subject:(Underwater Gliders)

Cape Peninsula University of Technology

1. Meyers, Luyanda Milard. Analysis of lift and drag forces on the wing of the underwater glider .

Degree: 2018, Cape Peninsula University of Technology

URL: http://etd.cput.ac.za/handle/20.500.11838/2715

► Underwater glider wings are the lifting surfaces of unmanned underwater vehicles UUVs depending on the chosen aerofoil sections. The efficiency as well as the performance… (more)

▼ Underwater glider wings are the lifting surfaces of unmanned underwater vehicles UUVs depending on the chosen aerofoil sections. The efficiency as well as the performance of an underwater glider mostly depends on the hydrodynamic characteristics such as lift, drag, lift to drag ratio, etc of the wings. Among other factors, the geometric properties of the glider wing are also crucial to underwater glider performance. This study presents an opportunity for the numerical investigation to improve the hydrodynamic performance by incorporating curvature at the trailing edge of a wing as oppose to the standard straight or sharp trailing edge. A CAD model with straight leading edge and trailing edge was prepared with NACA 0016 using SolidWorks 2017. The operating conditions were setup such that the inlet speed varies from 0.1 to 0.5 m/s representing a Reynolds number 27.8 x 10ᵌ and 53 x 10ᵌ. The static pressure at different angles of attack (AOA) which varies from 2 to 16degrees at the increment of 2degrees for three turbulent models (K-Ԑ-standard, K-Ԑ-RNG and K-Ԑ-Realizable), was computed for upper and lower surfaces of the modified wing model using ANSYS Fluent 18.1. Thereafter the static pressure distribution, lift coefficient, drag coefficient, lift to drag ratio and pressure coefficient for both upper and lower surfaces were analysed. The findings showed that the lift and drag coefficient are influenced by the AOA and the inlet speed. If these parameters change the performance of the underwater glider changes as depicted by figure 5.6 and figure 5.7. The hydrodynamics of the underwater glider wing is optimized using the Cʟ/Cᴅ ratio as function of the operating conditions (AOA and the inlet speed). The investigation showed that the optimal design point of the AOA of 12 degrees and a corresponding inlet speed of 0.26m/s. The critical AOA matched with the optimal design point AOA of 12 degrees. It was also observed that Cp varies across the wing span. The results showed the Cp is higher closer to the fuselage while decreasing towards the mid-span and at the tip of the wing. This showed that the wing experiences more stress close to the fuselage than the rest of the wing span which implies that a higher structural rigidity is required close to the fuselage. The results of the drag and lift curves correspond to the wing characteristics typical observed for this type of aerofoil.

Subjects/Keywords: Underwater glider wings; Underwater gliders; Hydrodynamics; Remote submersibles; Underwater propulsion

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APA (6^th Edition):

Meyers, L. M. (2018). Analysis of lift and drag forces on the wing of the underwater glider . (Thesis). Cape Peninsula University of Technology. Retrieved from http://etd.cput.ac.za/handle/20.500.11838/2715

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Meyers, Luyanda Milard. “Analysis of lift and drag forces on the wing of the underwater glider .” 2018. Thesis, Cape Peninsula University of Technology. Accessed December 07, 2019. http://etd.cput.ac.za/handle/20.500.11838/2715.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Meyers, Luyanda Milard. “Analysis of lift and drag forces on the wing of the underwater glider .” 2018. Web. 07 Dec 2019.

Vancouver:

Meyers LM. Analysis of lift and drag forces on the wing of the underwater glider . [Internet] [Thesis]. Cape Peninsula University of Technology; 2018. [cited 2019 Dec 07]. Available from: http://etd.cput.ac.za/handle/20.500.11838/2715.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Meyers LM. Analysis of lift and drag forces on the wing of the underwater glider . [Thesis]. Cape Peninsula University of Technology; 2018. Available from: http://etd.cput.ac.za/handle/20.500.11838/2715

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Rutgers University

2. Singh, Pratul Kumar, 1986-. Design of a robotic bio-sampler and localization improvement for underwater autonomous gliders.

Degree: MS, Electrical and Computer Engineering, 2014, Rutgers University

URL: https://rucore.libraries.rutgers.edu/rutgers-lib/44229/

► This thesis comprises two parts, the first part presents the development of a robotic platform to function as a biological sampler compatible with the Slocum… (more)

▼ This thesis comprises two parts, the first part presents the development of a robotic platform to function as a biological sampler compatible with the Slocum Underwater Autonomous Glider (UAG). The second part presents a localization algorithm to improve positioning estimation of the glider underwater. The ocean is very critical to life on earth yet 95% of it still remains unexplored. Hence, scientists all over the world have been deeply interested in understanding all the features of the ocean. One such feature which still remains unclear is how a diverse bacterial community transitions between seasons in a coastal ecosystem and how this transition affects the global biogeochemical cycles. This is because of our inability to collect water sample at the right time and space in these ecosystems to resolve the processes influencing the microbiota. One of the reasons for this inability is the lack of a component capable of collecting and returning intact biomass to the laboratory for molecular ecology studies. To meet this requirement, the first part of this thesis aims at development of a robotic platform called the bio-sampler to address fundamental questions in marine ecology and to elucidate the mechanisms supporting the diversity of microorganisms in the ocean. Our aim is to have the bio-sampler installed in the science bay of the glider. Such a mobile platform is capable of in-situ sampling and preservation on a range of spatial scales. Using the bio-sampler we demonstrated autonomous filtration of samples and running our preservation process on them. We also conducted contamination and sample preservation tests to validate the functioning of this robotic platform. The results confirmed that the bio-sampler was able to perform sample preservation without carrying any water sample from previous sample to the next one. The results also confirmed that the bio-sampler did not cause any cross-contamination between samples. In the second part of this thesis, we try to improve the localization of the Slocum glider. Underwater autonomous gliders such as the Slocum glider provide an effective platform for marine and coastal scientists for conducting exploration missions which may last several weeks or even months. However, localization of these gliders underwater is a challenging task based only on the sensors on-board these gliders. Also these gliders move slowly, with an average horizontal velocity of around 0.2 - 0.3 m/s and hence are vulnerable to ocean currents. When these gliders resurface, they receive GPS signals to identify their position. Since they mostly run underwater this makes it difficult to obtain accurate positioning of the glider. The new localization scheme is based upon the dynamic model of the glider fused with on-board sensor measurements like depths and yaw angles. The experimental results have shown that the new localization scheme improves the position estimation of the glider without using any new sensors apart from the ones which are already on the glider. Advisors/Committee Members: Yi, Jingang (chair), Gajic, Zoran (internal member), ZAO, QUINGZE (internal member).

Subjects/Keywords: Underwater gliders; Water – Sampling; Coastal ecosystem health

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APA (6^th Edition):

Singh, Pratul Kumar, 1. (2014). Design of a robotic bio-sampler and localization improvement for underwater autonomous gliders. (Masters Thesis). Rutgers University. Retrieved from https://rucore.libraries.rutgers.edu/rutgers-lib/44229/

Chicago Manual of Style (16^th Edition):

Singh, Pratul Kumar, 1986-. “Design of a robotic bio-sampler and localization improvement for underwater autonomous gliders.” 2014. Masters Thesis, Rutgers University. Accessed December 07, 2019. https://rucore.libraries.rutgers.edu/rutgers-lib/44229/.

MLA Handbook (7^th Edition):

Singh, Pratul Kumar, 1986-. “Design of a robotic bio-sampler and localization improvement for underwater autonomous gliders.” 2014. Web. 07 Dec 2019.

Vancouver:

Singh, Pratul Kumar 1. Design of a robotic bio-sampler and localization improvement for underwater autonomous gliders. [Internet] [Masters thesis]. Rutgers University; 2014. [cited 2019 Dec 07]. Available from: https://rucore.libraries.rutgers.edu/rutgers-lib/44229/.

Council of Science Editors:

Singh, Pratul Kumar 1. Design of a robotic bio-sampler and localization improvement for underwater autonomous gliders. [Masters Thesis]. Rutgers University; 2014. Available from: https://rucore.libraries.rutgers.edu/rutgers-lib/44229/

Michigan Technological University

3. Ziaeefard, Saeedeh. EXTENDING MANEUVERABILITY OF INTERNALLY ACTUATED UNDERWATER GLIDERS, AN ATTEMPT TO DEVELOP AN OPEN PLATFORM FOR RESEARCH AND EDUCATION.

Degree: MS, Department of Mechanical Engineering-Engineering Mechanics, 2017, Michigan Technological University

URL: http://digitalcommons.mtu.edu/etdr/479

► In the past decade Underwater Glider (UG) development reached its technical ma- turity. By 2004 the legacy gliders, Slocum electric, Spray, and Seaglider were… (more)

▼ In the past decade Underwater Glider (UG) development reached its technical ma- turity. By 2004 the legacy gliders, Slocum electric, Spray, and Seaglider were suc- cessfully deployed for ocean data sampling missions. Since then several calls has been made to extend the scope of the application of these vehicles and lower the cost of manufacturing so that the fleet development is within reach. At Nonlinear and Autonomous System Laboratory (NASLab), we developed the Research Oriented Underwater Glider for Hands-on Investigative Engineering (ROUGHIE) to offer an scalable, highly maneuverable, and low-cost underwater glider. Our design methodology is to offer an open platform that is easy to modify in both software and hardware based on the intended application. With the novel design of the internal rotary actuation in the ROUGHIE glider we aim to extend the maneuverability of this class of underwater vehicles and open new avenues for both Autonomous Underwater Vehicles and UGs mission coordination and planning specially a lower speed and shallower water with lower power consumption. The ROUGHIE has been deployed on over 200 hours of basic systems characterization tests out of which 80 hours were dedicated to roll characterization and turning motion control. Based on the initial results in the controlled environment of the swimming pool, the ROUGHIE is capable of turn radii down to approximately 3 meters, one order of magnitude less than its commercial counterparts. In this work we study the banking turn flight of underwater vehicles in more depth and develop metrics for maneuverability of this class of vehicles or alike in this sense. The parameters that defines the borders of this category for underwater vehicles will be determined and further explored. To the best of author’s knowledge, there is no unique classification for underwater vehicles maneuver identification and standardization. Development of a new curriculum to promote integration of hands-on activities from early ages in STEM education is the secondary purpose of this research. The Glider for Underwater Problem-solving and Promotion of Interest in Engineering (GUPPIE) is part of a three year co-robotics program supported by the National Science Foundation (NSF). The co-robotics program is an application based robotic program—a response to National Robotic Initiative solicitation to accelerate the development and use of robots in the United States that work beside, or cooperatively with, people. Co-robot is a co-explorer that teaches young student how robots can help human life and the environment. Advisors/Committee Members: Nina Mahmoudian.

Subjects/Keywords: underwater gliders; marine vehicle; maneuverability; underwater navigation; underwater robotic; Controls and Control Theory; Ocean Engineering

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APA (6^th Edition):

Ziaeefard, S. (2017). EXTENDING MANEUVERABILITY OF INTERNALLY ACTUATED UNDERWATER GLIDERS, AN ATTEMPT TO DEVELOP AN OPEN PLATFORM FOR RESEARCH AND EDUCATION. (Masters Thesis). Michigan Technological University. Retrieved from http://digitalcommons.mtu.edu/etdr/479

Chicago Manual of Style (16^th Edition):

Ziaeefard, Saeedeh. “EXTENDING MANEUVERABILITY OF INTERNALLY ACTUATED UNDERWATER GLIDERS, AN ATTEMPT TO DEVELOP AN OPEN PLATFORM FOR RESEARCH AND EDUCATION.” 2017. Masters Thesis, Michigan Technological University. Accessed December 07, 2019. http://digitalcommons.mtu.edu/etdr/479.

MLA Handbook (7^th Edition):

Ziaeefard, Saeedeh. “EXTENDING MANEUVERABILITY OF INTERNALLY ACTUATED UNDERWATER GLIDERS, AN ATTEMPT TO DEVELOP AN OPEN PLATFORM FOR RESEARCH AND EDUCATION.” 2017. Web. 07 Dec 2019.

Vancouver:

Ziaeefard S. EXTENDING MANEUVERABILITY OF INTERNALLY ACTUATED UNDERWATER GLIDERS, AN ATTEMPT TO DEVELOP AN OPEN PLATFORM FOR RESEARCH AND EDUCATION. [Internet] [Masters thesis]. Michigan Technological University; 2017. [cited 2019 Dec 07]. Available from: http://digitalcommons.mtu.edu/etdr/479.

Council of Science Editors:

Ziaeefard S. EXTENDING MANEUVERABILITY OF INTERNALLY ACTUATED UNDERWATER GLIDERS, AN ATTEMPT TO DEVELOP AN OPEN PLATFORM FOR RESEARCH AND EDUCATION. [Masters Thesis]. Michigan Technological University; 2017. Available from: http://digitalcommons.mtu.edu/etdr/479

University of Southern California

4. de Menezes Pereira, Arvind Antonio. Risk-aware path planning for autonomous underwater vehicles.

Degree: PhD, Computer Science, 2013, University of Southern California

URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/351180/rec/5596

► Path planning is the process of generating an optimal sequence of waypoints from a start configuration to a desired goal configuration under constraints (e.g., avoiding… (more)

▼ Path planning is the process of generating an optimal sequence of waypoints from a start configuration to a desired goal configuration under constraints (e.g., avoiding obstacles, respecting time/energy budgets). In this thesis, we study the problem of risk-aware planning. Specifically, we design, develop, and experimentally validate optimal paths for Autonomous Underwater Vehicles (AUVs) in the open ocean in the presence of navigational hazards such as ships and other obstacles. A novel aspect of this work is the introduction of ocean current predictions to optimize planning in such settings. This is challenging because current predictions are typ- ically available at non-uniform spatial resolution, noisy, and time-delayed. We designed three risk-aware planners that reason probabilistically about the uncer- tainty in ocean currents predictions. The minimum expected risk planner ensures that the AUV always reaches the goal, while minimizing risk along the way, Risk- aware Markov Decision Process-based planning uses stationary models over a short horizon, and trades off between goal-directed behavior and reducing risk. This is susceptible to finding sub-optimal policies due to stationarity. The non-stationary, risk-aware MDP makes use of variability in the currents where possible to overcome high-risk sections of paths on the way to the goal. In addition to these planners, we develop a taxonomy for risk-aware planning in dynamic settings. Another key contribution is learning the uncertainty in currents to improve planning. Results from extensive simulations clearly show that learning uncertainty helps significantly improve performance of risk-aware planners in uncertain currents, allowing AUVs to be operated in more challenging scenarios than was previously possible. Finally, the planners described in this dissertation have been field tested at unprecedented levels to validate their practical utility (∼2000 hours of testing at sea). Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Schaal, Stefan (Committee Member), Caron, David A. (Committee Member).

Subjects/Keywords: artificial intelligence; path planning; autonomous underwater vehicles; gliders

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APA (6^th Edition):

de Menezes Pereira, A. A. (2013). Risk-aware path planning for autonomous underwater vehicles. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/351180/rec/5596

Chicago Manual of Style (16^th Edition):

de Menezes Pereira, Arvind Antonio. “Risk-aware path planning for autonomous underwater vehicles.” 2013. Doctoral Dissertation, University of Southern California. Accessed December 07, 2019. http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/351180/rec/5596.

MLA Handbook (7^th Edition):

de Menezes Pereira, Arvind Antonio. “Risk-aware path planning for autonomous underwater vehicles.” 2013. Web. 07 Dec 2019.

Vancouver:

de Menezes Pereira AA. Risk-aware path planning for autonomous underwater vehicles. [Internet] [Doctoral dissertation]. University of Southern California; 2013. [cited 2019 Dec 07]. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/351180/rec/5596.

Council of Science Editors:

de Menezes Pereira AA. Risk-aware path planning for autonomous underwater vehicles. [Doctoral Dissertation]. University of Southern California; 2013. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/351180/rec/5596

Michigan Technological University

5. Ziaeefard, Saeedeh. Extending Maneuverability of Internally Actuated Underwater Gliders, An Attempt to Develop an Open Platform For Research and Education.

Degree: PhD, Department of Mechanical Engineering-Engineering Mechanics, 2018, Michigan Technological University

URL: http://digitalcommons.mtu.edu/etdr/639

► Increasing maneuverability of internally actuated Underwater Gliders (UGs) is inevitable due to high demands in underwater surveillance and reconnaissance missions where agility and stealthiness… (more)

Subjects/Keywords: Underwater Gliders; Motion Control; Maneuverability; Flight Concatenation; Shallow Water; Engineering Education; Ocean Engineering; Robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Ziaeefard, S. (2018). Extending Maneuverability of Internally Actuated Underwater Gliders, An Attempt to Develop an Open Platform For Research and Education. (Doctoral Dissertation). Michigan Technological University. Retrieved from http://digitalcommons.mtu.edu/etdr/639

Chicago Manual of Style (16^th Edition):

Ziaeefard, Saeedeh. “Extending Maneuverability of Internally Actuated Underwater Gliders, An Attempt to Develop an Open Platform For Research and Education.” 2018. Doctoral Dissertation, Michigan Technological University. Accessed December 07, 2019. http://digitalcommons.mtu.edu/etdr/639.

MLA Handbook (7^th Edition):

Ziaeefard, Saeedeh. “Extending Maneuverability of Internally Actuated Underwater Gliders, An Attempt to Develop an Open Platform For Research and Education.” 2018. Web. 07 Dec 2019.

Vancouver:

Ziaeefard S. Extending Maneuverability of Internally Actuated Underwater Gliders, An Attempt to Develop an Open Platform For Research and Education. [Internet] [Doctoral dissertation]. Michigan Technological University; 2018. [cited 2019 Dec 07]. Available from: http://digitalcommons.mtu.edu/etdr/639.

Council of Science Editors:

Ziaeefard S. Extending Maneuverability of Internally Actuated Underwater Gliders, An Attempt to Develop an Open Platform For Research and Education. [Doctoral Dissertation]. Michigan Technological University; 2018. Available from: http://digitalcommons.mtu.edu/etdr/639

Virginia Tech

6. Mahmoudian, Nina. Efficient Motion Planning and Control for Underwater Gliders.

Degree: PhD, Aerospace and Ocean Engineering, 2009, Virginia Tech

URL: http://hdl.handle.net/10919/29136

► Underwater gliders are highly efficient, winged autonomous underwater vehicles that propel themselves by modifying their buoyancy and their center of mass. The center of mass… (more)

▼ Underwater gliders are highly efficient, winged autonomous underwater vehicles that propel themselves by modifying their buoyancy and their center of mass. The center of mass is controlled by a set of servo-actuators which move one or more internal masses relative to the vehicle's frame. Underwater gliders are so efficient because they spend most of their time in stable, steady motion, expending control energy only when changing their equilibrium state. Motion control thus reduces to varying the parameters (buoyancy and center of mass) that affect the state of steady motion. These parameters are conventionally controlled through feedback, in response to measured errors in the state of motion, but one may also incorporate a feedforward component to speed convergence and improve performance. In this dissertation, first an approximate analytical expression for steady turning motion is derived by applying regular perturbation theory to a realistic vehicle model to develop a better understanding of underwater glider maneuverability, particularly with regard to turning motions. The analytical result, though approximate, is quite valuable because it gives better insight into the effect of parameters on vehicle motion and stability. Using these steady turn solutions, including the special case of wings level glides, one may construct feasible paths for the gliders to follow. Because the turning motion results are only approximate, however, and to compensate for model and environmental uncertainty, one must incorporate feedback to ensure convergent path following. This dissertation describes the development and numerical implementation of a feedforward/feedback motion control system intended to enhance locomotive efficiency by reducing the energy expended for guidance and control. It also presents analysis of the designed control system using slowly varying systems theory. The results provide (conservative) bounds on the rate at which the reference command (the desired state of motion) may be varied while still guaranteeing stability of the closed-loop system. Since the motion control system more effectively achieves and maintains steady motions, it is intrinsically efficient. The proposed control system enables speed, flight path angle, and turn rate, providing a mechanism for path following. The next step is to implement a guidance strategy, together with a path planning strategy, and one which continues to exploit the natural efficiency of this class of vehicle. The structure of the approximate solution for steady turning motion is such that, to first order in turn rate, the glider's horizontal component of motion matches that of "Dubinsâ car," a kinematic car with bounded turn rates. Dubins car is a classic example in the study of time-optimal control for mobile robots. For an underwater glider, one can relate time optimality to energy optimality. Specifically, for an underwater glider travelling at a constant speed and maximum flight efficiency (i.e., maximum lift-to-drag ratio), minimum time paths are… Advisors/Committee Members: Woolsey, Craig A. (committeechair), Stilwell, Daniel J. (committee member), Neu, Wayne L. (committee member), Hall, Christopher D. (committee member).

Subjects/Keywords: Motion Control; Underwater Gliders; Motion Planning

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APA (6^th Edition):

Mahmoudian, N. (2009). Efficient Motion Planning and Control for Underwater Gliders. (Doctoral Dissertation). Virginia Tech. Retrieved from http://hdl.handle.net/10919/29136

Chicago Manual of Style (16^th Edition):

Mahmoudian, Nina. “Efficient Motion Planning and Control for Underwater Gliders.” 2009. Doctoral Dissertation, Virginia Tech. Accessed December 07, 2019. http://hdl.handle.net/10919/29136.

MLA Handbook (7^th Edition):

Mahmoudian, Nina. “Efficient Motion Planning and Control for Underwater Gliders.” 2009. Web. 07 Dec 2019.

Vancouver:

Mahmoudian N. Efficient Motion Planning and Control for Underwater Gliders. [Internet] [Doctoral dissertation]. Virginia Tech; 2009. [cited 2019 Dec 07]. Available from: http://hdl.handle.net/10919/29136.

Council of Science Editors:

Mahmoudian N. Efficient Motion Planning and Control for Underwater Gliders. [Doctoral Dissertation]. Virginia Tech; 2009. Available from: http://hdl.handle.net/10919/29136

University of Southern California

7. Cetinić, Ivona. Harmful algal blooms in the urbanized coastal ocean: an application of remote sensing for understanding, characterization and prediction.

Degree: PhD, Biology, 2009, University of Southern California

URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/177691/rec/3122

► Harmful Algal Blooms (HABs) in Southern California have become recurring events with impacts that surpass the realm of ocean ecosystems. Phytoplankton blooms are natural phenomena,… (more)

▼ Harmful Algal Blooms (HABs) in Southern California have become recurring events with impacts that surpass the realm of ocean ecosystems. Phytoplankton blooms are natural phenomena, and the same environmental forcings that drive changes in primary productivity and nutrient cycling in the coastal ocean will promote HABs too, including human influences. Therefore, to predict the initiation of HABs, one must define the specific environmental, chemical, and physical parameters that allow the success of the specific species. Recently developed tools and techniques for realtime coastal observing systems allow us to observe dynamics of the coastal ocean on the appropriate spatial and temporal scales, to explore the dynamics of the coastal ocean, to monitor the nutrient loadings, and to follow the development of the HABs. Field studies conducted during 2005 confirmed that observed the transition from the diatom dominated spring to the dinoflagellate dominated summer, both in surface and subsurface waters, was dependent on natural processes affecting the coastal ocean. Lingulodinium polyedrum, our model organism, was present with bloom abundances (~10⁵ cells L^-1) found during the summer, concurrent with low temperature episodes nearshore. Historical temperature record analysis supports our findings on the occurrence of cool temperature anomalies during L. polyedrum blooms in the Southern California Bight, and infer primary controls of temperature,mixed layer depth, and nutrient availability for bloom formation.; Using optical instruments deployed on Slocum gliders, we managed to follow the outfall plume, to differentiate it from the natural occurring water masses in the coastal ocean, and to calculate suspended particulate material concentration within the plume. No interaction was found between the nutrient rich plume water and the phytoplankton community. Optical tools were further used in development of red tide spectral indices based on L. polyedrum inherent optical properties. These indices proved to be a successful tool for detection of L. polyedrum blooms in this area, both for in situ absorption and for mooring collected hyperspectral remote sensing reflectance datasets. Advisors/Committee Members: Jones, Burton H.Caron, David A. (Committee Chair), Fuhrman, Jed Alan (Committee Member), Capone, Douglas G. (Committee Member), Kiefer, Dale A. (Committee Member), Redekopp, Larry G. (Committee Member).

Subjects/Keywords: harmful algal blooms; optics; remote sensing; red tides; autonomous underwater vehicles; gliders; plume; Lingulodinium polyedrum; phytoplankton

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APA (6^th Edition):

Cetinić, I. (2009). Harmful algal blooms in the urbanized coastal ocean: an application of remote sensing for understanding, characterization and prediction. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/177691/rec/3122

Chicago Manual of Style (16^th Edition):

Cetinić, Ivona. “Harmful algal blooms in the urbanized coastal ocean: an application of remote sensing for understanding, characterization and prediction.” 2009. Doctoral Dissertation, University of Southern California. Accessed December 07, 2019. http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/177691/rec/3122.

MLA Handbook (7^th Edition):

Cetinić, Ivona. “Harmful algal blooms in the urbanized coastal ocean: an application of remote sensing for understanding, characterization and prediction.” 2009. Web. 07 Dec 2019.

Vancouver:

Cetinić I. Harmful algal blooms in the urbanized coastal ocean: an application of remote sensing for understanding, characterization and prediction. [Internet] [Doctoral dissertation]. University of Southern California; 2009. [cited 2019 Dec 07]. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/177691/rec/3122.

Council of Science Editors:

Cetinić I. Harmful algal blooms in the urbanized coastal ocean: an application of remote sensing for understanding, characterization and prediction. [Doctoral Dissertation]. University of Southern California; 2009. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/177691/rec/3122

8. Wolek, Artur. Optimal Paths in Gliding Flight.

Degree: PhD, Aerospace and Ocean Engineering, 2015, Virginia Tech

URL: http://hdl.handle.net/10919/52783

► Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow… (more)

Subjects/Keywords: path planning; nonlinear optimal control; underwater gliders

…euphotic zone can cripple long endurance robotic platforms. Underwater gliders are a class of… …robustness and endurance considerations, underwater gliders are ideal candidates for shallow water… …difficult. Underwater gliders can serve as reliable, long endurance, coastal ocean sampling… …x29;. The goal of this work is to improve the capabilities of underwater gliders operating… …127 7.1 Major components of the Virginia Tech Underwater Glider . . . . . . . . . . 129 x…

11 more images…

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APA (6^th Edition):

Wolek, A. (2015). Optimal Paths in Gliding Flight. (Doctoral Dissertation). Virginia Tech. Retrieved from http://hdl.handle.net/10919/52783

Chicago Manual of Style (16^th Edition):

Wolek, Artur. “Optimal Paths in Gliding Flight.” 2015. Doctoral Dissertation, Virginia Tech. Accessed December 07, 2019. http://hdl.handle.net/10919/52783.

MLA Handbook (7^th Edition):

Wolek, Artur. “Optimal Paths in Gliding Flight.” 2015. Web. 07 Dec 2019.

Vancouver:

Wolek A. Optimal Paths in Gliding Flight. [Internet] [Doctoral dissertation]. Virginia Tech; 2015. [cited 2019 Dec 07]. Available from: http://hdl.handle.net/10919/52783.

Council of Science Editors:

Wolek A. Optimal Paths in Gliding Flight. [Doctoral Dissertation]. Virginia Tech; 2015. Available from: http://hdl.handle.net/10919/52783

Rutgers University

9. Woithe, Hans Christian, 1984-. Design and implementation of an energy aware programming framework for autonomous underwater vehicles.

Degree: Computer Science, 2014, Rutgers University

URL: https://rucore.libraries.rutgers.edu/rutgers-lib/44257/

Subjects/Keywords: Underwater gliders – Design and construction; Computing platforms

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APA (6^th Edition):

Woithe, Hans Christian, 1. (2014). Design and implementation of an energy aware programming framework for autonomous underwater vehicles. (Thesis). Rutgers University. Retrieved from https://rucore.libraries.rutgers.edu/rutgers-lib/44257/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Woithe, Hans Christian, 1984-. “Design and implementation of an energy aware programming framework for autonomous underwater vehicles.” 2014. Thesis, Rutgers University. Accessed December 07, 2019. https://rucore.libraries.rutgers.edu/rutgers-lib/44257/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Woithe, Hans Christian, 1984-. “Design and implementation of an energy aware programming framework for autonomous underwater vehicles.” 2014. Web. 07 Dec 2019.

Vancouver:

Woithe, Hans Christian 1. Design and implementation of an energy aware programming framework for autonomous underwater vehicles. [Internet] [Thesis]. Rutgers University; 2014. [cited 2019 Dec 07]. Available from: https://rucore.libraries.rutgers.edu/rutgers-lib/44257/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Woithe, Hans Christian 1. Design and implementation of an energy aware programming framework for autonomous underwater vehicles. [Thesis]. Rutgers University; 2014. Available from: https://rucore.libraries.rutgers.edu/rutgers-lib/44257/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Indian Institute of Science

10. Karthigan, G. Modelling And Analysis Of Fish Inspired Ionic Polymer Metal Composite Flapping Fins.

Degree: 2012, Indian Institute of Science

URL: http://hdl.handle.net/2005/2282

► Ionic polymer metal composites (IPMC) are a new class of smart materials that have attractive characteristics such as muscle like softness, low voltage and power… (more)

▼ Ionic polymer metal composites (IPMC) are a new class of smart materials that have attractive characteristics such as muscle like softness, low voltage and power consumption, and good performance in aqueous environments. Therefore, there is a significant motivation for research on design and development of IPMC based biomimetic propulsion systems for underwater vehicles. In aerospace, underwater vehicles finds application for forensic studies of spaceship wrecks, missile fragments and any airplane accidents in sea and ocean terrains. Such vehicles can also survey moons and planets that house water oceans. Among biomimetic swimming systems, fish inspired swimming has gained interest since fish like swimming provides high maneuverability, high cruising speed, noiseless propulsion and efficient stabilization compared to conventional propulsion systems. In this work, the paired pectoral fin based oscillatory propulsion using IPMC for aquatic propulsor applications is studied. Dynamic characteristics of IPMC fin are analyzed using numerical simulations and optimization is used to improve the fin design. A complex hydrodynamic function is used to describe the behavior of an active IPMC fin actuator in water. The structural model of the IPMC fin is obtained by modifying the classical dynamic equation for a slender beam to account for the electromechanical dynamics of the IPMC beam in water. A quasi-steady blade element model that accounts for unsteady phenomena such as added mass effects, dynamic stall, and the cumulative Wagner effect is used to estimate the hydrodynamic performance of the flapping fin. It is shown that the use of optimization methods can lead to significant improvement in performance of the IPMC fin. Further, three fish species with high performance flapping pectoral fin locomotion are chosen and performance analysis of each fin design is conducted to discover the better configurations for engineering applications. Dynamic characteristics of IPMC actuated flapping fins having the same size as the actual fins of three different fish species, Gomphosus varius, Scarus frenatus and Sthethojulis trilineata, are also analyzed. Finally, a comparative study is performed to analyze the performance of the three different biomimetic IPMC flapping pectoral fins. Advisors/Committee Members: Ganguli, Ranjan.

Subjects/Keywords: Polymer Metal Composite Flapping Fins; Gliders; Underwater Propulsion; Submarines - Propellers; Ionic Polymer Metal Composite (IPMC); Biomimetic Propulsion; Underwater Vehicles - Propulsion; Submersibles; Fish Inspired Biomimetic Flapping Fins; Labriform Propulsion; Aeronautics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Karthigan, G. (2012). Modelling And Analysis Of Fish Inspired Ionic Polymer Metal Composite Flapping Fins. (Thesis). Indian Institute of Science. Retrieved from http://hdl.handle.net/2005/2282

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Karthigan, G. “Modelling And Analysis Of Fish Inspired Ionic Polymer Metal Composite Flapping Fins.” 2012. Thesis, Indian Institute of Science. Accessed December 07, 2019. http://hdl.handle.net/2005/2282.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Karthigan, G. “Modelling And Analysis Of Fish Inspired Ionic Polymer Metal Composite Flapping Fins.” 2012. Web. 07 Dec 2019.

Vancouver:

Karthigan G. Modelling And Analysis Of Fish Inspired Ionic Polymer Metal Composite Flapping Fins. [Internet] [Thesis]. Indian Institute of Science; 2012. [cited 2019 Dec 07]. Available from: http://hdl.handle.net/2005/2282.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Karthigan G. Modelling And Analysis Of Fish Inspired Ionic Polymer Metal Composite Flapping Fins. [Thesis]. Indian Institute of Science; 2012. Available from: http://hdl.handle.net/2005/2282

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Indian Institute of Science

11. Karthigan, G. Modelling And Analysis Of Fish Inspired Ionic Polymer Metal Composite Flapping Fins.

Degree: 2012, Indian Institute of Science

URL: http://etd.iisc.ernet.in/handle/2005/2282 ; http://etd.ncsi.iisc.ernet.in/abstracts/2937/G25125-Abs.pdf

► Ionic polymer metal composites (IPMC) are a new class of smart materials that have attractive characteristics such as muscle like softness, low voltage and power… (more)

▼ Ionic polymer metal composites (IPMC) are a new class of smart materials that have attractive characteristics such as muscle like softness, low voltage and power consumption, and good performance in aqueous environments. Therefore, there is a significant motivation for research on design and development of IPMC based biomimetic propulsion systems for underwater vehicles. In aerospace, underwater vehicles finds application for forensic studies of spaceship wrecks, missile fragments and any airplane accidents in sea and ocean terrains. Such vehicles can also survey moons and planets that house water oceans. Among biomimetic swimming systems, fish inspired swimming has gained interest since fish like swimming provides high maneuverability, high cruising speed, noiseless propulsion and efficient stabilization compared to conventional propulsion systems. In this work, the paired pectoral fin based oscillatory propulsion using IPMC for aquatic propulsor applications is studied. Dynamic characteristics of IPMC fin are analyzed using numerical simulations and optimization is used to improve the fin design. A complex hydrodynamic function is used to describe the behavior of an active IPMC fin actuator in water. The structural model of the IPMC fin is obtained by modifying the classical dynamic equation for a slender beam to account for the electromechanical dynamics of the IPMC beam in water. A quasi-steady blade element model that accounts for unsteady phenomena such as added mass effects, dynamic stall, and the cumulative Wagner effect is used to estimate the hydrodynamic performance of the flapping fin. It is shown that the use of optimization methods can lead to significant improvement in performance of the IPMC fin. Further, three fish species with high performance flapping pectoral fin locomotion are chosen and performance analysis of each fin design is conducted to discover the better configurations for engineering applications. Dynamic characteristics of IPMC actuated flapping fins having the same size as the actual fins of three different fish species, Gomphosus varius, Scarus frenatus and Sthethojulis trilineata, are also analyzed. Finally, a comparative study is performed to analyze the performance of the three different biomimetic IPMC flapping pectoral fins. Advisors/Committee Members: Ganguli, Ranjan.

Subjects/Keywords: Polymer Metal Composite Flapping Fins; Gliders; Underwater Propulsion; Submarines - Propellers; Ionic Polymer Metal Composite (IPMC); Biomimetic Propulsion; Underwater Vehicles - Propulsion; Submersibles; Fish Inspired Biomimetic Flapping Fins; Labriform Propulsion; Aeronautics

Record Details Similar Records Cite « Share

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Karthigan, G. (2012). Modelling And Analysis Of Fish Inspired Ionic Polymer Metal Composite Flapping Fins. (Thesis). Indian Institute of Science. Retrieved from http://etd.iisc.ernet.in/handle/2005/2282 ; http://etd.ncsi.iisc.ernet.in/abstracts/2937/G25125-Abs.pdf

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Karthigan, G. “Modelling And Analysis Of Fish Inspired Ionic Polymer Metal Composite Flapping Fins.” 2012. Thesis, Indian Institute of Science. Accessed December 07, 2019. http://etd.iisc.ernet.in/handle/2005/2282 ; http://etd.ncsi.iisc.ernet.in/abstracts/2937/G25125-Abs.pdf.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Karthigan, G. “Modelling And Analysis Of Fish Inspired Ionic Polymer Metal Composite Flapping Fins.” 2012. Web. 07 Dec 2019.

Vancouver:

Karthigan G. Modelling And Analysis Of Fish Inspired Ionic Polymer Metal Composite Flapping Fins. [Internet] [Thesis]. Indian Institute of Science; 2012. [cited 2019 Dec 07]. Available from: http://etd.iisc.ernet.in/handle/2005/2282 ; http://etd.ncsi.iisc.ernet.in/abstracts/2937/G25125-Abs.pdf.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Karthigan G. Modelling And Analysis Of Fish Inspired Ionic Polymer Metal Composite Flapping Fins. [Thesis]. Indian Institute of Science; 2012. Available from: http://etd.iisc.ernet.in/handle/2005/2282 ; http://etd.ncsi.iisc.ernet.in/abstracts/2937/G25125-Abs.pdf

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

12. Henderikx Freitas, Fernanda. Space-time variability of bio-optical properties in the Southern California Bight.

Degree: 2015, University of California – eScholarship, University of California

URL: http://www.escholarship.org/uc/item/0ch8m0bc

► This dissertation examines the variability of physical and bio-optical properties in the Southern California Bight over various time and space scales. The research is divided… (more)

▼ This dissertation examines the variability of physical and bio-optical properties in the Southern California Bight over various time and space scales. The research is divided into three chapters, and each chapter was written mostly as stand-alone pieces. An abstract is presented for each, and Tables, Figures and Appendices that support the text are shown at the end of each specific chapter. A list of all the references used in the text is shown at the end of the dissertation.In Chapter One, “Assessing controls on cross-shelf phytoplankton and suspended particle distributions”, an underwater glider was used to “super-sample” the inner and mid-shelf Santa Barbara Channel (from 20 to 70m depth), providing data in detail never before observed. Highly resolved glider data in time and depth for a 4km long section perpendicular to the coast allowed answering questions such as: what is the space-time distribution of bio-optical properties (specifically phytoplankton and sediments) in the inner/mid-shelf SBC? And, what are the main controls on the variability of these properties? Six glider missions were completed, sampling a wide range of environmental conditions (e.g. upwelling, highly stratified, large blooms, small blooms, intense mixing). A storm event was also captured by the glider, providing a unique view of its evolution and effect on bio-optical properties. This confirmed the importance of instruments such as gliders in sampling events that are normally missed by ships and satellites. The data allowed characterizing the coastal zone in terms of surface, bottom and intermediate nepheloid layers of various compositions that evolve according to specific stratification conditions. Winds, precipitation, waves, and surface currents were used to infer some of the drivers of the variability. Waves were found as the main controls on sediment re-suspension during the storm mission, and advection processes were related to local changes in phytoplankton abundances. Unique examples of high-frequency events, such as the cross-shore propagation of a phytoplankton patch, the interaction between tides and sediment re-suspension and the co-evolution of phytoplankton and non-biogenic materials in similar portions of the water column – determining the complexity of the coastal ocean - are shown and discussed. In Chapter Two, “Transport and Fate of heat, salt, oxygen and particles in the innershelf Santa Barbara Channel, CA”, the capabilities of the glider dataset are explored even further to ask questions that are in the very core of the studies in upwelling environments: How important is the cross-shelf exchange of materials to the health of nearshore ecosystems? Is the innershelf a source or a sink for particles/heat/salt? Is the nearshore zone net autotrophic or net heterotrophic? Do source/sink patterns change over time? Although the glider was not equipped with velocity meters, this study takes advantage of the Acoustic Doppler Current Profiler moored at the 10m isobath just North of the shallowest glider observations to provide…

Subjects/Keywords: Physical oceanography; Remote sensing; Biological oceanography; Coastal Oceanography; Drivers of productivity; Ocean color remote sensing; Optical Oceanography; Underwater gliders; Variability of optical properties

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Henderikx Freitas, F. (2015). Space-time variability of bio-optical properties in the Southern California Bight. (Thesis). University of California – eScholarship, University of California. Retrieved from http://www.escholarship.org/uc/item/0ch8m0bc

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Henderikx Freitas, Fernanda. “Space-time variability of bio-optical properties in the Southern California Bight.” 2015. Thesis, University of California – eScholarship, University of California. Accessed December 07, 2019. http://www.escholarship.org/uc/item/0ch8m0bc.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Henderikx Freitas, Fernanda. “Space-time variability of bio-optical properties in the Southern California Bight.” 2015. Web. 07 Dec 2019.

Vancouver:

Henderikx Freitas F. Space-time variability of bio-optical properties in the Southern California Bight. [Internet] [Thesis]. University of California – eScholarship, University of California; 2015. [cited 2019 Dec 07]. Available from: http://www.escholarship.org/uc/item/0ch8m0bc.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Henderikx Freitas F. Space-time variability of bio-optical properties in the Southern California Bight. [Thesis]. University of California – eScholarship, University of California; 2015. Available from: http://www.escholarship.org/uc/item/0ch8m0bc

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

13. Holmberg, Edward A, IV. Data Visualization to Evaluate and Facilitate Targeted Data Acquisitions in Support of a Real-time Ocean Forecasting System.

Degree: MS, Computer Science, 2014, University of New Orleans

URL: https://scholarworks.uno.edu/td/1873

► A robust evaluation toolset has been designed for Naval Research Laboratory’s Real-Time Ocean Forecasting System RELO with the purpose of facilitating an adaptive sampling… (more)

Subjects/Keywords: Real-Time Ocean Forecasting Systems, adaptive sampling, underwater gliders, genetic algorithm, data visualization, modular design; Graphics and Human Computer Interfaces; Oceanography

…strategy and providing a more educated guidance for routing underwater gliders. The major… …new visuals. Real-Time Ocean Forecasting Systems, adaptive sampling, underwater gliders… …such as satellites, buoys, drifters, moorings, and underwater gliders along with a background… …underwater gliders which are programmed with a set of waypoints, or coordinates, that follow a… …deploying the underwater gliders. Beyond the model-centric criteria that the GA uses, there are…

10 more images…

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Holmberg, Edward A, I. (2014). Data Visualization to Evaluate and Facilitate Targeted Data Acquisitions in Support of a Real-time Ocean Forecasting System. (Thesis). University of New Orleans. Retrieved from https://scholarworks.uno.edu/td/1873

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Holmberg, Edward A, IV. “Data Visualization to Evaluate and Facilitate Targeted Data Acquisitions in Support of a Real-time Ocean Forecasting System.” 2014. Thesis, University of New Orleans. Accessed December 07, 2019. https://scholarworks.uno.edu/td/1873.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Holmberg, Edward A, IV. “Data Visualization to Evaluate and Facilitate Targeted Data Acquisitions in Support of a Real-time Ocean Forecasting System.” 2014. Web. 07 Dec 2019.

Vancouver:

Holmberg, Edward A I. Data Visualization to Evaluate and Facilitate Targeted Data Acquisitions in Support of a Real-time Ocean Forecasting System. [Internet] [Thesis]. University of New Orleans; 2014. [cited 2019 Dec 07]. Available from: https://scholarworks.uno.edu/td/1873.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Holmberg, Edward A I. Data Visualization to Evaluate and Facilitate Targeted Data Acquisitions in Support of a Real-time Ocean Forecasting System. [Thesis]. University of New Orleans; 2014. Available from: https://scholarworks.uno.edu/td/1873

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Open Access Theses and Dissertations