Transcript Slide 1

ADCPs and Gliders
Presented By
Darryl Symonds - Teledyne RD Instruments
October 2012
ADCPs and Gliders
Contributors
Jerry Mullison - Teledyne RD Instruments
Greg Rivalan - Teledyne RD Instruments
Clayton Jones – Teledyne Webb Research
Neil Trenaman – Liquid Robotics, Inc. (UVS Pty Ltd.)
Robert Olson - Liquid Robotics, Inc.
Rajesh Jha - Liquid Robotics, Inc.
Mike Cookson - Liquid Robotics, Inc.
Paul Wyatt - Liquid Robotics, Inc.
Outline
• Teledyne RD Instruments (TRDI) Background
• TRDI Moving Platform ADCP Background
• Teledyne Webb Research Slocum Glider and
TRDI ADCP Integration
• Liquid Robotics, Inc. Wave Glider® and TRDI
ADCP Integration
Leaders in
Acoustic Doppler Current Profilers
Doppler Velocity Logs
Conductivity, Temperature, and
Depth
Teledyne serve’s niche market segments where performance,
precision and reliability are critical. Our customers include
government agencies, aerospace prime contractors, energy
exploration and production companies, major industrial
companies, and airlines and general aviation companies.
Founded: 1982; acquired by
Teledyne in Aug. 2005
Products Lines:
Marine Measurements – Water in Motion
Water Resources – Water in Motion
Navigation – Motion in Water
Programs – Technology in Motion
Patented Technologies:
Bottom Tracking
Phased array
Waves processing
Internal Inductive Conductivity Sensor
Employees: 180+
Locations:
Main Office: Poway, CA, USA
(certified: ISO9001: 2010, CE)
La Gaude, France
Shanghai, China
ADCPs On & In The Ocean
OS
Climate Studies
WH
Neptune
Surface Vessel
Applications
Mars
Unmanned Vehicles
Surface Gliders
Explorer
WH
Underwater Gliders
Autonomous Underwater
Vehicles (AUVs)
Remotely
Operated Vehicles
(ROVs)
Keys To Successful Data Collection
on Moving Platforms
•
•
•
•
•
•
Mounting of Instrument (Where/Orientation)
External Sensor Input (Heading/Pitch/Roll)
Power Considerations
Synchronized External Sensors
Reference to Remove Platform Motion
Data Handling and Processing
Teledyne Webb Research - Slocum Glider
Teledyne RD Instruments – Explorer ADCP
Mounting – WH ADCP Mounted to Point 45° Starboard
Beam 3 at 0°
3
Beam 3 at 45°
3
Mounting - Explorer Flush To Slocum
Beam 3 at 0°
Beam 3 at 45°
AOA 0°
-30°
-22°
30°
22°
AOA -26°
-56°
-48°
-26°
-4°
4°
AOA 26°
56°
-4°
26°
48°
4°
Mounting - Explorer Mounted to Point 26° Forward
Beam 3 at 0°
Beam 3 at 45°
AOA 0°
56°
-4°
48°
26°
4°
AOA -26°
-30°
-22°
30°
22°
AOA 26°
82°
52°
22°
64°
30°
Mounting - Explorer Mounted to Point 11° Forward
Beam 3 at 0°
Beam 3 at 45°
AOA 0°
-19°
11°
41°
-11°
43°
AOA -26°
--45°
--15°
-37°
15°
7°
AOA 26°
67°
37°
7°
59°
15°
Mounting Angle Given a 25° Dive Angle
Mounting with a 11° pitch upward with beam 3 pointing 45° to port
Glider
Beam1
Beam2
Beam3
Array Pitch
Offset
Beam4
Glider
Pitch
BM
Angle
Level
41
19
41
19
11
0
30
Diving down
16
44
16
44
11
-25
30
Diving Up
66
-6
66
-6
11
25
30
Mounting with a 11° pitch upward with beam 3 pointing 0° (forward)
Glider
Level
Diving Down
Diving Up
Beam1
Beam2
Beam3
Beam4
Array Pitch
Offset
Glider
Pitch
BM
Angle
11
11
41
19
11
0
30
-14
-14
16
44
11
-25
30
36
36
66
-6
11
25
30
TRDI Data Reference
• Attitude (Heading, Pitch, Roll) is input from On-Board Sensors
• Vehicle Motion Reference
– Bottom track used in shallow water
– LADCP method when in deep water
• Vehicle Position from GPS during Surfacing
Data Flow for System
ADCP
On Board
Computer
Data Transfer
HPR
GPS
On Board
Power
Batteries
Slocum Glider with Explorer ADCP
Deployment Test – Solo Run
Teledyne RDI and Teledyne
Webb collaborated to install
an Explorer ADCP on a
Slocum Glider for Rutgers
University.
TRDI Data Review Using LADCP
TRDI Data Review Using LADCP
• A test flight of the glider in shallow water
was conducted with bottom track
enabled.
• The bottom track corrected velocities are
compared with the velocities obtained
with the LADCP Matlab-scripts, from Dr.
Eric Firing at the University of Hawaii.
• The agreement between the two
techniques is in general very good, but
wave action on the glider while it is near
the surface badly contaminates the
bottom track corrected measurements.
Liquid Robotics - Wave Glider®
Teledyne RD Instruments – WH ADCP
Mounting – WH ADCP Mounted to Point 45° Starboard
Beam 3 at 0°
3
Beam 3 at 45°
3
TRDI Data Reference
• Attitude (Heading, Pitch, Roll) is input from WH ADCP
• Vehicle Motion Reference
– Bottom track used in shallow water
– GPS used in deep water
• Vehicle Position from GPS during
Data Flow for System
On Board
Computer
Data
Transfer
ADCP
GPS
On Board
Power
Solar
Panels
Wave Glider® with WH ADCP
Deployment Test 1 – Shallow Water
Scripps Beach
Teledyne RDI and Liquid Robotics collaborated to install a WH ADCP on a Wave Glider® at
Scripps Institute of Oceanography (SIO) locum Glider for Rutgers University.
Deployment One Contours
Box Averaged North Velocity
Box Averaged East Velocity
• Shallow Water Tests illustrate that Wave
Glider® wings contaminate one or two
bins
• Velocities above and below wings
compare well with reference ADCP
• Flow reversals can be seen
• Large scale features compare will with
reference ADCP
Wave Glider® with WH ADCP
Deployment Test 2 – Deep Water
Scripps Beach
Teledyne RDI and Liquid Robotics collaborated to install a WH ADCP on a Wave Glider® at
Scripps Institute of Oceanography (SIO) locum Glider for Rutgers University.
Repeated Transects
TRDI Data Review Using GPS
• GPS can be used as a valid reference
even within the small spatial areas
covered by the Wave Glider®
• Traveling in reciprocal transects provide
identical data
• Large features of oceanographic interest
are economically captured by a Wave
Glider® mounted ADCP
Wave Glider® with WH ADCP
Deployment Test 3
Waialea Bay
Puako Bay
©2012 Liquid Robotics, Inc. 1329 Moffett Park Drive, Sunnyvale, CA 94089, USA. All Rights Reserved. PROPRIETARY INFORMATION
33
Velocity Comparison: June 15 – June 16
Alongshore Velocity (m/s)
Cross-Shore Velocity (m/s)
R1
R1
R2
R2
SH1
SH1
Bottom
Mount
Bottom
Mount
©2012 Liquid Robotics, Inc. 1329 Moffett Park Drive, Sunnyvale, CA 94089, USA. All Rights Reserved. PROPRIETARY INFORMATION
34
Velocity Comparison: July 6 – July 8
Alongshore Velocity (m/s)
Cross-Shore Velocity (m/s)
Bottom
Mount
Bottom
Mount
R1
R1
R2
R2
©2012 Liquid Robotics, Inc. 1329 Moffett Park Drive, Sunnyvale, CA 94089, USA. All Rights Reserved. PROPRIETARY INFORMATION
35
ADCPs and Gliders
Special Thanks For Their Help and Cooperation To:
The team at John Hildebrand’s laboratory at Scripps Institute of
Oceanography (SIO) and to SIO
The team at Rutgers University
Contacts
Main Office
Teledyne RD Instruments, Inc.
14020 Stowe Drive
Poway, CA 92064
Main: +1-858-842-2600
E-mail: [email protected]
www.rdinstruments.com
European Office
Teledyne RDI Europe
5 Avenue Hector Pintus
La Gaude, France
E-mail: [email protected]
Main: +33-492-110-930
China Office
Teledyne RD Technologies:
1206 Dongfang Road, Pu Dong
Shanghai 20122
China
E-mail: [email protected]
Main: +86-215-830-6939
Local Representative Details:
UVS Pty Ltd
9 Macquarie Place
Boronia, VIC 3155, Australia
PO Box 129
Boronia VIC 3155
E-Mail: [email protected]
Main: +61 (0)3 97298622
www.uvs.com.au