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A space-saving steering method for underwater gliders in lake monitoring

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Abstract

An increasing number of underwater gliders have been applied to lake monitoring. Lakes have a limited vertical space. Therefore, good space-saving capacity is required for underwater gliders to enlarge the spacing between monitoring waypoints. This paper presents a space-saving steering method under a small pitch angle (SPA) for appearance-fixed underwater gliders. Steering under an SPA increases the steering angle in per unit vertical space. An amended hydrodynamic model for both small and large attack angles is presented to help analyze the steering process. Analysis is conducted to find the optimal parameters of net buoyancy and roll angle for steering under an SPA. A lake trial with a prototype tiny underwater glider (TUG) is conducted to inspect the applicability of the presented model. The trial results show that steering under an SPA saves vertical space, unlike that under a large pitch angle. Simulation results of steering are consistent with the trial results. In addition, multiple-waypoint trial shows that monitoring with steering under an SPA covers a larger horizontal displacement than that without steering.

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Authors and Affiliations

  1. The State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China

    Yu-shi Zhu, Can-jun Yang, Shi-jun Wu, Qing Li & Xiao-le Xu

Authors
  1. Yu-shi Zhu
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  2. Can-jun Yang
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  3. Shi-jun Wu
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  4. Qing Li
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  5. Xiao-le Xu
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Corresponding author

Correspondence to Can-jun Yang.

Additional information

Project supported by the Science Fund for Creative Research Groups of the National Natural Science Foundation of China (No. 51521064) and the National High-Tech R&D Program (863) of China (No. 2014AA09A513)

ORCID: Can-jun YANG, http://orcid.org/0000-0002-3712-0538

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Zhu, Ys., Yang, Cj., Wu, Sj. et al. A space-saving steering method for underwater gliders in lake monitoring. Frontiers Inf Technol Electronic Eng 18, 485–497 (2017). https://doi.org/10.1631/FITEE.1500399

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  • DOI: https://doi.org/10.1631/FITEE.1500399

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