Transcript AUTONOMOUS SURFACE VESSELS FOR AIRSEA FLUX AND SATELLITE CALIBRATION / VALIDATION STUDIES • Phil McGillivary, USCG Icebreaker Science Liaison [email protected] • Joeseph A.

AUTONOMOUS SURFACE VESSELS FOR AIRSEA FLUX AND SATELLITE CALIBRATION /
VALIDATION STUDIES
• Phil McGillivary, USCG Icebreaker Science Liaison
[email protected]
• Joeseph A. Curcio, Robotic Marine Systems
[email protected]
• Kevin Fall, Intel Research, Berkeley
[email protected]
• Andy Maffei, WHOI
[email protected]
• Kurt Schwehr, Center for Coastal Ocean Mapping, UNH
[email protected]
• Chris Kitts, Mechanical Engineering, Santa Clara University
[email protected]
• Bob Twiggs, Stanford University
[email protected]
Why a Self-Positioning Buoy?
• Eliminate cost, hassles of cable, swivels,
weights, chain, etc.
• Simplify/eliminate deployment and servicing
costs (ie don’t absolutely require ships)
• Reposition automatically or at will to track
‘events’ (eg spring bloom, fronts, etc.)
• Redeployable without waiting for ships to be
available, no long periods without data
• Better for shallow waters, harbors, port security
concerns
Why a Self-Positioning Buoy?
cont’d
• US Ocean Commission and NSF Committee on Ocean
Sciences at the New Millennium both call for sustained
global observations
• Currently @2400+ ARGO floats, at @$30K/ea w
deployment cost, @800/yr=$24 million (3 yr life)
• Lots of Homeland Security port & harbor uses
• Ability to coordinate with each other and act in
‘ensemble’ (mini-Armada) precise GPS positioning mode
• Cost is @half that of Navy Sonobuoys which are
considered expendable
• Problems w stability, etc., can be overcome
What sorts of ASVs are out there
now?
DoD/ONR 2005 contracts: 3 companies,
all DoD contractors, so…$$$
Aluminum multi-hulls, COTS, $$$: DoD
NASA Adaptive Sensor Fleet OASIS
Experimental versions: MBARI/SCU
Robo-kayak, COTS, cheap hull
Fiberglass hulls, moderately expensive
Scientific Applications and Research Associates
(SARA, Inc.) DoD Gatekeeper offering w MHD power
U. Michigan Environmental Monitoring Buoy,
part of joint SeaLandAire DoD Gatekeeper Buoy project
Falmouth Scientific Solar AUV technology basis for DoD
Gatekeeper Buoy
Searobotics, Inc. has several types of aluminum-hulled
monohulls, catamarans, and multi-hulls, including their
High Speed Trimaran shown below, endurance=hours only
Searobotics Self-righting Monohull, intended for multibeam,
other detailed work, obstacle avoidance,10 hrs @2kts
Searobotics Unmanned Survey
Vehicle
NASA ASF OASIS
(Adaptive Sensor Fleet, Ocean Atmosphere Sensor
Integrated System)
• OASIS intended as @$50K ocean
platform for sat cal/val
Monohull vs SWATH
movement in seas
(from Mahacek, 2005)
MBARI / Santa Clara Univ.
“WASP” SWATH ASV
Robo-kayak from Maribotics
@4 month endurance, @$30K, real-time multi-vessel GPS
positioning
CTD Selection
SeaBird Electronics SBE-52
• Scientific Data Priority
• Power Requirements
• Expandable, DO, Turbidity
SeaBird Electronics SBE-49
Winch System
• 100 Meter cable
• 4 Strands
• Modified COTS Unit
• Encoder Feedback
• Level Winding System
Kayak Modifications
BetaBatteries are Tritium-based, 12.3yr ½-life; require
intimate contact to work, last 12-20 years. Three sizes, one
@ same size as D cell, 25uW initially, 12uW after 12yrs
PICOSAT built by Naval Academy
Polar orbit provides 90 min return, 5-10min transmission
time
PICOSAT footprint
Delay Tolerant Networking [DTN]
Wireless Protocol
• Funded by DARPA, NSA, NASA (for
Interplanetary Internet)
• Backed by Intel, Microsoft, others
• Purpose: communication in noisy or
interrupted environments
• Achieves increased distance and speed
for wireless communications (10-20X for
both)
Automatic Identification System
(AIS)
• Joint federal initiative by DHS, NOAA,
others (eg Navy)
• Intended to allow automated info transfer
on vessels before entering port to facilitate
security checks
• Didn’t initially include either buoys or
automated surface vessels: does now
• Helps to be ‘legal’