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Paco Santana of iRobot explains the current state of art for maritime robotics and the way ahead. The brief can be found herehttp://higherlogicdownload.s3.amazonaws.com/AUVSI/656942e4-4448-41c3-877d-0c5f3ea40e63/UploadedImages/presentations/Apr282011/IRobot.pdf
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Maritime SystemsOverview Paco Santana
iRobot Proprietary
+NEKTON RESEARCH, LLC
•Innovative•Talented Engineers•Connected
•
From the Lab into the World
•
Producibility•
Experience Delivering Globally
iRobot Proprietary
Maritime Robots
In the Water:•
Seaglider
In Development:•
Ranger•
Transphibian•
Reacquire, Identify, Localize, Swimmer (RILS)•
Next Generation Torpedo Counter Measures
In Concept:•
Air Deployable AUV Platform for Sensors (ADAPS)
iRobot Proprietary
Seaglider
Highlights:•
15,000+ days at sea•
70% at 1000m depths•
NAVO uses 15 Seagliders•
Exceeds 10 months at sea•
5500km Range
iRobot Proprietary
SG144 – Ocean Station Papa Mission*6/14/2009 – 4/2/2010
Dives: 878Duration at Sea: 9.6 monthsVertical Distance through Water: 1734 kmHorizontal Distance over Ground: 5076 kmHorizontal Distance through Water: 6798mVelocities through Water:
Max Horizontal: 39.9 cm/sAverage Horizontal: 21.6
cm/sMax Vertical: 9.3 cm/s
Average Vertical: 6.25 cm/sTotal Battery Remaining after Mission: 13.6
%
*Data includes a 1300km transit back to coastal pickup location.
SG144 – Entire Ocean Station Papa Mission
Including a 1300km transect back to coastal pickup location
World Record UUV Endurance
iRobot Proprietary
SeagliderSpecifications:•
Body: 1.8m long, 30cm maximum diameter
•
Wing span: 1m•
Antenna mast length: 1m•
Weight: 52kg (dry)•
Power: Lithium primaries, 24V and 10V packs, 17μJ
•
Speed: 25cm/s (1/2kt)•
Glide angle: 16-45°Guidance and Control:•
Dead reckoning using 3-axis digital compass
•
Kalman filter prediction•
Acoustic altimetry system•
Bathymetry map system
iRobot Proprietary
SeagliderSensors:•
Conductivity, Temperature & Depth
•
Dissolved Oxygen•
Backscatter/Flourometer•
Photosynthetically Active Radiation (PAR)
Expanding Capabilities:•
Acoustic Doppler Current Profiler•
Acoustic Recorders•
CO22
•
Hydrocarbon
iRobot Proprietary
Seaglider: Shallow to Deep
iRobot Proprietary
Seaglider
Applications:•
Physical, chemical, and biological oceanography
•
Tactical oceanography and ASW•
Long-term, long-range maritime reconnaissance
•
Communication gateway•
Navigation aid•
Weather studies•
Water quality•
Environmental evaluations and monitoring
iRobot Proprietary
Ranger
•
Low logistics•
High functioning•
Compact size
iRobot Proprietary
Ranger: Modular Architecture
Ranger General Purpose UUV
•Standard Ranger is “A”
sized, 4.8”
diameter
•Typically less than 40 lbs
Propulsion & Rear Bulkhead
Main PayloadMid Bulkhead Nose & Fwd Bulkhead
BatteriesCompassMain Proc (COM Express)GigE Network SwitchMotor CntrllerFin CntrllerLeak DetectorDepth Sensor
AltimeterPwr SwitchGigE Ethernet PortVisual IndicatorGPS MastWifi Mast
Wifi CardGPS ModulePayload Mother Brd w/ ProcExtended run batteriesMission SensorsGigE Network Swtich
Mission Sensors (FL SONAR, CTD, Homer, etc )
MotorsCntrl Surface MechanicsPropeller
Will vary with mission/customer. Standard backbone
Will vary with mission/customer
Standard Standard
iRobot Proprietary
Research Ranger
Propulsion ModuleMain Section Payload Module
Nose & Fwd Bulkhead
StandardBluetoothBattery *IMUMain Proc Motor CntrllerFin CntrllerLeak Detector
StandardDepth SensorPwr SwitchWatertight Ethernet PortVisual Indicator
StandardMotorsCntrl Surface MechanicsX-fin
Recon Ranger
Scan Ranger
Sensor ConfigGPSRF CommsAltimeterAcoustic Modem
Sensor ConfigGPSRF CommsAltimeterCTDSide Scan SonarFL Sonar
Sensor ConfigGPSRF CommsAltimeterAcoustic ModemCTDFL/ Microbath Combo
Battery
Payload Support Board & Processor
Battery
Battery
Battery
Battery
Battery
Battery
Battery
Main Board & ProcMotor Drvs
Battery
Payload Support Board & Processor
Battery
Battery
Battery
Battery
Battery
Battery
Payload Support Board & Processor
Battery
Battery
Battery
Battery
Battery
Ranger: Modular Architecture
iRobot Proprietary
Transphibian
Capabilities:• 6 Degrees of Freedom Maneuvering • FBN/SLAM Navigation • Scalable Design• Awkward Payloads
iRobot Proprietary
•User Interface: Laptop, Dual monitors with BlueView
Sonar imagery or Top side camera video on one monitor. Other monitor displays overhead view of operations area with vehicle represented at currently reported GPS coordinates. Vehicle Telemetry -
depth, speed, pitch, roll and magnetic heading is also displayed.
RILSOperational Capability•Transit: >8kts•Sonar: 450kHz Horizontal Beam 45°
FOV, 100m Range 900kHz Vertical Beam 45°
FOV, 60m Range 5 frame per second update rate•Mass: 25kg, single man deployable•Radio: 2.4GHz, 1km Range, other radio options are available
iRobot Proprietary
iRobot Proprietary
•Sub/ship defense torpedo countermeasures
•Up to 15 kts
•Compatible with 3”
signal ejector tube
•High efficiency acoustics projector with towed hydrophone
Next Generation Countermeasures Mod X
iRobot Proprietary
Recap of Maritime Robots In the Water:
•
Seaglider•
Endurance •
Buoyancy-driven
In Development:•
Ranger•
Compact size•
Propeller-driven
•
Transphibian•
6 degrees of freedom•
Fin-driven
•
Reacquire, Identify, Localize, Swimmer (RILS)•
Speed
•
Next Generation Torpedo Counter Measures•
Deployable wings for lift
iRobot Proprietary
Future Application of These Technologies
iRobot Proprietary
Challenges with existing AUV CONOPS: Littoral Combat Ship (LCS) Notional Mission Cycles –
BPAUV example
Weight:Size:
Time (hrs):
Manning:
BPAUV(Bluefin 12)
Sortie Turnaround Post MissionPre‐Launch
6 12 81 2
5 ‐ 6 5 6 3 ‐ 5 4
Launch Post‐Launch
• Equipment Prep.• Position Vehicle• Launch Prep.
• Recovery• Turnaround Vehicle• Launch
• Recovery• Post Mission Ops.~750 lbs.
10’ L x 21” D
•About 1/3rd to half of mission energy consumed by transit to target zone•29 hours before data is available from mission inception•Average of 5 people to man mission
iRobot Proprietary
CNO Guidance for 2011*
*Executing the Maritime Strategy”
(1 October 2010 )
“Way Ahead: •
We will pursue unmanned systems as an integrated part of our force, ensuring that the move to ‘unmanned’
truly reduces personnel requirements. •We will develop a long-endurance, safe power source for UUVs”
“Roughead says he wants to spend about 50% of available UUV research and development money on improving their endurance. Ultimately he would like to see 3-4 weeks of endurance and reserve power for some higher-speed maneuvers and to handle strong underwater currents.”
Aviation Week, 8-25-2010: CNO Speaks about Unmanned Vehicles at AUVSI
Navy will invest in UUV Endurance
iRobot Proprietary
Why wait for a breakthrough in battery endurance to achieve unmanned underwater goals?
iRobot Proprietary
ADAPSAlternative approach to underwater vehicle energy limits
iRobot Proprietary
Future air deployment of AUV’s near targets of interest will reduce transit time, improves tactical utility and relevance
iRobot Proprietary
ADAPS passively loitering on surface to establish data link to relay collected data and receive commands from remote control site
Reduced turnaround time on AUV missions is enabled by new digital data link relays deployed on maritime UAV’s
iRobot Proprietary
Buoyancy changingmechanism
Wings to supply lift for gliding
Vectored thruster to provide auxiliary or primary propulsion and heading control
Antenna for communication when surfaced
ADAPS Concept Illustration
iRobot Proprietary
Sonobuoy support is everywhere in Navy
P-3 Orion
Ship deck
iRobot Proprietary
UUV Sensor platforms
Program Deployed from
Average
Propulsion
energy
(W)
Average
Loitering
energy
(W)
Max
Mission
duration
(hrs)
Max
speed
( kts )
Nominal
diameter
Nominal
Vehicle
Weight
in air
Max
depth
(m)
BPAUVLCS Mission
Module 120 50 18 4
53 cm
( 21 in)
363 kg
(799 lbs) 6000
LBS‐AUV
TA‐GS‐60 (NAVO) 42 45 70 532 cm
(12.75 in)
240 kg
(530 lbs) 600
MK‐18
Swordfish
Small craft, RHIB 35 35 22 519 cm
(7.5 in)
44 kg
( 97 lbs) 100
SonobuoysP‐3, P‐8, MH‐60,
Ships NA 10 10 NA
12 cm
(4.8 in)
18 kgs
( 40 lbs) 100
ADAPS (“Air
–Ranger”)
P‐3, P‐8, MH‐60,
Firescout, etc 10 4 330 8
12 cm
(4.8 in)
18 kgs
( 40 lbs) 200
iRobot Proprietary
iRobot Maritime Key Partners
Duke University Marine lab
Applied Physics Lab ‐
UW