**Page description appears here**

“On Active Current Selection for Lagrangian Profilers”

Authors: Jerome Jouffroy, Qiuyang Zhou and Oliver Zielinski,
Affiliation: University of Southern Denmark and University of Oldenburg
Reference: 2013, Vol 34, No 1, pp. 1-10.

     Valid XHTML 1.0 Strict


Keywords: Lagrangian profilers, underwater vehicles, underactuated systems, sector-of-sight controllers, ocean currents

Abstract: Autonomous Lagrangian profilers are now widely used as measurement and monitoring platforms, notably in observation programs as Argo. In a typical mode of operation, the profilers drift passively at their parking depthbefore making a vertical profile to go back to the surface. This paperpresents simple and computationally-efficient control strategies to activelyselect and use ocean currents so that a profiler can autonomously reach adesired destination. After briefly presenting a typical profiler andpossible mechanical modifications for a coastal environment, we introducesimple mathematical models for the profiler and the currents it will use. Wethen present simple feedback controllers that, using the direction of thecurrents and taking into account the configuration of the environment(coastal or deep-sea), is able to steer the profiler to any desiredhorizontal location. To illustrate the approach, a few results are presentedusing both simulated currents and real current velocity profiles from theNorth Sea.

PDF PDF (1630 Kb)        DOI: 10.4173/mic.2013.1.1



DOI forward links to this article:
  [1] Ryan N. Smith and Van T. Huynh (2014), doi:10.1109/JOE.2013.2261895
  [2] Artem Molchanov, Andreas Breitenmoser and Gaurav S. Sukhatme (2015), doi:10.1109/ICRA.2015.7139232
  [3] Michael Ouimet and Jorge Cortés (2016), doi:10.1016/j.automatica.2016.02.035
  [4] Vinothkumar Viswanathan and Tawfiq Taher (2016), doi:10.1109/OCEANS.2016.7761176


References:
[1] Aeyels, D. Peuteman, J. (1998). A new asymptotic stability criterion for nonlinear time-variant differential equations, IEEE Transactions on Automatic Control,.7:968--971 doi:10.1109/9.701102
[2] André, X., Reste, S.L., Rolon, J.-F. (2010). Arvor-C: A coastal autonomous profiling float, Sea Technology, 5.2:10--13.
[3] Davis, R.E., Webb, D.C., Regier, L.A., Dufour, J. (1992). The Autonomous Lagrangian Circulation Explorer, ALACE. Journal of Atmospheric and Oceanic Technology, 9:264--285.
[4] Forward, R.B. Tankersley, R.A. (2001). Selective tidal-stream transport of marine animals, Oceanogr. Mar. Biol. Annu. Rev., 39:305--353.
[5] Fossen, T.I. (2002). Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles, Marine Cybernetics AS.
[6] Fossen, T.I., Breivik, M., Skjetne, R. (2003). Line-of-sight path following of underactuated marine craft, In Proc. of the IFAC MCMC´03. Girona, Spain.
[7] Freeland, H.J., et.al. (2009). Argo -- a decade of progress, In OceanObs´09. Venice, Italy.
[8] Gibson, R.N. (2003). Go with the flow: tidal migration in marine animals, Hydrobiologia, 503:153--161 doi:10.1023/B:HYDR.0000008488.33614.62
[9] Healey, A.J. Lienard, D. (1993). Multivariable sliding-mode control for autonomous diving and steering of unmanned underwater vehicles, IEEE Journal of Oceanic Engineering,.3:327--338 doi:10.1109/JOE.1993.236372
[10] Hill, A.E. (1994). Horizontal zooplankton dispersal by diel vertical migration in s2 tidal currents on the northwest european continental shelf, Continental Shelf Research, 14(5):491--506 doi:10.1016/0278-4343(94)90100-7
[11] Jouffroy, J. Opderbecke, J. (2007). Underwater navigation using diffusion-based trajectory observers, IEEE Journal of Oceanic Engineering,.2:313--326 doi:10.1109/JOE.2006.880392
[12] Jouffroy, J., Zhou, Q.-Y., Zielinski, O. (2011). Towards selective tidal-stream transport for lagrangian profilers, In MTS/IEEE Oceans´11. Kona, Hawaii, USA.
[13] Loaec, G., Cortes, N., Menzel, M., Moliera, J. (1998). Provor: a hydrographic profiler based on marvor technology, In IEEE Oceans´98. Nice, France.
[14] Roemmich, D., Riser, S., Davis, R., Desaubies, Y. (2004). Autonomous profiling floats: workhorse for broad-scale ocean observations, Marine Technology Society Journal, 3.1:31--39 doi:10.4031/002533204787522802
[15] Teel, A., Aeyels, D., Peuteman, J. (1999). Semi-global practical asymptotic stability and averaging, Systems and& Control Letters, 37:329--334 doi:10.1016/S0167-6911(99)00039-0
[16] Walters, R.A. (1987). A model for tides and currents in the english channel and southern north sea, Advances in Water Resources, 10(3):138--148 doi:10.1016/0309-1708(87)90020-0
[17] Weihs, D. (1978). Tidal stream transport as an efficient method for migration, Journal du Conseil International pour l´Exploitation de la Mer, 38:92--99 doi:10.1093/icesjms/38.1.92
[18] Welch, J.M. Forward, R.B. (1978). Flood tide transport of blue crab, Callinectes sapidus, postlarvae: behavioral responses to salinity and turbulence, Marine Biology, 139:911--918 doi:10.1007/s002270100649


BibTeX:
@article{MIC-2013-1-1,
  title={{On Active Current Selection for Lagrangian Profilers}},
  author={Jouffroy, Jerome and Zhou, Qiuyang and Zielinski, Oliver},
  journal={Modeling, Identification and Control},
  volume={34},
  number={1},
  pages={1--10},
  year={2013},
  doi={10.4173/mic.2013.1.1},
  publisher={Norwegian Society of Automatic Control}
};

News

May 2016: MIC reaches 2000 DOI Forward Links. The first 1000 took 34 years, the next 1000 took 2.5 years.


July 2015: MIC's new impact factor is now 0.778. The number of papers published in 2014 was 21 compared to 15 in 2013, which partially explains the small decrease in impact factor.


Aug 2014: For the 3rd year in a row MIC's impact factor increases. It is now 0.826.


Dec 2013: New database-driven web-design enabling extended statistics. Article number 500 is published and MIC reaches 1000 DOI Forward Links.


Jan 2012: Follow MIC on your smartphone by using the RSS feed.

Smartphone


July 2011: MIC passes 1000 ISI Web of Science citations.


Mar 2010: MIC is now indexed by DOAJ and has received the Sparc Seal seal for open access journals.


Dec 2009: A MIC group is created at LinkedIn and Twitter.


Oct 2009: MIC is now fully updated in ISI Web of Knowledge.