Unmanned vehicles for shallow and coastal waters · a “force multiplier” for existing vessels...
Transcript of Unmanned vehicles for shallow and coastal waters · a “force multiplier” for existing vessels...
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1Unmanned Vehicles for shallow and coastal waters 12th January 2010
Douglas-Westwood Limited
Unmanned vehicles for shallow and coastal waters
To the Devon & Cornwall joint branch of IMarEST
& RINA, the south-
west branch of the Hydrographic Society, and the University of
Plymouth Marine Science Society
Paul Newman
12th
January 2010
Source: Ocean Server
Offshore industry consultant & trainer
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2Unmanned Vehicles for shallow and coastal waters 12th January 2010
Introduction
Further developments and conclusions
AUVGliders
AUV and USV for shallow water USV
Source: Maribotics
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3Unmanned Vehicles for shallow and coastal waters 12th January 2010
DouglasDouglas--Westwood (www.dwWestwood (www.dw--1.com) 1.com)
•
Established in 1990•
An independent employee-owned company with 20 staff and a number of specialist consultants
•
Company background in underwater technology (ROV and Sonar)•
Leading provider of business research & analysis, strategy and commercial due diligence on the global energy services sectors.
•
Offices in Canterbury, Aberdeen, New York and Singapore•
Have completed
more than 600
projects and provided products &
services to 400 clients in 60 countries.•
Client list includes government agencies, energy majors and their suppliers, investment banks & private equity firms.
•
Provide advisory, research, publication and transaction services, and our activities span a very wide range of topics related to the energy sector and associated technology
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4Unmanned Vehicles for shallow and coastal waters 12th January 2010
DouglasDouglas--Westwood publications (www.dwWestwood publications (www.dw--1.com)1.com)
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5Unmanned Vehicles for shallow and coastal waters 12th January 2010
Paul NewmanPaul Newman
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BSc Hydrography (Plymouth) MSc Applied Oceanography (Bangor)
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Offshore surveyor and support engineer for Svitzer, Thales
Geo- Solutions and Concept Systems
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Co-authored a number of major published reports for Douglas Westwood on various aspects of subsea and unmanned technology
•
Involved in a number of due diligence, pre-investment studies and company consultations involving: ROV, AUV, Radar, visualisation software, marine renewable energy (wave and tidal energy), ocean
observation systems, and many aspects of sonar systems and technology
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6Unmanned Vehicles for shallow and coastal waters 12th January 2010
Introduction
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7Unmanned Vehicles for shallow and coastal waters 12th January 2010
IntroductionIntroduction
•
Unmanned vehicles are now used for a variety of missions in the marine environment, either as an alternative to a manned vessel,
or as
a “force multiplier”
for existing vessels or research campaigns.
•
Drivers for use of unmanned vehicles and systems include: Vessel time is expensive and hard to come byLong-duration measurements and observations desiredAcceptance/growing maturity of unmanned technologyRemove personnel from risk
•
This presentation hopes to introduce these vehicles to a wider audience, and to stimulate interest in the development and application of robotic vehicles for the academic, research, survey and technology communities.
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8Unmanned Vehicles for shallow and coastal waters 12th January 2010
Issues in shallow and coastal watersIssues in shallow and coastal waters
•
Issues regarding civilian, academic and commercial marine data collection include:
Vessel and crew cost/availabilityMobilisation and accessMetocean
conditions
•
Issues in the security and military sector include:Threats from mines (floating or buried)Threat to assets from IED on surface craft,Vessel and crew exposure during support for covert operationsModern submarines hard to detect
Could unmanned vehicles help?
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9Unmanned Vehicles for shallow and coastal waters 12th January 2010
Shallow and coastal applications for unmanned vehicles Shallow and coastal applications for unmanned vehicles
•
Bathymetric/Hydrographic surveyAs a sensor platformCollection of CTD data in support of surveys
•
Research -
collection of:Environmental/water quality data (pH, turbidity, temperature, salinity)Observations for oceanographic, meteorological, climatic, biological
and fisheries research
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Security & Militaryvessels, ports and harbours, borders and boundariesmine countermeasures (MCM) anti-submarine warfare (ASW)Rapid environmental assessment (REA)
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10Unmanned Vehicles for shallow and coastal waters 12th January 2010
Adoption of AUV and USV technologiesAdoption of AUV and USV technologies
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Hydrographic mapping (non Oil & Gas)Iver2 AUV for CTD support (Ocean Server for NOAA)USS 6300 USV (C&C Technologies for NOAA & ONR)Hugin
3000 (Fugro Pelagos
for US NAVOEANO)
SAMS (REMUS 6000) for US NAVOCEANO
•
Commercial Hydrography (inc. Oil & Gas)Hugin
1000, 3000 and 4500 (Fugro, C&C Technologies and DOF)
Bluefin
21 (Fugro)REMUS 100 (Fugro)Gavia
Offshore Surveyor (NCS Survey), 1 with Woodside
Marport
SQX-1 (Geodetic Offshore Services)
•
Military and ResearchAUV and gliders now very numerous, early days for USV
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11Unmanned Vehicles for shallow and coastal waters 12th January 2010
Unmanned vehicle typesAUV: Autonomous underwater vehicleROV: Remotely operated vehicleROTV: Remotely operated towed vehicleUGV: Unmanned ground vehicleUSV: Unmanned surface vehicleUAV: Unmanned aerial vehicle
Unmanned Vehicle TypesUnmanned Vehicle Types
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12Unmanned Vehicles for shallow and coastal waters 12th January 2010
AUV –
Autonomous Underwater Vehicles
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13Unmanned Vehicles for shallow and coastal waters 12th January 2010
AUV market worth $2.3 billion over the next decadeForecast that around 1,400 new AUV will be built (there have been at
least 630 built already)
AUV ProspectsAUV Prospects
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14Unmanned Vehicles for shallow and coastal waters 12th January 2010
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Hull construction:free-flooding units with pressure hulls, main hull being sealed to act as a pressure vessel, or modular (multiple pressure vessels)
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Hull shape:wide variety dependant upon application
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Hull materials: carbon-fibre, plastics, aluminium
•
Pressure vessel materials: glass, stainless steel, titanium
•
Power: lead-acid, nickel-cadmium or lithium-ion batteries, or semi-fuel cells (hydrogen peroxide used on the Hugin).
•
Buoyancy: buoyancy chambers and syntactic foam (deep water), pressure vessels alone for shallow water.
AUV BasicsAUV Basics
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15Unmanned Vehicles for shallow and coastal waters 12th January 2010
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Electric motors driving propellers are by far the most common:
Single thrusters on most vehiclesMultiple thrusters required for hovering (outboard or inboard)
•
Other systems:Bio-mimetic systems (wings, flippers and fins)Steerable
water jets
AUV propulsionAUV propulsion
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16Unmanned Vehicles for shallow and coastal waters 12th January 2010
AUV navigation and positioningAUV navigation and positioning
•
Dead-reckoning (range and bearing)Very basic and very cheap: GPS, compass and speed sensors. May be all that is required for some applications.
•
Doppler velocity logs (DVL)Provide speed and direction relative to seabed or to a vessel hull, or underside of ice, plus altitude using the Doppler shift between emitted and reflected acoustic beams.
•
Inertial navigation systems (INS)Contain gyro-compass and accelerometers to produce rates of rotation and acceleration in three axes
•
External acoustic positioning –
needs a host vessel or a deployed array
•
Deep water AUV combine all of the above
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17Unmanned Vehicles for shallow and coastal waters 12th January 2010
Command and control Command and control ––
REMUS and REMUS and OceanServerOceanServer
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18Unmanned Vehicles for shallow and coastal waters 12th January 2010
Command and Control Command and Control --
KongsbergKongsberg
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19Unmanned Vehicles for shallow and coastal waters 12th January 2010
Mission PlanningMission Planning--
SeeByteSeeByte
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20Unmanned Vehicles for shallow and coastal waters 12th January 2010
AUV Depth rangesAUV Depth ranges
Source: Hydroid
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21Unmanned Vehicles for shallow and coastal waters 12th January 2010
Large AUVLarge AUV
Clockwise: Hugin
1000 (Kongsberg), Autosub
6000 (NOC), AUV62F (Saab Underwater Systems), and Explorer (l), ARCS & Theseus
(r) (International Submarine Engineering)
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22Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
Most are optimised for deep water (1000m and deeper)•
Can support large (physically and electrically) payloads with high specification sensors
•
Long ranges to minimise non-productive returns (150-300 line km)•
Batteries/power recharged in-situ or swapped (4-8 hours)
•
Supervised via acoustic modem•
High specification positioning and navigation
•
High costs ($1 to 5 million) and high logistics•
3-6m in length and 500-5000kg weight
•
Main players:Kongsberg (Hugin
1000, 3000, 4500), Hydroid (REMUS
6000/SAMS), ISE (Explorer), Bluefin
Robotics (Bluefin
21), •
Other players:
Saab (Double Eagle SAROV) and Atlas (Sea Otter), Lockheed Martin (Marlin), Boeing, BAE Systems (Talisman)
Large AUV featuresLarge AUV features
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23Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
Price $250,000 to $1 million•
Length 2-3m, weight 50-500kg
•
High specification positioning and navigation including tracking
•
Range 40-150km•
Battery module for fast swap
•
Depth rated to 500-3000m•
Can support high specification sensors
•
Main players:Bluefin
Robotics (Bluefin
9 & 12)
Hydroid (REMUS 600)Hafmynd
(Gavia)
•
Other players: Marport
(SQX-1)
Atlas Elektronik
(SeaWolf
A)
The middle ground The middle ground ––
medium AUVmedium AUV
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24Unmanned Vehicles for shallow and coastal waters 12th January 2010
Small AUVSmall AUV
Clockwise: Light AUV (Oceanscan-MST), REMUS 100 (Hydroid), Folaga
(GraalTech), MARES (Ocean Systems Group, University of Porto), Iver
2 & Ecomapper
(Ocean Server & YSI Environmental)
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25Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
Designed for shallow (100m) waters•
Unsupervised during operation
•
Low payload capacity•
Short ranges (20-40 line km)
•
Basic navigation and positioning•
Batteries recharged in-situ or swapped in workshop (5-8 hours)
•
Can operate at or near the water surface as well as at depth•
Up to 2m in length, weight up to 50kg
•
Low logistical requirements and price ($50-250,000)•
Main players:
Hydroid (REMUS 100), iRobot
(Ranger), OceanServer
(Iver2)•
Other players:
Oceanscan-MST, Virginia Institute (Fetch), Univ. of Porto, Kongsberg (Minesniper
Neutron), YSI (EcoMapper)
Small AUV featuresSmall AUV features
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26Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
AUV widely adopted in the worlds navies for MCM and ASW:
Hugin
1000 for Indian Navy, REMUS 600 and REMUS 100 for RNBluefin
9, 12 and 21 for US Navy
REMUS 100, 600 for US NavySeaOtter
for German Navy
•
Advantages of AUV for MCMIncreases distance from threat
Remove need for divers or mammals to identify neutralise mines
Increase speed and “tempo”
of operations
Deployable from a wide range of platforms
Able to work in very shallow water and surf
•
Also used for naval and combat hydrographyREMUS 6000/SAMS for US Navy
AUV use in the military AUV use in the military ––
Dull, dirty and dangerous...Dull, dirty and dangerous...
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27Unmanned Vehicles for shallow and coastal waters 12th January 2010
Hybrid AUV/ROV Hybrid AUV/ROV ––
Saab Double Eagle SAROVSaab Double Eagle SAROV
•
SAROV package converts from MCM ROV to MCM and REA AUV. Includes battery pack, navigation, communication and underwater
docking functions
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28Unmanned Vehicles for shallow and coastal waters 12th January 2010
BAE Systems TalismanBAE Systems Talisman
•
Talisman M AUVfor MCM, survey and REAdiesel-electric variantcan loiter on seabedcarbon fibre “stealth”
hull
•
Talisman L AUVfor MCM identificationhosted from Talisman M or from shore
Archerfish EMDVhosted from Talisman M or helicopter
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29Unmanned Vehicles for shallow and coastal waters 12th January 2010
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On May 31, 2009, the WHOI Nereus dove to 10,902 meters in the western Pacific Ocean’s Mariana Trench. In ROV mode, the vehicle is controlled via a 40km long, neutrally buoyant FO umbilical, and onboard batteries power its manipulator.
Hybrid AUV/ROV Hybrid AUV/ROV ––
WHOI WHOI NereusNereus
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30Unmanned Vehicles for shallow and coastal waters 12th January 2010
Launch and recovery for large AUV...Launch and recovery for large AUV...
•
L&R systems for large AUV can be complex and take up deck space,or can utilise conventional ships cranes.
•
Most AUV are “driven”
by the operator via WiFi
when on the surface at deployment or recovery
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31Unmanned Vehicles for shallow and coastal waters 12th January 2010
Launch and recovery for small AUVLaunch and recovery for small AUV
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32Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
Every vehicle design is a compromise between cost, endurance, speed, size, depth rating, weight, sensors, autonomy and fitness
for
purpose.•
Power and endurance: for small AUV, physical limitations of hull
size
results in short survey operations or very low power for sensors
or modems.
•
Recharging and turn-around time: in-situ or swap, field or workshop?•
Positioning: high positioning requirements demand high specification onboard systems, or investment in external positioning using acoustics
•
Sensors: physical restrictions on the size of acoustic arrays and hence on range or resolution, as well as restriction on types of sensors used
•
Launch, Recovery and Logistics: large vehicles need large deployment platforms, and are difficult to air-freight.
AUV Key Issues / SummaryAUV Key Issues / Summary
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33Unmanned Vehicles for shallow and coastal waters 12th January 2010
Gliders
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34Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
Evolution of profiling floats•
Research, metocean
and military applications
•
Deployment from vessel or submarine (first November 2009)•
Propulsion: forward glide, ascent by buoyancy changes (electric/thermal)
•
Sold in quantity: 6 for IFM-Geomar, 3 in NERC, 4 for NATO NURC, ≈150 have been ordered for the US Navy...
•
Main players:Teledyne Webb Research (Slocum Glider)iRobot
(SeaGlider)
Bluefin
(Spray Glider)•
Other Players:
Liquid RoboticsACSA
GlidersGliders
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35Unmanned Vehicles for shallow and coastal waters 12th January 2010
Gliders Gliders ––
ScarlettScarlett
NightNight•
Rutgers University (USA)
•
Slocum Glider travelled 7,408km from New Jersey to Spain in 2009
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36Unmanned Vehicles for shallow and coastal waters 12th January 2010
USV –
Unmanned Surface Vehicles
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37Unmanned Vehicles for shallow and coastal waters 12th January 2010
Unmanned Surface VehiclesUnmanned Surface Vehicles
•
USV are not remotely operated “drones”•
They have auto-pilots and station-keeping
•
Supervised by radio or microwave link•
Supervisor can be responsible for multiple USV
•
USV can host sensors directly or towed•
USV can act as deployment platforms
•
Data from sensors can be relayed using radio
•
Positioning is relatively simple•
Semi-submersible vehicles very stable.
•
Main roles are in areas with little other marine traffic
•
Put distance between threat and operator
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38Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
Hull shape:wide variety dependant upon application –
RIB, semi-submersibles,
jet-ski, catamaran, trimaran, •
Hull materials:
steel, carbon-fibre, plastics, aluminium•
Power:
predominantly diesel or diesel-electric propulsion, though alternatives now include wind (sails), wave and solar power
•
Payloads:Substantial weight, power and space available.
•
Navigation: GPS, compass, radar, echo-sounder
•
Automomy: Waypoint based navigation (auto-pilot), target identification, following and avoidance. Rules of the road?
USV featuresUSV features
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39Unmanned Vehicles for shallow and coastal waters 12th January 2010
USV COLREGSUSV COLREGS
•
Red vessel moving SW is the give way vessel•
Yellow vessel is stand-on vessel
•
Forced collision behaviour results in detour by give way vessel
COLREGS Rule 16 demonstration, MIT, NOAA and US Navy,
2005
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40Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
Patrol stretches of coastline or waterways •
Act as a “force multiplier”
for security operations
•
Day and night vision equipment, surface radar, gunfire detection•
Possibly weaponised
(lethal or non-lethal; sonic or water cannon).
•
Identify, approach, and potentially “detain”
a suspect vessel without risk.
•
Extend the radar, visual or acoustic sensor range of a command vessel•
Provide “over-watch”
•
Can act as equipment shuttles, or for covert work
Military and Security USVMilitary and Security USV
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41Unmanned Vehicles for shallow and coastal waters 12th January 2010
USS Cole, Yemen, 2000USS Cole, Yemen, 2000
•
17 dead and 37 injured•
1000lbs of explosive on a speed boat
•
Rules of engagement kept guards from firing without first obtaining permission from officers.
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42Unmanned Vehicles for shallow and coastal waters 12th January 2010
Limburg, Yemen, 2002 Limburg, Yemen, 2002
•
1 dead and 12 injured•
Explosives on a dingy
•
90,000 barrels leaked into the sea•
First recorded use of a “fire ship”
in Greece, 413BC
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43Unmanned Vehicles for shallow and coastal waters 12th January 2010
Military and Security USVMilitary and Security USV
•
Major players (RIB-Style): Rafael (Protector), Aeronautics (SeaStar), 5G Marine (Interceptor).
•
Other players:BAE Systems, DCNS, ECA, Lockheed Martin, Boeing, Atlas
•
Main players (Semi-submersible): Lockheed Martin (RMMV),ISE (Dorado)
•
Other players: ASV (SASS Q), DCNS, ECA, SeaRobotics
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44Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
USV have long been used to develop technology and control systems, but are only now available as COTS products
•
Main players: Liquid Robotics (Wave Glider), Maribotics
(Scout), SeaRobotics
•
Other players: UoP
(Springer) and many other academic institution
Research USVResearch USV
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45Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
USV can be fitted with a automated, battery powered winch for CTD or other profiling.
•
This was tested on a Maribotics
Scout USV (converted kayak)
Research Profiling from USVResearch Profiling from USV
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46Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
The first USV in service as a survey vehicle •
Unmanned semi-submersible 6300 (USS 6300) by Autonomous Surface Vehicles (UK) for C&C Technologies (USA)
•
Currently under trials. •
Endurance (using diesel) is 96 hours at a survey speed of 4 knots (in sea state 4) which equates to ≈700 line km.
•
300kg of sensors can be carried.
Survey USVSurvey USV
USS 6300 equipment spread:
C-Nav
Global DGPSCoda Octopus F180 INSReal time surface sound velocityReson 7125 or Kongsberg 3002 SBSEdgeTech
2200 MPX SSS(300/600kHz)Altimeters (downward and upward)Real time intelligent navigation and processing payloadReal time video camera with infra-red night operationHigh speed radio telemetry data link
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47Unmanned Vehicles for shallow and coastal waters 12th January 2010
Search and Recovery USVSearch and Recovery USV
•
USV proposed for recovery of swimming sailors
•
ISE Sarpal
project, funded by Canadian DoD
•
Dropped from low-flying aircraft
•
Concept vehicle was a
drone (R/C from aircraft), but could use direction finding or GPS coordinates from rescue beacons...
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48Unmanned Vehicles for shallow and coastal waters 12th January 2010
USV and AUV for shallow water operations
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49Unmanned Vehicles for shallow and coastal waters 12th January 2010
Depends on the task and the situation
•
Military and security applications greatly favour USV: RIB-style USV as a remote investigator or for “overwatch”Semi-submersible USV for REA, MCM and ASW
•
Research using USV has great potential:USV can relay data to shore in real-timeBe used for routine, repeated data gathering
•
USV based hydrography offers:force multiplication with only minimal personnel same sensors as for a manned survey launchsemi-submersible USV very stable
Suitable USV in shallow water Suitable USV in shallow water
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50Unmanned Vehicles for shallow and coastal waters 12th January 2010
Again -
depends on the task and the situation
•
Military applications: Small and medium AUV for MCM survey and identificationMedium AUV for REA work from vessels or submarines
•
Research and environmental monitoring:Small AUV with good sensors but low-specification positioning Data can be collected from areas otherwise out of bounds Small and medium AUV widely used as research platformsTwin-hull AUV optimal for video and camera work
•
Hydrography requires:Only sensible with medium AUV with high specification positioning and integrated sensorsPossibly small AUV for dredging estimates?
Suitable AUV in shallow water Suitable AUV in shallow water
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51Unmanned Vehicles for shallow and coastal waters 12th January 2010
Future developments and conclusions
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52Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
There are a number of development areas in the AUV world including:Autonomy for inspection (deepwater Oil & Gas)Intervention capability and hybrid AUV/ROV (deepwater Oil & Gas)Adoption of AUV for hydrographic work (shallow and coastal)Pipeline and cable following (all depths)Swarming and collaboration between multiple vehiclesImproving underwater communications -
Underwater radio
•
USV development work is harder to identify but include:Ongoing trials of the USS 6300 for hydrographic workCOLREGS-level autonomyUSV for security and MCM dutiesWind and solar powered USV.....
Future developmentsFuture developments
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53Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
No solution fits all situations and requirements•
Small, low-cost AUV have limitations, but they offer many users the opportunity to gather data safely and effectively
•
Medium-sized AUV offer many of the benefits of larger vehicles•
Modular AUV decrease turn-around time
•
Semi-submersible USV offer high levels of stability and large sensor payloads, with application in the survey, MCM and ASW sectors.
•
RIB-style USV offer a range of safety benefits for military and security operations, and increase the effective command and control radius of vessels and installations.
•
There are many AUV that have made the transition from academic to commercial survey success but the field is still wide open for USV
ConclusionsConclusions
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54Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
There are a number of international competitions to stimulate development of unmanned vehicles
•
Association for Unmanned Vehicle Systems International (www.auvsi.org)Running since 1990 –
next June 2010 in USA
2009 event included teams from Japan, Korea, India and USA
•
Student Autonomous Underwater Challenge –
Europe (www.nurc.nato/events/sauce10/)Running since 2006 –
next July 2010 (Italy)
2009 entrants: Heriot-Watt (1st), ENSIETA, Bremen, Bath, Limerick, Sotton, UWE & Cambridge –
strong UK presence
•
USV -
Two events: Sailbot
and World Robotic Sailing Championships2010 event in Canada (www.sailbot.ca/) includes both events2009 entrants included University of Wales (Aberystwyth)
CompetitionsCompetitions
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55Unmanned Vehicles for shallow and coastal waters 12th January 2010
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Main Office: +44 (0)1227 780999Direct: +44 (0)1752 665133, Mobile: +44 (0)7703 737492
Email: [email protected]
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