PRITHVI

SLOCUM GLIDER: AN AUXILLIARY ASSET TO EXISTING WEAPONRY

EQUIPPED WITH MACHINE LEARNING AND ARTIFICIAL INTELLIGENCE

TO REVOLUTIONIZE THE PRESENT WARFARE TECHNIQUES

Introduction.

1. Oceans have been ever-changing and navigation is only based on the experience

and skill of a mariner. Integrating machine learning and Artificial Intelligence in maritime

navigation can provide invaluable assistance to men at sea and eradicate the scope of

human error to a great extent. An effort has been made through this essay to propose a

suitable usage of a glider for the Indian Navy which can collect data from sea profiling for

understanding the nature of oceans and use machine learning as a tool to process and

incorporate it in IN ships. With the continuously changing dynamics of modern warfare, it

becomes mandatory for India to match steps with its rivals. The world is way past the point

of actively engaging in battles, rather the new age war is about data supremacy and

collecting intel. Knowledge of constantly changing situations and equations is what power

means today.

2. Underwater sensors and passive systems detect and track ships and submarines by

monitoring their acoustic signature. To increase the accuracy of those systems, operators

need to understand how that sound is distorted by changes in factors like temperature,

pressure, and salinity as it travels through the water. To accurately model the ocean and

predict how sound will travel through it requires accurate charts of the undersea topography
and vast amounts of oceanographic data to understand local water characteristics and

predict how those characteristics will likely change over time.

3. Slocum Gliders are automated underwater gliders AUGs that enable us to

understand the oceans. When properly analyzed, this data can translate into critical data that

our submarines and ships can use to operate effectively. Moreover, analysis and machine

learning are proactive measures to open a new avenue of maritime warfare where data and

information of the sea make IN ships more efficient and combat-ready providing an edge

over adversaries. Additionally, gliders can be used for communication in the inter-

submarine trade information and also to the shore establishments when it is at their highest

point/surface.

Study of Slocum Glider and sensor package.

4. Slocum Glider is a unique AUV capable of moving to specific locations and

depths and occupying controlled spatial and temporal grids. The glider moves both

horizontally and vertically due to its changing buoyancy in a saw-tooth vertical profile.

Slocum gliders are suitable for subsurface sampling at the regional scale due to their long-

range and endurance capabilities. They are designed to patrol for weeks at a time while

carrying a variety of sensors, surfacing to communicate their data to land and downloading

fresh instructions periodically. Compared to conventional surface ships, this results in

significant cost reductions. Small fleets of gliders will be able to explore and map the

dynamic (temporal and spatial) aspects of underlying coastal waters around the clock and

on any given day because of the comparatively low cost and the capacity to operate several

vehicles with little manpower and equipment. Based on its configuration, this underwater

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glider weighs between 55 and 70 kg, has a hull diameter of 22 cm, and measures 1.5 meters

in length.

5. The gliders can be propelled with a variable buoyancy mechanism. For variable

buoyancy propulsion, a trustworthy and appropriate buoyancy engine must be created. The

density of the glider can be changed using a buoyancy engine. It operates by inflating and

deflating an oil bladder, which modifies the glider's density. As a result, the AUG can

modify its buoyancy on its own. As a result, the glider may operate for a longer period

while being invisible to any surface vessels.

6. The powering unit mounted in the glider will have a sustained output to meet all

requirements of the assigned operations. Only after choosing the mission for which the

glider will be sent will the precise requirements for the power unit for the glider be

finalized. Since Li-Po batteries have a strong power-to-weight ratio, they are the best

choice for this application. While recording at 1 scan/second, the externally powered

Conductivity Temperature Depth sensor uses relatively little power—about 175 mW. It is

thought to be practical because one Alkaline cell could run the CTD 2 constantly for 114

hours and one Lithium cell could give 48 days of continuous profiling.

7. The Glider is a modular, low-power profiling device with the high accuracy

required for studying and utilizing data-gathering opportunities from operational vehicle

missions and contains a variety of sensors like conductivity, depth and temperature, salinity,

compasses, depth sensors, magnetometers, thermistors, sonars, and conductivity probes,

Chlorophyll sensors, oxygen sensors 4, turbidity sensors 5, pH sensors form the basic sensor

package of the AUV. The long-range glider can also be equipped with a variety of 40

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alternative sensors based on special requirements. Acoustic Doppler Current Profiler

(ADCP)6, Acoustic Modem, Beam Attenuation Meter, CTD sensor, echo sounder, and

hydrophones are a few of the sensor alternatives that can be installed.

8. The vehicle is also equipped to transport a variety of superior scientific payloads,

such as acoustic, optical, and physical sensors (CTD, fluorometer3, spectrophotometer).

Hardware requirement.

9. The Slocum Glider would need to be fitted with the required hardware and

software to gather and analyze data, as well as the right algorithms to enable & incorporate

ML and AI features and algorithms. Some general hardware requirements to be considered

are the sensors that can gather data that are relevant to the ML and AI algorithms being

used. Data storage or specifically, enough onboard memory to retain the information

gathered by the device's sensors and significant onboard processing power to support the

ML and AI algorithms in use. The glider would also need to have communicating abilities

to relay data to shore units when it surfaces or to other underwater vehicles. The CTD

sensor is the main hardware component required. It typically consists of a probe that is

lowered into the water and connected to the glider via a cable. The CTD sensor must be

properly calibrated and maintained to ensure accurate measurements. This CTD sensor

must be mounted securely on the glider to prevent it from being damaged during

deployment and recovery. The sensor must also be mounted in a location that allows for

unobstructed water flows around it to ensure accurate measurements.

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10. The glider must be equipped with a navigation system that can accurately track its

position and movement. This system can include GPS sensors, as well as other navigation

equipment. This allows continuous tracking & monitoring of the AUV as it continues to

collect data in its deployment and this feature also becomes vital when it has to be

recreated.

11. Overall, it is important to ensure that all hardware components are properly

selected, configured, and maintained to ensure accurate and effective operation. Other

sensors, such as optical, acoustic, CTD, and current sensors, may have different hardware

requirements depending on their specific design and functionality.

Software Requirements.

12. The main software requirements are the creation of custom software or the use of

commercially available software that is compatible with the hardware of the glider to

collect data from the installed sensors, as well as ML and AI libraries that are required by

software libraries for the creation and implementation of ML and AI algorithms. Scikit-

Learn, PyTorch are a few proposed libraries. Software for creating and evaluating ML and

AI algorithms would be required for the glider. This could entail gathering and visualizing

the data gathered by sensors using Integrated Development Environments (IDEs). IDE's are

designed to provide a centralized interface for writing, testing, and debugging code, and

typically include features such as code editors, compilers, debuggers, and project

management tools. And along with that, a visualization tool software for data visualization

like Matplotlib will serve the purpose.

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Algorithms Proposition.

13. Algorithms are step-by-step specified sets of actions that are used in the procedure

of solving or performing any computations. ML and AI algorithms are trained in simulated

environments which enables any machine to learn from the fed input data. In this case, the

data collected by the AUVs serve as the raw input fed to the processors which then

streamline and organize it to form crucial information for future uses and catalog it in

libraries for Machine learning and AI using algorithms.

14. Reinforcement learning and clustering algorithms 7, which are the most significant

of all ML techniques, are the main focus as it emphasizes decision-making.

Reinforcement learning is about the optimal behaviour in an environment to obtain the

maximum reward. This optimal behaviour is learned through environmental interactions

and observations of its response.

15. In the absence of a supervisor, the learner must independently discover the

sequence of actions that maximize the reward. This discovery process is similar to a trial-

and-error search. The quality of actions is measured not just by the immediate reward they

return, but also by the delayed reward they might fetch. As it can learn the actions that

result in eventual success in an unseen environment without the help of a supervisor,

reinforcement learning is a very powerful algorithm.

16. The Slocum Glider uses a form of reinforcement learning called "adaptive

sampling"8 to optimize its operation Adaptive sampling is a type of reinforcement learning

that involves adjusting the vehicle's path and sampling strategy based on the information

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it gathers as it moves through the water. The Slocum Glider is equipped with various

sensors that measure parameters such as temperature, salinity, and pressure, which it uses

to build a map of the ocean environment.

17. Based on this map, the Slocum Glider uses adaptive sampling to determine the

most efficient path to take to gather additional data. The vehicle uses a reinforcement

learning algorithm to evaluate different paths and select the one that is most likely to

provide the most valuable data. As it gathers more data, the algorithm adjusts its path and

sampling strategy to further optimize its operation.

18. On the other hand, clustering algorithms are an example of an unsupervised

machine-learning method that may be used to organize data points into clusters according

to their similarity. Large datasets can be analyzed using these techniques to find patterns

or groupings in the data. The clustering algorithm used in the Slocum glider is typically a

type of unsupervised learning algorithm, which involves grouping data points based on

their similarity without any prior knowledge of what the groups should look like. The

glider can use clustering algorithms to identify different water masses, such as cold, deep,

or warm, surface water masses.

19. Clustering methods could be used to examine the acoustic information gathered

by the Slocum Glider's sensors. Based on their acoustic properties, the program would

combine data points that were comparable to one another. This would allow the program

to differentiate between various sounds, such as those made by submarines, and other

background noise. To enable reliable and efficient data processing, the system could be

trained on enormous datasets of acoustic data.

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 Operations in Indian Navy.

20. Machine learning (ML) and Artificial Intelligence (AI) will enhance the abilities of

a Slocum Glider exponentially and will have a plethora of naval operational uses.

21. Equipping it with sophisticated navigational abilities through the application of ML

algorithms, allows it to navigate on its own without assistance. 9 This can entail creating

algorithms to recognize and avoid hazards, map out the best routes, and adjust to shifting

environmental conditions, more so the data can be collected incessantly and form a library

that assists mariners in navigation and operation. However, the final call will still be taken

by the men in position, this data is aimed at being an enabler of better and informed

decision-making.

22. Detecting submarines in the depth of oceans has been an age-long struggle for

surface vessels and their stealth is just an added hindrance in the process. The use of

gliders to map the acoustic environment of the seas and produce a database. This can

assist in locating regions where noise or interference may be present as well as regions

where sound transmission is particularly strong or weak. This intel will prove to be highly

effective in understanding & intercepting the operations of subsurface vessels.

23. An additional proposed use of the Slocum Glider is the Tests of small low-power

consuming communication systems for use in undersea communications that can be

conducted using Slocum gliders. It is feasible to analyze the effectiveness of various

communication systems and spot areas where improvements can be made by sending and

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receiving signals at various depths and locations. The gliders use an acoustic

communication system to transmit data to the surface or to a nearby ship, which operates

by transmitting sound waves through the water column. This makes them well-suited for

use in undersea communications, as sound waves can travel long distances in water.

24. The sensors equipped in Glider, such as acoustic sensors, and underwater cameras,

provide valuable data about the ocean environment. Algorithmic analysis of this data and

training system with machine learning will provide decision-making authorities with a

more complete picture of the operational environment. This data will serve surface,

subsurface, and aircraft equipping them with knowledge of the waters and giving them an

edge over any enemy forces in our waters. Surface forces can exploit this information in

their Anti-Submarine Warfare while the subsurface forces will find the learnings useful

for communication and stealth in operations.

25. Slocum gliders supply data that then be used for autonomous decision-making

once algorithms are generated and implemented operationally. 10 For example, a fleet of

Slocum Gliders could be deployed to form a network used for incessant monitoring of a

region, and then warn regarding unusual inputs due to the presence of any submarine on

its own. Reinforcement learning can be applied to the Slocum Glider to help it navigate

and find the target; it would be taught in a simulated environment. The algorithm would

also need to be designed to adapt to changing ocean conditions and adjust the glider's

trajectory accordingly.

26. Clustering methods could be used to examine the acoustic data the glider’s

sensors gathered once it gets close to the submarine. A secure communication protocol

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 could then be used to encrypt and transfer the data the glider had collected back to the

military base.

27. Slocum Glider's endurance and ability to operate in hazardous environments make

it a weatherproof vehicle. The AI in the glider will guide it to steer away from harm’s way

as its sensors detect abnormal conditions in the vicinity. The use of AI and autonomous

systems can help to reduce the cost of naval operations, as they require fewer personnel

and resources to operate.

28. Overall, the collaboration of Slocum Gliders and AI can provide naval forces with

enhanced situational awareness, autonomous decision-making capabilities, and improved

search and rescue capabilities, among other benefits. However, it also raises ethical and

legal concerns, particularly about the use of autonomous weapons systems.

Communication with shore establishment.

29. The Slocum glider uses an acoustic modem to transmit data to the surface or a

nearby ship.11 The modem operates at frequencies of 9-12 kHz and can transmit data at

rates of up to 8 kbps. The glider can also be equipped with a satellite communication

system, which allows it to transmit data to a remote location. The acoustic modem works

by transmitting sound waves through the water column. The sound waves are modulated

with digital data, which can include sensor readings, GPS position data, and other

information collected by the glider. The modulated sound waves are then received by a

hydrophone, which is typically located on a nearby ship or buoy.

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30. The acoustic modem is capable of transmitting data over distances of up to

several kilometers, depending on the water conditions and the depth of the glider. In

addition, the Slocum glider can be equipped with a satellite communication system, which

allows it to transmit data to a remote location. The satellite system is typically used to

transmit large amounts of data, such as high-resolution images or oceanographic models,

which cannot be transmitted using the acoustic modem.

31. The data processing algorithms used by ashore communication systems will

depend on the specific types of data collected by the Slocum glider. These algorithms will

process the large amounts of data acquired by the glider using ML and AI algorithms,

allowing for a more effective and precise study of the data. Data quality control

algorithms can be used to identify and remove any data that may be erroneous or of poor

quality, such as outliers or data points that fall outside of expected ranges. Calibration

algorithms can be used to calibrate the sensors on the glider, ensuring that the data

collected is accurate and consistent over time, and Filtering algorithms can be used to

remove any noise or unwanted signals from the data, such as spikes or high-frequency

noise. This could entail locating crucial data points, detecting data abnormalities, or

automatically classifying data into several categories.

32. Data obtained by the Slocum Glider could be transmitted using a Secure

Communication Protocol with AES (Advanced Encryption Standard), a technique that

encrypts and decrypts data using a symmetric key. 12 It is utilized in many applications and

is regarded as a very secure encryption technique.

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33. To ensure that the data is transmitted securely to the shore establishment, the

Slocum Glider ought to use AES encryption to encrypt the data before transmission. The

encryption process would involve generating a secret key that is known only to the

Slocum Glider and the shore establishment. The key could be securely transmitted to the

glider before deployment or generated using a secure key exchange protocol. Once the

key is established, the Slocum Glider can encrypt the data using the AES algorithm and

the secret key. A symmetric key ensures that the encryption and decryption processes are

quick and effective, making them suitable for sending huge amounts of data in real-time.

34. The Slocum Glider uses a combination of navigation sensors and algorithms to

determine its position and navigate autonomously. The glider has an internal navigation

system that includes an Inertial Measurement Unit (IMU), a pressure sensor, and a

magnetometer.

35. The IMU measures the glider's acceleration and rotation rates and uses this

information to estimate its position and orientation. The pressure sensor measures the

water pressure, which can be used to determine the glider's depth. The magnetometer

measures the Earth's magnetic field, which can be used to determine the glider's heading.

36. The glider also has external navigation aids, such as a GPS receiver and a

Doppler Velocity Log (DVL),13 which can provide additional information about the

glider's position and velocity. The GPS receiver can provide accurate position information

when the glider is at the surface or near the surface, while the DVL can measure the

glider's speed and direction relative to the water.

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37. The glider's navigation system uses a Kalman filter to integrate information from

the various sensors and algorithms and estimate the glider's position and velocity with

high accuracy. The glider's onboard computer uses this information to control the

glider's motion, nd adjust its course and speed as needed to reach its destination.

38. In summary, the Slocum Glider uses a combination of internal and external

sensors and algorithms, including an IMU, a pressure sensor, a magnetometer, a GPS

receiver, and a DVL, to determine its position and navigate autonomously. The glider's

navigation system uses a Kalman filter to integrate information from these sensors and

estimate the glider's position and velocity with high accuracy.

39. The encrypted data can then be transmitted to the shore establishment over a

wireless communication channel. The shore establishment would use the same secret

key to decrypt the data and analyze it.

40. To ensure that the data has not been tampered with during transmission, the

Slocum Glider can also generate a message authentication code (MAC) using a secure

hashing algorithm and the secret key. The MAC can be appended to the encrypted data

before transmission. The shore establishment can use the same hashing algorithm and

secret key to compute the MAC and verify the integrity of the data.

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Hurdles in Implementation.

41. Although ML and AI are the future of not just naval but any warfare but at

present transitioning from conventional methods to modern warfare will experience

resistance.

42. One of the major barriers to implementing ML & AI is the availability of

reliable data in the nascent stage. Data is often inconsistent and of poor quality, because

the ML algorithms are not honed and experienced the data cannot be dependable in

decision-making as the scope of error is non-existing. These present challenges in

creating a reliable data library.

43. To overcome this, we ought to have a clear strategy from the very onset of

sourcing the data that our AI will provide. The strategy may include some simple

solutions like involving multiple stages of filtration of data and creating coalescence of

several data libraries of a particular zone through many deployed Slocum Gliders.

44. Another roadblock in AI adoption is the skill shortage and the paucity of

technical human resources with the experience and training necessary to effectively

operate AI solutions. The solution to this problem demands a two-thronged approach

where the short-term insourcing of skilled data professionals could be adopted although

this will not suffice as a long-term solution and will require training of Naval Personnel

in Machine Learning.

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45. Cost is another key limitation when considering the procurement of AI & ML

technologies. Lack of in-house skills and familiarization with AI technologies often

leads to outsourcing which brings challenges pertaining to cost and maintenance into the

picture. The computational cost of training the models will cater to the additional costs.

Indigence and local sourcing of skilled professionals will help us cut down on costs.

Moreover, AI & ML technologies would need regular upgradation to adapt to changing

dynamics of modern warfare, which is time-consuming and costly.

46. Breach of confidential data often turns out to be Waterloo for emerging

technological states. Hence cybersecurity should be of paramount importance while

adopting modern technologies such as AI & ML.

Conclusion.

47. The Indian Navy is committed to implementing AI and other cutting-edge

intelligent technologies, and it has a "Capability-Enhancement-Objective (C-E-O)" to

improve the situational awareness and situational responsiveness of maritime operations.

In this context, AI is a major force behind upcoming warfare tactics and has the potential

to alter the internal dynamics of the conflict. The Indian Navy's role in contemporary

geopolitics will be more complex, and its active participation may determine India's

position in the global power struggle.

48. More advanced warships, stealth submarines and other autonomous

undersea operation vehicles from international superpowers may be seen in the Indian.

It is inciting India to adopt cutting-edge naval technology in order to safeguard national

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interests and restrain foreign powers. Technology is always a significant factor that

determines or reinvents the parameters of a war with some distinct outputs. The naval

forces must deal with hybrid warfare in today's conflict, which simultaneously shifts
(1)
the focus of the conflict from human to technological. The INIP (Indian Naval

Indigenisation Plan) 2015–2030 is created to upgrade the state-of-the-art with high-end

technologies in order to enhance the war-capabilities of the Indian Navy with resilient

indigenous technological ecosystem. The Slocum glider can very well be used for the

same purpose when equipped with a number of sensors and paired along with AI and

ML algorithms to collect real-time underwater data. The inclusion and proper

application of Slocum glider by intelligent modern warfare techniques can enhance the

capabilities of Indian navy in a very smooth, efficient, and in an economical way.

49. Slocum glider acts as an auxiliary asset which has the ability enhances the

capabilities of already existing weaponry of Indian Navy by increasing their precision

and reducing the scope of error through continuous surveillance and data processing.

The greatest strength of Slocum Glider includes collection and processing of precised

real time data, very low acoustic signatures which makes it almost impossible to be

detected by any surveillance systems and its cost effectiveness which allows mass

production and multidimensional monitoring. This allows them to be expendable is

critical situations since a single Glider is not immensely costly.

50. Now, why AI Road map is required by Indian Navy is a common question to

ask. The growing digitization of naval forces could redefine the idea of hybrid warfare

through machine speed and collective usage of a vast array of AI-managed weapon

systems.

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51. The systems of other nations may be able to choose the best approach for

engaging targets. Additionally, the strategic acquisition now includes the

development of naval systems with a high degree of autonomous automation.

52. Without structured AI support, it was invariably impossible to process the

large amount of strategic data. Soon, it will be nigh on impossible to map such data

on the currently available tools with the minimal data matrix needed to understand

the enormously complicated situation that is at present underway.

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autonomous-underwater-navigation-for-gliders-836fd7e263f0

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