Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Collective estimation of ocean nonlinear internal
waves using robotic underwater drifters
M. Ouimet, J. Cortés
IEEE Access 1 (2013), 418-427
Abstract
This paper considers a group of drogues whose
objective is to estimate the physical parameters
that determine the dynamics of ocean nonlinear
internal waves. Internal waves are important in
oceanography because, as they travel, they are
capable of displacing small animals, such as
plankton, larvae, and fish. These waves are
described by models that employ trigonometric
functions parameterized by a set of constants such
as amplitude, wavenumber, and temporal
frequency. While underwater, individual drogues do
not have access to absolute position information and
only rely on inter-drogue measurements. Building on
this data and the study of the drogue dynamics under
the flow induced by the internal wave, we design two
strategies, termed the `vanishing derivative method'
and the `passing wave method', that are able to
determine the wavenumber and the speed ratio. Either
of these strategies can be employed in the
`parameter determination algorithm' to determine all
remaining wave parameters. We analyze the
correctness of the proposed strategies and discuss
their robustness against different sources of error.
Simulations illustrate the algorithm performance
under noisy measurements as well as the effect of
different initial drogue configurations.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
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jorgilliyo