波浪滑翔机：一种波浪驱动的海洋自主运载工具外文文献.pdfVIP

The Wave Glider: A Wave-Powered Autonomous Marine Vehicle Roger Hine, Scott Willcox, Graham Hine, and Tim Richardson Liquid Robotics, Incorporated 1901 Embarcadero Rd., Suite 106 Palo Alto, CA 94303 Abstract - The Wave Glider is a new autonomous marine vehicle that is unique in its ability to harness ocean wave energy for platform propulsion. This paper provides an overview of the Wave Glider vehicle’s architecture and capabilities, and presents results from the extensive engineering sea trials that we have conducted with several prototype and the current production generations of the vehicle. The vehicle’s performance in a variety of ocean conditions is described. The vehicle’s robustness and capabilities for extended mission durations are also examined. The vehicle’s autonomous control architecture is explained, as are the web-based interfaces for external control and monitoring of the platform. Finally, we discuss several payload packages that have been or are currently being developed for the vehicle. I. INTRODUCTION The Wave Glider is a new class of wave-propelled, persistent ocean vehicle, Fig. 1. Roger Hine, the lead inventor of the vehicle and the CEO of Liquid Robotics, began work on the Wave Glider vehicle in 2005 with a vision to enable new types of ocean observation that did not require costly deep-