Merging Technologies Creating the Double EagleSAROV a hybrid AUV/ROV
Jan Siesjö March 4 2009 UI 2009
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 EagleSAROV Hybrid AUV/ROV
SUBROV
The SAAB vehicles is equipped with an unique 360 degrees control system enabling the vehicle to operate in any direction, UNDERWATER SYSTEMS nose up or down or anything between, even totally upside down under full control and with very good stability
Long endurance search and survey operations 60+ Operational systems worldwide Fixed or Mobile installations
AUV Development
Torpedo shaped long range survey AUV First sea trial December 2000 Equipped with profiler and SAS sonar Development of terrain navigation
Seaeye Electric ROV System Types & Applications
Observation Class (eyeball) Inspection Class (e.g. Diver Support, Search & JAGUAR Salvage, NDT Inspection) Survey Vehicles (e.g. Pipeline Survey)
Work Vehicles (e.g. Drill Support, IRM, Submarine Rescue)
Development strategy Evolutionary
Products & Technology Capabilities • Behaviour based autonomy • ROVs • AUVs • Sonar Navigation • Torpedo Homing • Underwater Docking • INS System • Terrain Navigation System • Buoyancy System • Auto Piloting System • Surface Communication • DP Systems • Underwater Communication • UPS • 360° Control System • SAS Technology • Intervention Tools • Sensor Signal Processing • Composite Pressure Hull • Hydro Dynamical Design • Deep Water Capability • Obstacle Avoidance System • TMS/LARS • Modern Battery Technology • Thrusters • Mission Planning Tools • Lights • High-voltage power supplies
Implementation
Three coordinated projects Double EagleSAROV AUV 62 Jaguar
Double EagleSAROV AUV configuration
Battery Li-Pol
SS/SAS
GPS, WiFi, Radio Comm
ROV configuration
OAS
UW Modem DVL
FLS/ES INS
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 • •
Transport
Search
Transport
Docking
1
2
3
4
Docking
AvoidObstacle
GotoWaypoint(W2)
GetGPS-position
AvoidObstacle
FollowSeaBed
FollowSearchPattern
AvoidObstacle
GotoWaypoint(W1)
GetGPS-position
functions Activated during runtime Example: AvoidObstacle, GotoWaypoint(W), GetGPSposition
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.
Sensor data
Behavior
Priority p1
Sensor data Sensor data
Behavior
p2 p3
Behavior
Arbitration Reference value
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.
Activation level Distance to Obstacle
Hazard Risk
t
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
Double EagleSAROV Operational Concept
Survey Operation
fibre
Autonomous Operation
Intervention
Double EagleSAROV
Underwater Release and Docking
Double EagleSAROV
AUTONOMOUS RISER INSPECTION
Sonar homing Streamlined low drag design Maneuverability
Inspection Light intervention Cooperation with Aker Solutions
Double EagleSAROV
Transit Inertial/Doppler Navigation Terrain Navigtion
Double EagleSAROV
Docking Assisted LF radio Sonar homoing
Double EagleSAROV
Docking
Double EagleSAROV
Intervention Tethered (onboard TMS, recharging batteries) Untethered (short range acoustic or radio)
Double EagleSAROV
Undocking
Propulsion Packages
Energy Packages
Payloads (samples)
Vehicle Configurations
DE MkIII DE MkII MDS
DE MkII PVDS DE MkII
DE MkIII PVDS
DE MkIII PVDS
DE MkIIISAROV
DE MkIISAROV
Propulsion Packages
Energy Packages
Payloads (samples)
Vehicle Configurations
DE MkIII
DE MkIII PVDS DE MkII
DE MkIII PVDS
DE MkII PVDS
DE MkII MDS
Propulsion Packages
Energy Packages
Payloads (samples)
Vehicle Configurations
DE MkIII
DE MkIII PVDS
DE MkIII PVDS
DE MkII PVDS
DE MkII MDS
DE MkII SAROV
Bringing it together Design guidlines Intefaces
• Eternet • CAN Software
• Midleware Common user inteface Benefits
• Product Cost reduction • Logistics, Spares, Training etc
AUV 62
Long range, modular and scalable AUV platform Terrain navigation SAS SAS onboard processing CAD/CAC ASAT
Saab Seaeye Jaguar New electric work class ROV Size and power New dual high-frequency/high voltage power distribution system Simplified control system
ROAD MAP
ROV/AUV Products
2009
2008
JAGUAR
360
ordinati
360
o
360
on
o
SAROV3000
SAROV
Long range intelligent Hybrid AUV/ROV systems
DP SYSTEM Seaeye Range
360
o
nation i d DDS r o o Tech C AUV 623000
AUV 62
Tech source Tech user
Defense/ Maritime Security
2013
2012
o
Tech Co FALCON
2011
2010
LowCost SubSys* Control System
T Power System
Pre Hull 3000m Sonar Navigation
*)
TMS System
Battery System Planning System
System
System
TECH TOOL BOX
System
System
System
System
- UW conn - Sensors - Thruster - UW Cam -