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Merging Technologies Creating the Double EagleSAROV a hybrid AUV/ROV

Jan Siesjรถ 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 • 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


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:

• • •

Transport

Search

Transport

Docking

1

2

3

4

Docking

AvoidObstacle

GotoWaypoint(W2)

GetGPS-position

AvoidObstacle

FollowSeaBed

FollowSearchPattern

AvoidObstacle

GotoWaypoint(W1)

GetGPS-position

Parallel continuous control 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 -



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