maritime robotics

Maritime SystemsOverview Paco Santana

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+NEKTON RESEARCH, LLC

•Innovative•Talented Engineers•Connected

•

From the Lab into the World

•

Producibility•

Experience Delivering Globally

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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)

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Seaglider

Highlights:•

15,000+ days at sea•

70% at 1000m depths•

NAVO uses 15 Seagliders•

Exceeds 10 months at sea•

5500km Range

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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

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SeagliderSpecifications:•

Body: 1.8m long, 30cm maximum diameter

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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

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Kalman filter prediction•

Acoustic altimetry system•

Bathymetry map system

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SeagliderSensors:•

Conductivity, Temperature & Depth

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Dissolved Oxygen•

Backscatter/Flourometer•

Photosynthetically Active Radiation (PAR)

Expanding Capabilities:•

Acoustic Doppler Current Profiler•

Acoustic Recorders•

CO22

•

Hydrocarbon

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Seaglider: Shallow to Deep

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Seaglider

Applications:•

Physical, chemical, and biological oceanography

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Tactical oceanography and ASW•

Long-term, long-range maritime reconnaissance

•

Communication gateway•

Navigation aid•

Weather studies•

Water quality•

Environmental evaluations and monitoring

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Ranger

•

Low logistics•

High functioning•

Compact size

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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

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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

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Transphibian

Capabilities:• 6 Degrees of Freedom Maneuvering • FBN/SLAM Navigation • Scalable Design• Awkward Payloads

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•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

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•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

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Recap of Maritime Robots In the Water:

•

Seaglider•

Endurance •

Buoyancy-driven

In Development:•

Ranger•

Compact size•

Propeller-driven

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Transphibian•

6 degrees of freedom•

Fin-driven

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Reacquire, Identify, Localize, Swimmer (RILS)•

Speed

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Next Generation Torpedo Counter Measures•

Deployable wings for lift

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Future Application of These Technologies

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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

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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

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Why wait for a breakthrough in battery endurance to achieve unmanned underwater goals?

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ADAPSAlternative approach to underwater vehicle energy limits

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Future air deployment of AUV’s near targets of interest will reduce transit time, improves tactical utility and relevance

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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

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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

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Sonobuoy support is everywhere in Navy

P-3 Orion

Ship deck

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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

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Things we miss by using robots…

Contact:Paco Santana psantana@irobot.com

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iRobot Maritime Key Partners

Duke University Marine lab

Applied Physics Lab ‐

UW