Development and Experiments of the Sea-Wing Underwater Glider

Abstract：Underwater gliders,which glide through water columns by use of a pair of wings,are efficient long-distance,long-duration marine environment observatory platforms.The Sea-Wing underwater glider,developed by the Shenyang Institute of Automation,CAS,is designed for the application of deep-sea environment variables observation.The system components,the mechanical design,and the control system design of the Sea-Wing underwater glider are described in this paper.The pitch and roll adjusting models are derived based on the mechanical design,and the adjusting capabilities for the pitch and roll are analyzed according to the models.Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables.Experimental results of the motion performances of the glider are presented. 作者： Author： YU Jian-cheng  ZHANG Ai-qun  JIN Wen-ming  CHEN Qi  TIAN Yu  LIU Chong-jie 作者單位： State Key Laboratory of Robotics, Shenyang Institute of Automation,Chinese Academy of Sciences, Shenyang 110016, China 期 刊： 中國海洋工程（英文版）   ISTICEISCI Journal： China Ocean Engineering 年，卷(期)： 2011, 25(4) 分類號： U674.941 Keywords： underwater glider    AUV    underwater vehicles    ocean environment observatory    機標分類號： TP3 V23 機標關鍵詞： mechanical design    control system design    marine environment    ocean environment    capabilities    application    Automation    results    based    use    CAS 基金項目： the State Key Laboratory of Robotics，the Knowledge Innovation Program of the Chinese Academy of Sciences，the National High Technology Research and Development Program of China (863 Program) Development and Experiments of the Sea-Wing Underwater Glider[期刊論文]  中國海洋工程（英文版） --2011, 25(4)Underwater gliders,which glide through water columns by use of a pair of wings,are efficient long-distance,long-duration marine environment observatory platforms.The Sea-Wing underwater glider,develope...

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