Transcript Addressing Priority Needs with AUV Technology

Addressing Priority Needs
with AUV Technology
10 October 2008
Rand LeBouvier
Bluefin Robotics Corporation
237 Putnam Avenue
Cambridge, Massachusetts 02139
617.715.7000
Fax 617.468.0067
www.bluefinrobotics.com
Research Needs
• Develop Cooperative Cued Platforms (High
Priority)
• Explore Munitions Indicators That Can Be
Exploited For Wide Area Surveys (High Priority)
Demonstration Needs
• Demonstrate Existing Sensors (Critical Priority)
• Demonstrate Combined Sensors, Platforms, and
Navigation Technologies (Critical Priority)
Develop Cooperative Cued Platforms (High Priority)
CADRE:
Cooperative Autonomy for Distributed
Reconnaissance & Exploration
Objectives:
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Modular UUV Platform/Architecture
Comm/Nav Aid UUV
Autonomous System-of-Systems
MLBL Cooperative Navigation
Demonstrate Very Wide Area Surveys in
support of MCM
CADRE
Non-Target
Goal
• Precision navigation for a heterogeneous team of vehicles performing rapid large-area
search and survey
• Search-Classify-Map and Reacquire-Identify in a single pass
• Solution must be robust to deal with time delays and bandwidth constraints
Explore Munitions Indicators That Can Be Exploited For
Wide Area Surveys (High Priority)
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Side-Scan Sonar
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Multi-Beam Sonar
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Bluefin 12 (SAS12) owned by the Office of Naval Research, SAS provided by ARL Penn
State
Bluefin 21 (Gambit) owned by the UK, SAS provided by Qinetiq
Bluefin 21 (Muscle) owned by NURC, SAS provided by Thales UK
Bluefin 21 owned by Thales UK, SAS provided by Thales UK
Bluefin 12 owned by the Office of Naval Research, SAS (buried object sensing sonar)
provided by the US Gov’t
Bluefin 12 owned by ARL University of Texas, SAS provided by ARL UT
Multiple Bluefin 12’s to be delivered to the US Navy, SAS provided by Qinetiq
Sub-Bottom Profilers augmented by Moving Vessel Profiler
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Bluefin 21 owned by Fugro, Multi-Beam provided by Reson
Synthetic Aperture Sonar (SAS)
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Bluefin 9, 12, 21 using SSS provided by Marine Sonics (3 models), Edgetech, Klein,
Datasonic
Bluefin 21 owned by Fugro, SBP provided by Edgetech
Bluefin 21 owned my MIT, SBP provided by Edgetech
Chemical Sensors (Battelle)
Optical Sensors (various)
Magnetic Sensors
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Bluefin 12 owned by the Office of Naval Research, RTG provided by the US Gov’t
Buried object detection sensor: Buried Object Scanning
Sonar (BOSS)
Bottom Object Scanning Sonar (BOSS)
Real-time Tracking (Magnetic) Gradiometer (RTG)
DVC 1412AM High-Resolution CCD Camera Diameter
RTG
Sense Head
BOSS
Projector
BOSS & RTG
Electronics
LED Light
Array
DVC
1412AM
Camera
BOSS
Receiver
Array
Bluefin12
Electronics
Length
Wing Span
Weight Dry
Endurance
= 12.75”
= 155”
= 100”
= 379 lbs
= 18 Hours
Bluefin12
Propulsor
Courtesy NSWC-PC
Proud item detection sensors: SAS, Side-Scan Sonar, MultiBeam Sonar
MSTL SSS imagery from Bluefin 9
Reson MBES imagery from Bluefin 21
Klein 5000 SSS imagery from Bluefin 21
Edgetech Sub Bottom Profiler Imagery
PSU SAS Imagery Courtesy NSWC PC
Applicable mine detection systems: Low Frequency
Broad-Band (LFBB)
NRL RELIANT
Tail
Section
Battery
DAS
Receive Array
Source Array Nose
Demonstrate Existing Sensors (Critical Priority)
Marine UXO Characterization Based on Autonomous Underwater Vehicle Technology
(SERDP project-Sky Research prime)
• Objective: Based on existing AUV platforms, this project will
develop flexible marine surveying capabilities for wide-area
screening of UXO under various marine conditions.
• Proof-of-concept development of an AUV mapping system
will proceed in three stages:
(1) a comprehensive engineering analysis,
(2) design and laboratory testing of the AUV system, and
(3) testing of a functional AUV-based UXO mapping
technology in a controlled environment.
Demonstrate Combined Sensors, Platforms, and
Navigation Technologies (Critical Priority)
“… autonomous underwater vehicles (AUVs), remotely operated vehicles (ROVs), and
towed arrays. Navigation and positioning technologies included long base line (LBL),
ultrashort baseline (USBL), Doppler velocity log (DVL), real- time kinematic global
positioning system (RTK-GPS), and inertial navigation technologies. Integrated
systems may be used to determine the footprint of contamination during a wide area
survey, to perform detailed surveys for individual item detection, or during the
reacquisition process.”
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Avtrak LBL
Avtrak USBL
Doppler Velocity Logger (DVL) – 3 Models
GPS – 5 Models
INS – 4 Models
MLBL for AOFNC
Bluefin navigation using IMU, DVL, Compass, GPS
Towed arrays for PLUS, MIT