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dc.contributor.advisorRichard Camilli.en_US
dc.contributor.authorDuguid, Zachary(Zachary J.)en_US
dc.contributor.otherMassachusetts Institute of Technology. Department of Mechanical Engineering.en_US
dc.date.accessioned2021-01-06T18:33:25Z
dc.date.available2021-01-06T18:33:25Z
dc.date.copyright2020en_US
dc.date.issued2020en_US
dc.identifier.urihttps://hdl.handle.net/1721.1/129186
dc.descriptionThesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, September, 2020en_US
dc.descriptionCataloged from student-submitted PDF version of thesis.en_US
dc.descriptionIncludes bibliographical references (pages 143-159).en_US
dc.description.abstractThis thesis presents an Autonomous Underwater Glider (AUG) architecture that is intended for basin-scale unattended survey of Arctic sea-ice. The distinguishing challenge for AUG operations in the Arctic environment is the presence of year-round sea-ice cover which prevents vehicle surfacing for localization updates and shore-side communication. Due to the high cost of operating support vessels in the Arctic, the proposed AUG architecture minimizes external infrastructure requirements to brief and infrequent satellite updates on the order of once per day. This is possible by employing onboard acoustic sensing for sea-ice observation and navigation, along with intelligent management of onboard resources. To enable unattended survey of Arctic sea-ice with an AUG, this thesis proposes a hierarchical acoustics-based sea-ice characterization scheme to perform science data collection and assess environment risk, a multi-factor terrain-aided navigation method that leverages bathymetric features and active ocean current sensing to limit localization error, and a set of energy-optimal propulsive and hotel policies that react to evolving environmental conditions to improve AUG endurance. These methods are evaluated with respect to laboratory experiments and preliminary field data, and future Arctic sea-ice survey mission concepts are discussed.en_US
dc.description.statementofresponsibilityby Zachary Duguid.en_US
dc.format.extent159 pagesen_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsMIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582en_US
dc.subjectMechanical Engineering.en_US
dc.titleTowards basin-scale in-situ characterization of sea-ice using an Autonomous Underwater Glideren_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.identifier.oclc1227278421en_US
dc.description.collectionS.M. Massachusetts Institute of Technology, Department of Mechanical Engineeringen_US
dspace.imported2021-01-06T18:33:24Zen_US
mit.thesis.degreeMasteren_US
mit.thesis.departmentMechEen_US


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