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This paper presents preliminary results towards the development of anautonomous ocean observing system using Miniature Underwater Gliders (MUGs)that can operate with the support of Unmanned Aerial Vehicles (UAVs) andUnmanned Surface Vessels (USVs) for deployment, recovery, battery charging, andcommunication relay. The system reduces human intervention to the minimum,revolutionizing the affordability of a broad range of surveillance and datacollection operations. The MUGs are equipped with a small Variable BuoyancySystem (VBS) composed of a gas filled piston and a linear actuator powered bybrushless DC motor and a rechargable lithium ion battery in an oil filledflexible enclosure. By using a fully pressure tolerant electronic design theaim is to reduce the total complexity, weight, and cost of the overall system.A first prototype of the VBS was built and demonstrated in a small aquarium.The electronic components were tested in a pressure testing facility to aminimum of 20bar. Preliminary results are promising and future work will focuson system and weight optimization, UAV deployment/recovery strategies, as wellas sea trials to an operating depth of 200m.

Towards autonomous ocean observing systems using Miniature Underwater Gliders with UAV deployment and recovery capabilities