Systems Engineering Of A Survey Class AUV

Fakhri H. Alibrahim, Hamza Al-Meshal, Jeffrey Donovan, Olayinka Badejo, Perri

Quattrociocchi, William Cole

SYS 5310: Principles of Systems EngineeringFall 2011

Topics CoveredIntroduction to AUV’sAUV PurposesIndividual SubsystemsSystems Engineering Overview

Functional Flow Block DiagramsHouse of QualityProduct LifecycleCost Benefit Analysis (TBD)

Conclusion

AUV PurposesCommercial

Inshore and Offshore SurveyingSearch and Recovery

ScientificOceanographic ResearchEnvironmental Protection and Monitoring

DefenseSecurity of Ports and HarborsShip Hull InspectionMine DetectionAnti-Submarine Warfare

Bluefin Subsystems Electrical/Power

SystemsNavigation Systems

Computer/Autonomy Systems

Propulsion SystemsHull/Infrastructure

System Sensors/

Instrumentation Systems

Bluefin Power System Reduces the number and magnitude of disadvantages,

and Maximizes energy density (thru use of Li-Poly chemistry)Fully submersible-withstanding deep underwater

pressure.Swappable-allows quick replacement-> Reduce turnaround

time.Rechargeable – Can be

recharged in six hours.Must survive harsh

conditions; numerous dives, charge cycles, and on-deck conditions).

Navigation Systems Compass Based: AUV navigates through dead-reckoning while

submerged and obtains GPS fixes upon occasional surfacingInertial: INS acquires data from the other aiding sensors and

provides an integrated solution that takes advantage of the best characteristics of each sensor

Deep-water USBL/INS: Topside USBL system calculates absolute position by sending and receiving an acoustic signal to and from the AUV. Vehicle position is transmitted via acoustic communications. Vehicle navigates by dead reckoning using its INS and USBL updates

Hull Relative: HAUV navigates w.r.t. ship hull by using a DVL pointed normal to the hull and dead reckoning across and along it

Operator Software

Mission Planner Dash Board Lantern

Mission Plannin

g

Verification

Vehicle Testing

Checkout

Mission Monitorin

g

Display

Analysis

Reporting

Design Criteria for Propulsion SystemDucted Propeller

Gimbaled thruster

Max speed of 4.5 knots

Tailcone acts as a rudder and an elevator

Torque Nuetral

Electronics integrated directly into the tailcone module.

Modular (easily replaceable)

Free-Flooded Modularity Hull Optimization The hull of the Bluefin is “Free-flooding”Each subsystem is contained in a modular watertight unit.The modularity in Bluefin allows for easy maintenance. These modules are connected by wet cables inside an

ABS plastic vessel.

Sensors/Instrumentation SystemsImaging SystemsSide scan sonar (SSS)Synthetic aperture sonar (SAS)Multibeam echosounders (MBES)Imaging sonarSub-Bottom Profiler (SBP)Video CameraStill CameraScientific SensorsCTD, CT sensorFluorometerTurbidity sensorSound velocity sensorBeam attenuation meterScattering meterTransmissometerMagnetometer

Navigation Sensors USBL system LBL system Doppler Velocity Logger (DVL) Altimeter Pressure sensor Inertial Navigation Sensor (INS) Inertial Measurement Unit (IMU) Acoustic tracking transponder Compass GPS (SAASM, P-code, L-band)Communication Equipment Acoustic modem RF modem Wi-Fi Iridium

Systems Engineering OverviewThe integrated systems must be broken down into

subsystemsHelps to ensure safety and quality goals are metAllows specific engineering groups as specialists

Additionally, the goals must be broken down into smaller goals as well as customer goals and needs

Several SE methods can be used to help:Vee-model, FFBD, Product Lifecycle/Maintenance

Concept, and Mission Overview: isolate subsystems, define system needs

House of Quality: defines customer wants/needs

Vee-Model: ExpandedDue the large percent of customer

involvement, the technical requirements must be formulated:

House of Quality

Mission Overview:UAV

Mission Overview:AUV

Product Lifecycle

Maintenance Concept

Levels of Maintenance

Functional Flow Block Diagram

Data Flow

ConclusionAUV systems are becoming more and more popular in

the commercial, scientific and defense communitiesCustomers have a high level of influence over designBy using House of Quality (QFD) it became much

simpler to identify the customers needs, in each component of the AUV.

In doing a Life Cycle analysis, we learn about maintenance schedules, and can plan ahead for future projects.

By analyzing the FFBD’s we learned how to increase efficiency during operation.

This complexity is best approached through system engineering, much like with UAVs

Any Questions?

References1. Bildberg, D. Richard, 2005, Solar Powered Autonomous Undersea Vehicles, Lee, New Hamphsire, Autonomous

Undersea Systems Institute, http://ausi.org/publications/SeaTechSolar.pdf

2. Jarasch, G. and Schulte, A. 2008. Satisfying Integrity Requirements for Highly Automated UAV Systems by a Systems Engineering Approach to Cognitive Automation. IEEE 27th Digital Avionics Systems Conference

3. Navy Air Military, Nov 2009, Maintenance Concepts Programs and Processes, http://www.navair.navy.mil/logistics/4790/library/Chapter%2003.pdf

4. http://auvlab.mit.edu/history.html

5. www.bluefinrobotics.com

6. www.mbari.org

7. http://202.114.89.60/resource/pdf/2175.pdf

8. http://www.fiberglassafi.com/fiberglass-benefits.htm

9. ING Engineering: www.ingengineering.com 10. Soundoceans.com 11. http://www.hydro-international.com/productsurvey/compare.php