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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
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
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
4Unmanned Vehicles for shallow and coastal waters 12th January 2010
DouglasDouglas--Westwood publications (www.dwWestwood publications (www.dw--1.com)1.com)
5Unmanned Vehicles for shallow and coastal waters 12th January 2010
Paul NewmanPaul Newman
•
BSc Hydrography (Plymouth) MSc Applied Oceanography (Bangor)
•
Offshore surveyor and support engineer for Svitzer, Thales
Geo- Solutions and Concept Systems
•
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
6Unmanned Vehicles for shallow and coastal waters 12th January 2010
Introduction
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.
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?
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
•
Security & Militaryvessels, ports and harbours, borders and boundariesmine countermeasures (MCM) anti-submarine warfare (ASW)Rapid environmental assessment (REA)
10Unmanned Vehicles for shallow and coastal waters 12th January 2010
Adoption of AUV and USV technologiesAdoption of AUV and USV technologies
•
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
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
12Unmanned Vehicles for shallow and coastal waters 12th January 2010
AUV –
Autonomous Underwater Vehicles
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
14Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
Hull construction:free-flooding units with pressure hulls, main hull being sealed to act as a pressure vessel, or modular (multiple pressure vessels)
•
Hull shape:wide variety dependant upon application
•
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
15Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
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
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
17Unmanned Vehicles for shallow and coastal waters 12th January 2010
Command and control Command and control ––
REMUS and REMUS and OceanServerOceanServer
18Unmanned Vehicles for shallow and coastal waters 12th January 2010
Command and Control Command and Control --
KongsbergKongsberg
19Unmanned Vehicles for shallow and coastal waters 12th January 2010
Mission PlanningMission Planning--
SeeByteSeeByte
20Unmanned Vehicles for shallow and coastal waters 12th January 2010
AUV Depth rangesAUV Depth ranges
Source: Hydroid
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)
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
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
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)
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
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...
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
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
29Unmanned Vehicles for shallow and coastal waters 12th January 2010
•
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
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
31Unmanned Vehicles for shallow and coastal waters 12th January 2010
Launch and recovery for small AUVLaunch and recovery for small AUV
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
33Unmanned Vehicles for shallow and coastal waters 12th January 2010
Gliders
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
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
36Unmanned Vehicles for shallow and coastal waters 12th January 2010
USV –
Unmanned Surface Vehicles
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
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
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
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
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.
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
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
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
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
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
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...
48Unmanned Vehicles for shallow and coastal waters 12th January 2010
USV and AUV for shallow water operations
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
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
51Unmanned Vehicles for shallow and coastal waters 12th January 2010
Future developments and conclusions
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
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
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
55Unmanned Vehicles for shallow and coastal waters 12th January 2010
Douglas-Westwood LimitedSt Andrew's House, Station Road East, Canterbury, CT1 2WD,
Main Office: +44 (0)1227 780999Direct: +44 (0)1752 665133, Mobile: +44 (0)7703 737492
Email: [email protected]
www.dw-1.com
Any questions?Any questions?