1. 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: R. Curry, G. Elkaim

2. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Research question How can data sampling of the ocean surface be improved? 2

3. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Why this specifically? Already a focus of oceanographers Point of concentration Medium of exchange 3

4. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Current problems Cost Humans 4

5. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Primary Goals 1. Modular system allowing for diverse payloads 2. High endurance & mobility 3. Low upfront & operational costs 5

6. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Secondary Goals 1. Easy & simple to maintain 2. Usable by scientists 3. Solve the “surface vessel platform” problem 6

7. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Existing systems Academic Charlie USV OASIS Commercial Wave glider 7

8. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Existing systems Academic Charlie USV OASIS Commercial Wave glider 8

9. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Existing systems Academic Charlie USV OASIS Commercial Wave glider 9

10. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Our solution: The SeaSlug 10

11. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN System overview 11

12. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN System schematic 12

13. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Development workflow 13

14. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Remote groundstation interface 14

15. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN L 2 + Control Form of pursuit guidance Gain based on look- ahead time 15

16. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN L 2 + on an ASV 16

17. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Test results 17

18. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Test results 18

19. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Endurance 13 hours at 1m/s speed 19

20. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Cost Less than 2 days equivalent ship time: < $40k 20

21. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Future work Improved vehicle model and attitude estimation Energy scavenging Collision avoidance 21

22. UC SANTA CRUZ, AUTONOMOUS SYSTEMS LAB ION GNSS+ 2013, Nashville, TN Questions 22