A mounting unit located in the middle of the vehicle is designed for installing various sensors. The communication and navigation subsystem contains iridium satellite communication devices, wireless communication devices, a precision navigation TCM3 attitude sensor, a Global Positioning System (GPS) device, a pressure meter, and obstacle avoidance sonar. The embedded control subsystem, developed based on an advanced RISC machine (ARM) low-power processor, is responsible for mission management, motion control, data sampling, health monitoring, and so on. The angle of rotation is measured by a rotary potentiometer. The roll-regulating device controls the roll angle by turning the pitch-regulating device around its axis of symmetry that coincides with the longitudinal axis of the glider. The position of the battery package is measured by a linear potentiometer.
The pitch-regulating device controls the pitch angle of underwater glider by moving an internal battery package to change the center of mass. The quantity of oil trans- ferred is measured by a linear potentiometer attached to the internal oil bladder. Partial vacuum within the pressure hull enables oil to fl ow out of the external bladder under atmospheric pressure. A high-pressure hydraulic axial piston pump is used to send hydraulic oil from an internal oil bladder to the external oil bladder. The buoyancy-regulating device changes buoyancy by gener- ating fl ow of hydraulic oil into or out of an external oil bladder to produce the driving buoyancy force. The subsystems inside the pressure hull include the buoyancy-regulating device, the pitch-regulating device, the roll-regulating device, the embedded control subsystem, the communication and navigation subsystem, the emergency release subsystem, and the science sensors. Sea-Wing underwater glider consists of a cylindrical pressure hull to which horizontal wings, vertical fi xed rudders, and a trailing antenna are attached ( Fig.
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