greatly help pilots re-plan missions to safely recover the vehicle if significant biofouling is detected.
| Type: | Proceedings paper |
|---|---|
| Title: | Identification of the Dynamics of Biofouled Underwater Gliders |
| Event: | 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV) |
| Location: | St. John's, Canada |
| Dates: | 30 September 2020 - 02 October 2020 |
| ISBN-13: | 978-1-7281-8757-0 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/auv50043.2020.9267919 |
| Publisher version: | https://doi.org/10.1109/auv50043.2020.9267919 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | underwater glider, biofouling, marine growth, system identification |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10116931 |
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