Embedded system integration on GaneshBlue underwater Glider

GaneshBlue Underwater Glider is a gliding AUV used for surveillance whom using water buoyancy and volume shifting to enact gliding movement in the water. This paper focuses on embedded system design and implementation on GaneshBlue, including implementation of control mechanism in gliding movement. Embedded system designed to accommodate several subsystems in GaneshBlue device, and integrate it into a bigger complete system. Systems will be built with multithread capabilities as some subsystem like communication and control should be operated in a tight time constraint. System using several computing boards to accommodate system blocks used in GaneshBlue.