In this cooperation strategy, a scout glider was commanded to follow a lawn-mower path to cover the area and find potential patches with rich information for follower gliders. In addition, a cooperation strategy was proposed for multiple gliders to delineate underwater oil patches simultaneously to overcome the challenges in oil spill mapping such as spatiotemporal aliasing and to improve data redundancy.
Glider oil driver#
This glider was also developed with a backseat driver controller to provide it with an intelligence to adaptively map underwater oil plumes. Furthermore, a Slocum glider was developed as a platform for the sensors before it was tested in the ocean with air bubbles which were used as proxies for oil droplets to avoid discharging oil into the environment. The sensors were tested in a tank experiment with oil and the cross-validation from fluorescence measurements and sonar images was expected to improve the reliability in detecting oil. This thesis investigates the capabilities of gliders, especially multiple gliders, as platforms for mapping subsurface oil plumes.Ĭonsidering the limited payload capability and energy availability of a glider, a lightweight Cyclops submersible fluorometer and a Ping360 sonar were used on gliders to detect oil in the water in this thesis. Underwater gliders, a type of AUVs, are favorable for underwater oil spill mapping as they can work for longer durations with less energy storage required. Autonomous underwater vehicles (AUVs), with improved intelligence, are used more widely for oil spill tracking nowadays.
Underwater oil spill reconnaissance and delineation is challenging as the spilled oil can cover a large area and may form plumes beneath the water surface.
Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission.
Multi-glider cooperation for underwater oil spill delineation.ĭoctoral (PhD) thesis, Memorial University of Newfoundland.Īvailable under License - The author retains copyright ownership and moral rights in this thesis.
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