IEEE Robotics & Automation Magazine - June 2013 - 26

science and exploration. It was the goal of these organizations
to spark and foster interest in ocean science with the data produced by such missions. Through this shared vision, the PacX
Challenge was born.

The Explorers and Discoverers Whose Lives
and Accomplishments Inspired the Liquid
Robotics PacX Challenge, and in Honor of
Whom the Four Wave Gliders Are Named

Papa Mau
The Wayfinder
In Honor of Plus Piailug,
Teacher of Traditional,
Noninstrument Wayfinding
Methods

Benjamin
In Honor of Benjamin
Franklin, Founding Father
of the United States
of America, Charted and
Named the Gulf Stream

Fontaine Maru

Honoring the World's Explorers
and Oceanographers
Honoring the age-old maritime tradition of naming seafaring
vessels, the four Wave Gliders were each named after famous
and influential oceanographers and adventurers (Figure 3).
● Papa Mau-named for Pius Mau Piailung, who was a
teacher of traditional, noninstrument wayfinding methods
for deep-sea voyaging.
● Benjamin-named after Benjamin Franklin, who, in addition to being a founding father of the United States, was also
an oceanographer and charted and named the Gulf Stream.
● Fontaine Maru-honors Matthew Fontaine Maury, who
wrote the first publication on oceanography and also
contributed to research on wind and the ocean. He is
often referred to as the "Oceanographer of the Seas."
● Piccard Maru-named for Jacques Piccard, the Swiss
oceanographer who helped to develop underwater vehicles
for studying the deep ocean currents. Piccard was one of
the first people to explore the deepest part of the ocean,
and the deepest location on the surface of the Earth's crust,
the Challenger Deep, in the Mariana Trench located in the
western North Pacific Ocean.
Suiting Up-Sensor Technology
The four Wave Gliders were outfitted with a variety of sensors
listed as follows (Figure 4):
● Airmar PB200 Weather Station-The weather station
accurately and continuously measures air temperature,
barometric pressure, wind speed, wind gust speed, and
wind direction. The weather station also helps the Wave
Glider provide navigational data and drastically improves
heading accuracy.

Pathfinder of the Seas
In Honor of
Matthew Fontaine Maury,
Father of Modern
Oceanography and
Naval Meteorology
Piccard Maru

Figure 3. The PacX Wave Gliders were named to honor
historic ocean explorers. (Photo courtesy of Liquid Robotics.)
26

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

june 2013

Weather
Station
Wave
Sensor

Fluoro-meter
Conductivity
Sensor
Video Camera
Temperature
Sensor

Communications

Camera

Subsea Sensors

PACX 0 4 0 5 1 2 A LOHA

Surface Sensors

In Honor of Jacques Piccard,
Scientist and Underwater
Explorer, First to the
Bottom of the Mariana Trench

Automatic
Identification
System (AIS)
Iridium Satellite
Link

Figure 4. Sensors and communications on the PacX Wave Gliders.



Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2013

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