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Glider Programming Architecture

This research project is partially funded by NSF CSR-CSI #0720836 and NSF MRI #0821607. Any opinions, findings, and conclusions or recommendations expressed in material related to this project do not necessarily reflect the views of the National Science Foundation.
In memory of Denitsa Tilkidjieva, a PhD graduate student who worked on this project.

Students and Faculty

  • Hans Christian Woithe -- PhD Student, Department of Computer Science
  • Ulrich (Uli) Kremer -- Faculty, Department of Computer Science


  • David Aragon -- Reseach Staff, Coastal Ocean Observation Lab
  • Scott Glenn -- Faculty, Institute of Marine and Coastal Sciences
  • Oscar Schofield -- Faculty, Institute of Marine and Coastal Sciences
  • David Boehm -- MS Student, Department of Computer Science
  • Dimitris Metaxas -- Faculty, Department of Computer Science
  • Ivan Seskar -- Associate Director for Information Technology, Winlab
  • Ilya Chigirev -- Research Staff, Winlab
  • Mike Eichhorn -- Faculty, Institute for Automation and Systems Engineering, Ilmenau University of Technology, Germany
  • Manish Parashar -- Faculty, Department of Electrical and Computer Engineering
  • Dario Pompili -- Faculty, Department of Electrical and Computer Engineering



    In June 2015, we released the first version of the TrilobiteG simulation infrastructure. Users can write ALGAE programs and submit them for simulation via a secure web portal at . The simulator is faster than real time (for example, a 3 hour mission can usually be simulated in less than 10 seconds) and includes a full software stack simulation for the Slocum glider. The generated sensor, vehicle, and navigation data is fully compatible with data collected by the physical glider. Existing tools may be used to display and/or analyse the data. The simulator makes the full data set available. In addition, a subset of the data is plotted to enable novice users to better understand the sensor and glider behaviors induced by their ALGAE programs.

    Our lab (CoRE 332) has two Slocum Gliders with a "double payload bay" configuration. The Slocum Glider is produced by Teledyne Webb Research . The picture below shows the MRI-2 glider in the foreground, and MRI-1 in the back. The extended payload bay allows more flexibility by supporting different sensor, battery, and on-board computer arrangements. Both gliders have underwater acoustic communication capabilities (WHOI's micro modems, blue cylindrical device on top of the gliders).

    EEL Glider Lab with MRI-I and MRI-II gliders

    The gliders can be equipped with payload bays with a ADCP/DVL sensor, a FIRe sensor, and/or two bio-pucks. Both gliders have a CTD sensor. In addition, MRI-1 has an optode installed (fixed) in her aft section.


    The following missions were conducted using gliders owned by Rutgers IMCS or ONR, and deployed from different research vessels, including R/V Arabella stationed at the Rutgers University Marine Field Station (RUMFS) in Tuckerton, New Jersey.

    Research Group Wiki (limited access)

    Last updated by Ulrich (Uli) Kremer on June 25, 2015