Merging Technology Ui2009
- 1. Merging Technologies Creating the Double Eagle SAROV a hybrid AUV/ROV Jan Siesjö March 4 2009 UI 2009
- 2. History It all started 100 years ago 1910 – First Swedish developed torpedo 1976 – Saab built an advanced WROV 1981 – SUTEC is formed 1985 – First 360 ° maneuverability ROV 1989 – First AUV delivered 1991 – Saab acquires SUTEC 1993 – First survey ROV system with autopilot demonstrated 2003 – Double Eagle MkIII 6+ knots survey ROV 2007 – Seaeye Acquired 2008 – Double Eagle SAROV Hybrid AUV/ROV
- 3. SAAB UNDERWATER SYSTEMS The vehicles is equipped with an unique 360 degrees control system enabling the vehicle to operate in any direction, nose up or down or anything between, even totally upside down under full control and with very good stability SUBROV
- 5. Long endurance search and survey operations 60+ Operational systems worldwide Fixed or Mobile installations
- 6. AUV Development Torpedo shaped long range survey AUV First sea trial December 2000 Equipped with profiler and SAS sonar Development of terrain navigation
- 7. Seaeye Electric ROV System Types & Applications Observation Class (eyeball) Inspection Class (e.g. Diver Support, Search & Salvage, NDT Inspection) Survey Vehicles (e.g. Pipeline Survey) Work Vehicles (e.g. Drill Support, IRM, Submarine Rescue) JAGUAR
- 9. Products & Technology Capabilities ROVs AUVs Torpedo Homing INS Terrain Navigation System Auto Piloting System DP Systems UPS SAS Technology Sensor Signal Processing Hydro Dynamical Design Obstacle Avoidance System Modern Battery Technology Mission Planning Tools Behaviour based autonomy Sonar Navigation Underwater Docking System Buoyancy System Surface Communication Underwater Communication 360 ° Control System Intervention Tools Composite Pressure Hull Deep Water Capability TMS/LARS Thrusters Lights High-voltage power supplies
- 10. Implementation Three coordinated projects Double Eagle SAROV AUV 62 Jaguar
- 11. Double Eagle SAROV GPS, WiFi, Radio Comm INS DVL Battery Li-Pol ROV configuration AUV configuration UW Modem FLS/ES OAS SS/SAS
- 12. MISSION - PLANNING AND EXECUTION Missions consist of Actions: Sequential discrete events Well-known transition models For example: Transport, Search, Docking Actions consist of Behaviors: Parallel continuous control functions Activated during runtime Example: AvoidObstacle, GotoWaypoint(W), GetGPS-position FollowSearchPattern FollowSeaBed AvoidObstacle Transport Search GotoWaypoint(W 1 ) AvoidObstacle GetGPS-position 1 Transport GotoWaypoint(W 2 ) AvoidObstacle GetGPS-position 4 Docking Docking 2 3
- 13. BEHAVIOR-BASED CONTROL Each behavior can voice its opinion on best course of action Behavior responses as utility functions An arbitration mechanism coordinates behaviors to maximize utility Dynamic activation level and static priority determines behavior influence. Reference values passed to low-level control system: roll, pitch, heading and speed in x, y, z. Reference value Sensor data Behavior Arbitration Sensor data Sensor data Behavior Behavior p1 p2 p3 Priority
- 14. BEHAVIOR-BASED CONTROL: EXAMPLE 1: Track following: Follow track closely for best sonar coverage and platform stability. 2: Waypoint navigation: Ensure that the overall goal of reaching the next waypoint is met 3: Obstacle avoidance: Steer the vehicle clear of obstacles. Activation rises with hazard proximity. 4: Avoid past: Influences the vehicle to favor a new path to avoid getting stuck in circular behaviors 5: Emergency stop: Influences the vehicle cruising speed to decrease with obstacle proximity. Ultimately forces the vehicle to a full stop if to close. Hazard Risk Activation level t Distance to Obstacle
- 15. OBSTACLE AVOIDANCE Responses are weighted together and the maximum is chosen as the response to send to control system Behavior response from Track Follow behavior and Obstacle Avoidance weighted together
- 16. Double Eagle SAROV Operational Concept Autonomous Operation Survey Operation Intervention fibre
- 17. Double Eagle SAROV Underwater Release and Docking
- 18. Double Eagle SAROV AUTONOMOUS RISER INSPECTION Sonar homing Streamlined low drag design Maneuverability
- 19. Inspection Light intervention Cooperation with Aker Solutions
- 20. Transit Inertial/Doppler Navigation Terrain Navigtion Double Eagle SAROV
- 21. Double Eagle SAROV Docking Assisted LF radio Sonar homoing
- 22. Docking Double Eagle SAROV
- 23. Intervention Tethered (onboard TMS, recharging batteries) Untethered (short range acoustic or radio) Double Eagle SAROV
- 24. Undocking Double Eagle SAROV
- 25. Transit Double Eagle SAROV
- 26. Propulsion Packages Payloads (samples) Vehicle Configurations DE MkII PVDS DE MkII SAROV Energy Packages DE MkIII PVDS DE MkII MDS DE MkIII PVDS DE MkIII DE MkII DE MkIII SAROV
- 27. Propulsion Packages Payloads (samples) Vehicle Configurations Energy Packages DE MkIII DE MkII DE MkII PVDS DE MkII MDS DE MkIII PVDS DE MkIII PVDS
- 28. Propulsion Packages Payloads (samples) Vehicle Configurations Energy Packages DE MkIII DE MkII PVDS DE MkII MDS DE MkIII PVDS DE MkII SAROV DE MkIII PVDS
- 29. Bringing it together Design guidlines Intefaces Eternet CAN Software Midleware Common user inteface Benefits Product Cost reduction Logistics, Spares, Training etc
- 30. AUV 62 Long range, modular and scalable AUV platform Terrain navigation SAS SAS onboard processing CAD/CAC ASAT
- 31. Saab Seaeye Jaguar New electric work class ROV Size and power New dual high-frequency/high voltage power distribution system Simplified control system
- 32. 2008 2009 2010 2011 2012 ROAD MAP LowCost SubSys* TECH TOOL BOX 2013 Pre Hull 3000m Control System T Power System Battery System TMS System Sonar Navigation Planning System System System System System 360 o 360 o 360 o System System 360 o JAGUAR FALCON SAROV Seaeye Range SAROV 3000 Tech Co-ordination Tech Co-ordination DP SYSTEM AUV 62 AUV 62 3000 *) - UW conn - Sensors - Thruster - UW Cam - - Tech source Tech user Long range intelligent Hybrid AUV/ROV systems ROV/AUV Products Defense/ Maritime Security DDS
Editor's Notes
- #17: Autonomous capabilities With the addition of batteries the SAROV will have the possibility to go on autonomous remote operations. These operations can either be under autopilot control with local positioning using doppler and an INS or manually supervised, controlled either by radio or acoustic communication. When controlled by a tether either a power/optical tether or a fibre only tether can be used. Using fibre-optics long range with very high bandwidth communication can be achieved. The SAROV will be equipped with an underwater dockable optical/power connector. This connector can be released and redocked underwater. Using connectors developed for deep water ROV mating in the offshore industry the SAROV is able to recapture the tether, use it as a guide and pull the connector into a mating position, and then reconnect. This redocking capability allows the SAROV to be operated both from conventional ships but also from simple drones that are fitted with a power supply and a tether management system. This allows the SAROV to be operated at long ranges from its parent ship. When the SAROV is in the docked position the batteries are recharged. The SAROV can thus be used as a conventional tethered ROV for MDV or PVDS applications while the batteries are recharged. The redocking/recharging capability (i.e. air-to-air refuelling) gives the SAROV virtually unlimited endurance.
- #18: Proven Design The PVDS/ROV-S system has been developed using a modular design and a step-by-step process with reliability and proven components as a main focus. In addition due to the nature of the mine-hunting mission for which it was designed (high speed and long range) a lot of effort has been put into developing an efficient hydrodynamic shape and propulsion. Therefore as much as 90 % of the existing PVDS/ROV-S design can be reused in the SAROV platform. The autopilot already exists; the existing autopilot that is used today for the Saab PVDS/ROV-S systems is used also in the SAROV. The battery system is made using well-known technology that has been used for both the ROVs and AUVs produced by Saab. The main difference is that now the charger is built into the ROV, utilizing the power system used in the existing tethered ROVs. Communication systems, both acoustic and radio, mission planning system, and W-LAN has been extensively tested and evaluated in the Saab AUV 62 program. Inertial navigation combined with Dopler Velosity Log and Acoustic Positioning System is off the shelf technology that has been tried in Saab ROVs and AUVs. The docking system is a new combination of existing technology. It is based on existing connectors and Saab is currently (spring 05) in progress with development of this system. This means that the SAROV system benefits from the development and operational experience of all Saab ROVs, providing better reliability and support than specialized vehicles produced in small quantities. Autopilot Already exists. ROV is piloted automatically and the ship simply follows in the track of the ROV. Battery system Well known technology that has been used for both the ROVs and AUVs produced by SBUS. The news is that the charger is built into the ROV, utilizing the power system used in the existing tethered ROVs. Communication Acoustic W-LAN and Radio communication. This is also well known technology that has been used in SBUS ROVs and AUVs. Navigation Inertial navigation combined with doppler and APS. Existing off the shelf technology that has been tried in SBUS ROVs and AUVs.
- #29: Reconfiguration The SAROV will be reconfigurable for different applications. The same platform can be adapted to mine-hunting sonars, mine disposal charges or to carry other sensors or tools (cameras, chemical sensors, salvage tools etc.). This will be done using the same interfaces that have been developed and proven for the existing ROVs. This means that the same platform can be used for mine hunting, survey, surveillance, mine disposal and general intervention. One reconfigurable platform MDV, inspection, intervention PVDS, surveillance and survey Autonomous Programmed operation Radio/Acoustic control Long fiber-optic tether operations Underwater dockable Allows redocking to drone for long range remote operation Re-charge of the vehicle battery during simultaneous tethered operation. “Air to air refueling” Virtually unlimited endurance