[雙語翻譯]--外文翻譯--波浪滑翔機(jī)一種波浪驅(qū)動(dòng)的海洋自主運(yùn)載工具（英文）

1、 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

2、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 capabili

3、ties, 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

4、 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 ext

5、ernal 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-prope

6、lled, 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 observati

7、on that did not require costly deep-water moorings or ship operations. Encouraged by immediate success with initial prototype designs, Mr. Hine and several colleagues founded Liquid Robotics, Inc. in 2007 to further d

8、evelop the platform for scientific, commercial, and military applications. The key innovation of the Wave Glider is its ability to harvest the abundant energy in ocean waves to provide essentially limitless propulsion

9、. Two solar panels continually replenish the batteries that are used to power the vehicle’s control electronics, communications systems, and payloads. Table I gives an overview of the characteristics, Fig. 1 The Wav

10、e Glider is a two-part vehicle, consisting of a surface float connected to a submerged glider via a flexible tether. The Wave Glider harnesses wave energy for propulsion, decoupling platform endurance from battery or che

11、mical energy storage systems. The Wave Glider is able to maintain headway on its desired course in calm seas and independent of wave direction. TABLE I CHARACTERISTICS AND CAPABILITIES OF THE WAVE GLIDER VEHICLE Physica

12、l Characteristics Vehicle Configuration Submerged glider connected to a surface float by a tether. Dimensions Float: 2.1m x 0.6m; Glider: 0.4m x 1.9m; Wings: 1.1m wide Weight and Buoyancy 75 kg mass, 150 kg displaceme

13、nt Endurance Up to 1 year Capabilities and Functionality Propulsion Power Mechanical conversion of wave energy into forward propulsion. Speed through Water >0.5 kt in Sea State 1 (SS1); >1.5 kt in Sea State 3 (S

14、S3). Battery 86W (peak) solar panel charging a 665 Wh Li-ion battery pack. Payload Power Available 10 W continuous (typical), depending upon latitude, weather, etc. Communications Systems Iridium Satellite Modem. RF M

15、odem Navigation Systems 12 Channel, WAAS enabled GPS; Compass; Water Speed (Optional) Control Interfaces Web-based, GUI Chart interface, with location and status indicators. Proven Survivability SS6 (WMO) (14-18ft s

16、eas, 30-40kt winds) Emergency Location Devices Light and RF beacon. Optional acoustic beacon. 0-933957-38-1 ©2009 MTSeven in very mild seas (i.e., with wave heights of a few inches or less). Even in these extremel

17、y calm conditions, the Wave Glider is able to maintain a forward speed of 0.25 to 0.50 kts. This speed is typically sufficient to allow the vehicle to keep station against typical surface currents. III. PLATFORM CA

18、PABILITIES A. Batteries and Solar Power Wave Glider carries 665 Wh of rechargeable lithium-ion batteries to supply the energy needs of its navigation, control, communi- cations, and payload systems. This battery subsys

19、tem is composed of seven smart battery packs that are electrically isolated from each other. Only two batteries are in use at any given time and each battery has separate discharging and monitoring circuitry. The Wave

20、 Glider’s navigation, control, and communications systems require only 0.7 W of (averaged) continuous power. The longest Wave Glider mission duration without a battery recharge (i.e., without the benefit of the solar

21、 panels) is about 23 days. This duration would decrease further if more payload sensors are added. To achieve the Wave Glider’s promise for long duration missions, the battery energy consumed by command, control, commu

22、nications, and payloads systems must be continuously replenished. To meet this need, the Wave Glider carries two photovoltaic solar panels that are each rated to deliver up to 43 W of peak power. In practice, though, th

23、e average continuous power delivered by the solar panels is substantially less than the combined 86 Watts of peak output power. Mission latitude and the season of the year have a significant effect on the power generat

24、ed by the vehicle’s solar panels. These factors determine the number of hours of day light and the angle of incidence at which solar rays impinge upon the PV panels. Other factors such as cloud cover also have signific

25、ant effects on the average power delivered by the solar panels. Fig. 5 illustrates the variability of total incident solar power in kWh/m2/day as a function of the location and time of the year (and using average climat

26、ology for each location). Low latitude regions – such as at Liquid Robotic’s marine operations center in Puako, Hawaii – maintain high total incident solar energy averages throughout the year. Higher latitude regions –

27、 such as Nome, AK and Punta Arenas, Chile – experience both high peaks in their summer months and low minimums during winter months. There are also several other factors that influence the overall average continuous po

28、wer produced by the PV panels including light level, temperature, shading, fouling, and conversion and storage efficiencies. When taken together, these factors significantly reduce the (averaged) continuous power avail

29、able to payloads to approximately ten (10) Watts. While just a few Watts is sufficient for many payloads – such as cameras and passive receivers – additional develop- ment effort will be required to increase avai

30、lable payload power to realize the full potential of the Wave Glider plat- form, particularly when operating in higher latitudes. Liquid Robotics is exploring concepts to harvest wave energy on a small sc

31、ale (2 to 20 W) to meet these needs. As is shown in Fig. 6, the average power available in surface Fig. 5 Solar energy incident on a horizontal surface in kWh/m2/day. Latitude, angle of incidence, and seasonal weat

32、her all affect the average solar energy. (data from www.nrel.gov/gis/solar.html) Fig. 4 The Wave Glider typically maintains forward speed of 0.25 to 0.50 kts in calm seas. The left image is a screen capture of the L