Method and apparatus for controlling the motion of an autonomous moored profiler
First Claim
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1. An autonomous moored profiler for profiling a volume of fluid, comprising:
- one or more buoyant members for buoying the profiler in the fluid;
a winch, said winch including a spool, a device providing for varying rates of turning of said spool, and a flexible cable for winding onto and unwinding from said spool, a first end of said cable being carried by the profiler; and
a feedback controller for monitoring an indication of the tension in said cable and controlling said device in response thereto.
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Abstract
A method and apparatus for controlling the motion of a cable-driven autonomous moored profiler. The profiler includes one or more buoyant members for buoying the profiler in the fluid, a winch, and a feedback controller for controlling the winch. The winch includes a spool, a device providing for varying rates of turning of the spool, and a flexible cable for winding onto and unwinding from the spool. A first end of the cable is carried by the profiler. The controller monitors an indication of the tension in the cable and controls the device in response thereto.
18 Citations
20 Claims
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1. An autonomous moored profiler for profiling a volume of fluid, comprising:
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one or more buoyant members for buoying the profiler in the fluid;
a winch, said winch including a spool, a device providing for varying rates of turning of said spool, and a flexible cable for winding onto and unwinding from said spool, a first end of said cable being carried by the profiler; and
a feedback controller for monitoring an indication of the tension in said cable and controlling said device in response thereto. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for autonomously profiling a volume of fluid;
- comprising the steps of;
providing a buoyant platform carrying one or more measuring instruments adapted to measure one or more selected characteristics of the fluid;
pulling on said platform with a force exerted through a flexible cable attached to the platform;
monitoring an indication of the tension in the cable; and
varying said force in response to said step of monitoring. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
- comprising the steps of;
Specification