{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,12]],"date-time":"2026-03-12T20:14:57Z","timestamp":1773346497793,"version":"3.50.1"},"reference-count":45,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2023,1,5]],"date-time":"2023-01-05T00:00:00Z","timestamp":1672876800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Penelitian Pengabdian Masyarakat dan Inovasi (PPMI) Institut Teknologi Bandung 2022"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>The main goal of this paper was to design and construct a hybrid autonomous underwater glider (HAUG) with a torpedo shape, a size of 230 cm in length and 24 cm in diameter. The control, navigation, and guidance system were executed simultaneously using a Udoo X86 minicomputer as the main server and three BeagleBone Black single-board computers as the clients. The simulations showed a controlled horizontal speed of 0.5 m\/s in AUV mode and 0.39 to 0.51 m\/s in glide mode with a pitch angle between 14.13\u2218 and 26.89\u2218. In addition, the field experiments under limited space showed the proposed HAUG had comparable results with the simulation, with a horizontal speed in AUV mode of 1 m\/s and in glide mode of around 0.2 m\/s. Moreover, the energy consumption with an assumption of three cycles of gliding motion per hour was 51.63 watts\/h, which enabled the HAUG to perform a mission for 44.74 h. The proposed HAUG was designed to hold pressure up to 200 m under water and to perform underwater applications such as search and rescue, mapping, surveillance, monitoring, and maintenance.<\/jats:p>","DOI":"10.3390\/robotics12010008","type":"journal-article","created":{"date-parts":[[2023,1,6]],"date-time":"2023-01-06T03:19:54Z","timestamp":1672975194000},"page":"8","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Design and Construction of Hybrid Autonomous Underwater Glider for Underwater Research"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1399-2670","authenticated-orcid":false,"given":"Simon","family":"Siregar","sequence":"first","affiliation":[{"name":"Doctoral Program of Electrical Engineering, School of Electrical Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia"},{"name":"Department Computer Engineering, Faculty of Applied Science, Telkom University, Jl. Telekomunikasi. 1, Bandung 40257, Indonesia"}]},{"given":"Bambang Riyanto","family":"Trilaksono","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia"}]},{"given":"Egi Muhammad Idris","family":"Hidayat","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia"}]},{"given":"Muljowidodo","family":"Kartidjo","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia"}]},{"given":"Natsir","family":"Habibullah","sequence":"additional","affiliation":[{"name":"Doctoral Program of Electrical Engineering, School of Electrical Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia"}]},{"given":"Muhammad Fikri","family":"Zulkarnain","sequence":"additional","affiliation":[{"name":"Doctoral Program of Mechanical Engineering, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia"}]},{"given":"Handi Nugroho","family":"Setiawan","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia"}]}],"member":"1968","published-online":{"date-parts":[[2023,1,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Ferri, G., Cococcioni, M., and Alvarez, A. (2016). 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