# Development of a Mobile Buoy with Controllable Wings: Design, Dynamics Analysis and Experiments  
[PERSON]  
1 College of Engineering, Ocean University of China, Qingdao 266100, China; [EMAIL_ADDRESS] (H.W. ); [EMAIL_ADDRESS] (J.C.); [EMAIL_ADDRESS] (C.Z.F. ); [EMAIL_ADDRESS] (G.D.); [EMAIL_ADDRESS] (Y.L. ); [EMAIL_ADDRESS] (C.T. ); [EMAIL_ADDRESS] (C.H.) [PERSON]  
1 College of Engineering, Ocean University of China, Qingdao 266100, China; [EMAIL_ADDRESS] (H.W. ); [EMAIL_ADDRESS] (J.C.); [EMAIL_ADDRESS] (Z.F. ); [EMAIL_ADDRESS] (G.D.); [EMAIL_ADDRESS] (Y.L. ); [EMAIL_ADDRESS] (C.T. ); [EMAIL_ADDRESS] (C.H.) [PERSON]  
1 College of Engineering, Ocean University of China, Qingdao 266100, China; [EMAIL_ADDRESS] (H.W. ); [EMAIL_ADDRESS] (J.C.); [EMAIL_ADDRESS] (Z.F. ); [EMAIL_ADDRESS] (G.D.); [EMAIL_ADDRESS] (Y.L. ); [EMAIL_ADDRESS] (C.T. ); [EMAIL_ADDRESS] (C.H.) [PERSON]  
1 College of Engineering, Ocean University of China, Qingdao 266100, China; [EMAIL_ADDRESS] (H.W. ); [EMAIL_ADDRESS] (J.C.); [EMAIL_ADDRESS] (Z.F. ); [EMAIL_ADDRESS] (G.D.); [EMAIL_ADDRESS] (Y.L. ); [EMAIL_ADDRESS] (C.T. ); [EMAIL_ADDRESS] (C.H.) [PERSON]  
1 College of Engineering, Ocean University of China, Qingdao 266100, China; [EMAIL_ADDRESS] (H.W. ); [EMAIL_ADDRESS] (J.C.); [EMAIL_ADDRESS] (Z.F. ); [EMAIL_ADDRESS] (G.D.); [EMAIL_ADDRESS] (Y.L. ); [EMAIL_ADDRESS] (C.T. ); [EMAIL_ADDRESS] (C.T. ); [EMAIL_ADDRESS] (C.H.) [PERSON]  
1 College of Engineering, Ocean University of China, Qingdao 266100, China; [EMAIL_ADDRESS] (H.W. ); [EMAIL_ADDRESS] (H.W. ); [EMAIL_ADDRESS] (G.D.); [EMAIL_ADDRESS] (Y.L. ); [EMAIL_ADDRESS] (C.T. ); [EMAIL_ADDRESS] (C.T. ); [EMAIL_ADDRESS] (C.H.) [PERSON]  
3 School of Mechanical Engineering, State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China; [EMAIL_ADDRESS]
4 College of Mechanical and Energy Engineering, NingboTech University, Ningbo 315100, China  
4 Congyucfronts or some other stirring dynamic regions [6]. To improve the maneuverability of the buoys, researchers have considered equipping buoys with a propulsion apparatus [7]. [PERSON] et al. [8] proposed a self-propelled buoy with propellers that is highly maneuverable and excellently seaworthy, but it has to be acknowledged that it is not suitable for long-distance travel. The SOTAB-I proposed by [PERSON] et al. [9] allows vertical and horizontal motions through buoyancy control device and thrusters. However, the SOTAB-I is still not suitable for long-distance travel due to the use of propellers. To improve long-distance travel, the SOTAB-II [10] uses a sail and oscillating fins to control the buoy motion. Due to the use of sails and oscillating fins, the mechanics of SOTAB-II is more complex than other traditional buoys. Furthermore, the sail is highly affected by the wind, resulting in a less controllable buoy. [PERSON] et al. [11] proposed a low-cost mobile buoy that utilizes wind sails and water sails to propel the buoy movement, which has a relatively simple mechanical structure and is suitable for long-distance sailing, and it is not easy to achieve vertical uplift and dive. Compared to traditional buoys, underwater gliders can overcome relatively small ocean currents and actively travel hundreds of kilometers, allowing them to acquire oceanographic data from the desired sea area [12; 13]. The underwater glider can perform sawtooth gliding motion and reliable trajectory tracking by adjusting the buoyancy and the position of the center of gravity. The forward motion is driven by the horizontal component of the lift force generated by the glider wing [14]. Although underwater gliders with good maneuverability have shown excellent performance in monitoring the ocean environment, their endurance is often limited to a few months, far less than the long term of the Argo profiling buoys [15; 16]. Generally, Argo profiling buoys, such as APEX buoys [17], Deep-Argo buoys [5] and Arvor buoys [18], are typically deployed by a mother ship into the target sea area for oceanic observations within a confined region.