The Riptide µUUVoceanai.mit.edu/moos-dawg17/docs/16-riptide.pdf · OpenCPN •Add the notion of...
Transcript of The Riptide µUUVoceanai.mit.edu/moos-dawg17/docs/16-riptide.pdf · OpenCPN •Add the notion of...
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The Riptide µUUV
Dr. Dani Goldberg
MOOS-DAWG, Aug 2017
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Who We Are
• Started in January 2015
• Principals• Jeffrey Smith – CEO – 20+ years Defense, 10+ years in UUVs
• John Vestri – COO/CFO – 8 years in ROVs
• Dr. Dani Goldberg – SW Principal – 20+ yrs in Autonomy, 10+ yrs in UUVs
• 20 Current Employees – multiple openings
• Currently working from Greentown Labs, Somerville, MA
• Permanent Facility in Plymouth – September 2017
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mUUV OverviewMOOS-DAWG – July 30, 2015 – Riptide’s First Public Release
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Vehicle Background
• May 2015 Riptide kicked off its initial prototype design which concluded with its first in-water trials September 2015 at the ONR Patuxent River Demo.
• Rapid development timeline was achieved by a smallintegrated team through extensive use of COTS and rapidprototyping techniques.
• Since the demonstration we reassessed the vehicledesign and made modifications required to support end-users and operators in preparation for initial productiondeliveries, including utilization of MOOS.
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mUUV OverviewInitial Prototype Vehicle (2015)
• 4 7/8 inches in diameter
• 29” to 60” in length
• ~20 lbs
• 300 m rated
Current Generation
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Vehicle Flexibility
Standard Vehicle Mini – w/ 900kHz Sonar
Standard Vehicle with flooded payload bay
Standard Vehicle with additional dry payload bay
Standard Vehicle with additional 900 kHz Sonar
Custom Vehicle w/ ACOMMs & 900 kHz Sonar
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Very Low Logistics
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Persistence
18W Hotel
2 knots @ 2.2W
9.5W Hotel
2 knots @ 2W
3.5W Hotel
2 knots @ 1.6W
Estimated
Prototype mUUV
Production Mk1 mUUV
Production Mk2 mUUV
• Riptide has driven hydrodynamic and power efficiency way up
• Riptide has partnered exclusively with L3-Open Water Power to field a breakthrough, highly energy dense power solution
• At 5 kWh, the mUUV has a range of >1500 nmi at 2.8 knots
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Qualified Deep
200m Rating has increased to 300m standardAlternate Material Options exist to depths of up to 6000m
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Swarming• Riptide is enabling swarming of UUVs by
• Providing capable, low-logistics vehicles at an affordable price
• Providing significant persistence
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Basic Architecture
Nose: • Vehicle Sensors: Pressure, temp,
altitude, IMU• Main Computer• Power Distribution• OLED Display
Tail: • Propulsion: 350W external motor (3000m
rated)• Vehicle Control Actuators (fins)• Communications (WiFi standard)• Emergency Systems: Dropweight / LED
strobe• GPS
Midbody: • Power• Payload: Dry or flooded volumes
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MOOS Architecture
UNCLASSIFIED//REL TO USA, NATO
MOOS
MOOSCommon Components
• pAntler• MOOSDB• pLogger• pMarinePID• pNav
iRiptideMicroUUV• Interface to
Riptide i2C bus• Most sensors and
actuators
Other Device Interfaces• Non-I2C devices• E.g., modems
VehicleHardware
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Open Source and Architecture
• Some customers do not want to modify the vehicles (at least not immediately)
• Other customers view the vehicles as a starting point for their own development, research, etc.• We provide a good deal of information to support these
customers
• Source code is available to customers• MOOS, of course, but also Riptide-developed source
• Architecture diagrams provided to customers• Signal and power cabling diagrams
• Provide computer images, development environment, and updates of source code, documentation and executables
UNCLASSIFIED//REL TO USA, NATO
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Customer Development
• Customers have made many modifications to the vehicles for their efforts, including:
• Adding multiple new actuators with HW/SW interfaces
• Adding payload computers running their own algorithms with interfaces to MOOS and hardware
• Modifying core vehicle software on the vehicles
• Developing their own battery packs
UNCLASSIFIED//REL TO USA, NATO
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Riptide Development
• Leveraging open source software such as MOOS has also aided Riptide’s development efforts
• Utilized Goby/MOOS for communications
• Developed MOOS interfaces for IMU’s, the OLED display on the vehicle, camera, etc.
• Given sets of standard MOOS messages, we have swapped out different sensors with little ripple effect (demonstrating good modularity)
UNCLASSIFIED//REL TO USA, NATO
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• Based on OpenCPN
• Add the notion of depth
• Translation to MOOS mission format
Mission Planner
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mUUV Scalability
Standard mUUV~22 lbs / 300mDiameter – 4 7/8” (A)
Riptide is building a Family of Man-Portable UUVs
Standard 1MPUUV~62 lbs / 300mDiameter – 7.5”
Standard 2MPUUV~140 lbs / 600mDiameter – 9 3/8”
Riptide Proprietary Information