Post on 07-Mar-2016
description
Merging Technologies
Jan SiesjöMarch 4 2009UI 2009
Creating the Double EagleSAROV a hybrid AUV/ROV
HistoryIt 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
SAAB UNDERWATER SYSTEMSThe vehicles is equipped with an unique 360 degrees control system enabling the vehicle to operate in any direction, noseup or down or anything between, even totally upside down under full control and with very good stability
SUBROV
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
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)
Seaeye Electric ROV System Types & Applications
JAGUAR
Development strategyEvolutionary
• 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
Products & Technology Capabilities
ImplementationThree coordinated projects
Double EagleSAROV
AUV 62
Jaguar
GPS, WiFi, Radio Comm
INSDVL
Battery Li-Pol
ROV configuration
AUV configuration
UW ModemFLS/ES
OAS
SS/SAS
Double EagleSAROV
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
Follow
SearchP
attern
Follow
SeaB
ed
AvoidO
bstacle
Transport Search
GotoW
aypoint(W1 )
AvoidO
bstacle
GetG
PS
-position
1
Transport
GotoW
aypoint(W2 )
AvoidO
bstacle
GetG
PS
-position
4
Docking
Docking
2 3
BEHAVIOR-BASED CONTROLEach 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.
Sensordata Behavior
ArbitrationSensordata
Sensordata
Behavior
Behavior
p1
p2
p3
Priority
Referencevalue
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
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
Autonomous Operation
Survey Operation
Intervention
fibre
Double EagleSAROV Operational Concept
Double EagleSAROV Underwater Release and Docking
Double EagleSAROV
AUTONOMOUS RISER INSPECTIONSonar homing
Streamlined low drag design
Maneuverability
Inspection
Light intervention
Cooperation with Aker Solutions
TransitInertial/Doppler NavigationTerrain Navigtion
Double EagleSAROV
Double EagleSAROV
DockingAssisted LF radioSonar homoing
Docking
Double EagleSAROV
InterventionTethered (onboard TMS, recharging batteries)Untethered (short range acoustic or radio)
Double EagleSAROV
Undocking
Double EagleSAROV
Propulsion Packages
Payloads (samples)
Vehicle Configurations
DE MkII PVDS
DE MkIISAROV
Energy Packages
DE MkIII PVDS
DE MkII MDS
DE MkIII PVDS
DE MkIII
DE MkII
DE MkIIISAROV
Propulsion Packages
Payloads (samples)
Vehicle Configurations
Energy Packages
DE MkII PVDS
DE MkII MDS
DE MkIII PVDS
DE MkIII PVDS
DE MkIII
DE MkII
Propulsion Packages
Payloads (samples)
Vehicle Configurations
Energy Packages
DE MkII PVDS
DE MkII MDS
DE MkIII PVDS
DE MkII SAROV
DE MkIII PVDS
DE MkIII
Bringing it together
Design guidlines
Intefaces• Eternet
• CAN
Software• Midleware
Common user inteface
Benefits• Product Cost reduction
• Logistics, Spares, Training etc
AUV 62Long 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/highvoltage power distribution system
Simplified control system
2008 2009 2010 2011 2012
ROAD MAP
LowCostSubSys*
TECH TOOL BOX
2013
Pre Hull3000m
Control System
T PowerSystem
BatterySystem
TMSSystem
SonarNavigation
PlanningSystem
System System
System System
360o
360o
360o
System
System
360o
JAGUAR
FALCON
SAROV
SeaeyeRange
SAROV3000
Tech Co-ordination
Tech Co-ordination
DP SYSTEM
AUV 62 AUV 623000
*) - UW conn - Sensors - Thruster - UW Cam - -
Tech sourceTech user
Defense/Maritime Security
DDS
Long range intelligentHybrid AUV/ROV
systems
ROV/AUV Products