UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN The SeaSlug A low-cost mobile marine sensor platform Presenter: Bryant Mairs Co-authors:

UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB

ION GNSS+ 2013, Nashville, TN

The SeaSlug

A low-cost mobile marine sensor platform

Presenter: Bryant MairsCo-authors: R. Curry, G. Elkaim

UC SANTA CRUZ, AUTONOMOUS SYSTEMS LABION GNSS+ 2013, Nashville, TN

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Research question

How can data sampling of the ocean surface be improved?


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Why this specifically?

Already a focus of oceanographers Point of concentration Medium of exchange


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Current problems

Cost Humans


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Primary Goals

1. Modular system allowing for diverse payloads2. High endurance & mobility3. Low upfront & operational costs


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Secondary Goals

1. Easy & simple to maintain2. Usable by scientists3. Solve the “surface vessel platform” problem


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Existing systems

Academic Charlie USV OASIS

Commercial Wave glider


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Existing systems




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Existing systems




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Our solution: The SeaSlug


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System overview


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System schematic


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Development workflow


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Remote groundstation interface


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L2+ Control

Form of pursuit guidance

Gain based on look-ahead time


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L2+ on an ASV

)arctan(2v

Lacmd

L

v )tan(


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Test results


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Test results


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Endurance

13 hours at 1m/s speed


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Cost

Less than 2 days equivalent ship time:< $40k


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Future work

Improved vehicle model and attitude estimation Energy scavenging Collision avoidance


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Questions

Documents

UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN The SeaSlug A low-cost mobile marine sensor platform Presenter: Bryant Mairs Co-authors: