gxg [email protected] Gwyn Griffiths for Sustained ... launch and recovery gantry Launch and...

OOPC 4 MAY 1999 G GRIFFITHS

Ocean Observations Panel for Climate IVWoods Hole, May 1999

New Platform Technologyfor Sustained Observations

Gwyn GriffithsSouthampton Oceanography Centre, UK

[email protected]://www.soc.soton.ac.uk/OTD/gxg


Outline❏ MooreÕs Law applied to AUVs?❏ 2D - 4D AUVs - a family of platforms❏ Industry drivers for low cost observations❏ Science Drivers : Long sections

Process studiesPolar oceanography

❏ Observatories❏ Sensors❏ Communications, Energy❏ Costs❏ Legal Issues


AUV Range Prediction 1995-2015

0.25

0.50

0.75

1.00Power

1980 1985 1990 1995 2000Year

0

5000

10000

15000

20000AUV Range (km)

1995 2000 2005 2010Year

JamstecAUVAutosub

MooreÕs Law


2-D AUVs - Moored Profilers

❏ WHOI M&M 1 Mm onca. 3 kWh● Depth range 25 - 5000 m● Total Mass 42-49kg

includingFSI CTD + ACM

● Power cost ~ $3,500 perdeployment, or $3.5 per km

● Proven prototypes: 501profiles 100-1400m; clusterof 3 deployed; 60 profiles1300m-4300m É other users

❏ Licenced to McLane Research Labs. Inc., Falmouth

Courtesy WHOI web site


EU MAST YoYo 2001 : Ocean Odyssey❏ Laboratoire d'Oc�anographie

Dynamique et Climatologie, U.Pierre et Marie Curie, France & 7partners (lead: Christine Provost)

❏ Profiling of upper 1000 m❏ Physical, bio-optical, geochemical

& biological variables: CTDO, up-and down irradiances, nitrate,silicate, phosphate, pCO2, tracemetals (Cd, Fe), Optical planktoncounter

❏ Propulsion based on volumechange

❏ Individual new items now under testCourtesy YoYo web site


3-D AUVs - Autonomous Surface Craft❏ SASS from SeaSpeed

Engineering Ltd., U.Southampton, UK● UK SeaSense LINK project● Semi-submersible design● Stability optimised for

seabed survey sonars● Range 600-1000km at 12-15kt● 5 m long● 200 kg payload space● 1/3 scale prototype trials

complete; commercial buildexpected - perhaps 2001

❏ Caravella from U. Azores; IST,Lisbon; Simrad, Norway etc.● EU Eureka project E!1850● Self righting surface craft● Satellite data & control● Range > 1300km at 4kt● 7m long, 2m wide & 6m high● Autonomous CTD winch● Commercial launch in 2002

Courtesy Eureka web site


4D AUVs - Subsurface autonomous craft

❏ Lagrangian Drifters &Profilers

❏ Gliders❏ Self propelled vehicles

● Negatively buoyant● Neutral or positively buoyant

❏ Largest Class● Janes Underwater Technology Ô98 lists 34+ vehicles● Offshore industry, telecoms, defence, science, monitoring

Hugin, Odyssey, OE X, R-One Robot, Martin, LDUUV, Autosub

Autosub-1 recovery, Bermuda ‘98


tart

1top

18048

sbe145BR

0 0.00N

64.65-64.50

-64.35

-64 20

on

degreesZ var-

temp

19603

sbe145BT

-64.50

-64.35

-64.20

degreesZ var-

temp

d

13151deg

deg C

14058degre

e

deg C

32˚ 10’ N

32˚ 20’ N

64˚ 20’ N

64˚ 30’ N

64˚ 40’ N

Hydrostation ‘’S’

19.0000

21.0000

23.0000

25.0000

27.0000

Temperature

BBSR

Temperature Profiles from Autosub Mission 145

Sept. 1998263 km & 500 m

Next Phase: Autosub-22500 m & 1000 kmfrom October 1999


Autosub launch and recovery gantry

❏ Launch and Recoverypose significant risks

❏ Key points: differentdynamics of AUVand ship; minimisependulum length; cope with ÔdeadÕvehicle; deal with trapped water ...

Gantry designed and built by MPD Ltd.First trial on RV Calanus, April 1999


Towards routine launch and recovery

Launch

Recovery I

Recovery II


Towards sustainable observationsA Campaign of AUV Science Missions

1999J a n u a r y F e b r u a r y M a r c h A p r i l M a y June

1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4TRIALS M L 1 2

J u l y August September October November December1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

M L 1 6 M L 0 6 M L 1 4* * *

2000J a n u a r y F e b r u a r y M a r c h A p r i l M a y June

1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4M L 1 8 M L 0 6 M L 0 5

J u l y August September October November December

1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4M L 1 4 M L 1 4 M L 1 2

The NERC Autosub Science Missions Programme 1999-2000


Gliders

❏ The global AUV?❏ 3 projects sponsored by ONR❏ Webb Research

● Electro-hydraulic buoyancy change, or● Thermal engine buoyancy change (SLOCUM)

❏ SIO Davis/Sherman ÔSprayÕ2 m long 48.2 kg 0.9 m wingspan

1500 m max depth 17 - 26 cm/s horiz velocityCTD sensors 1650 - 4900 horiz. Range500 - 900 cycles

❏ U. Washington - Eriksen vehicle

Courtesy Webb Research web site


Eriksen Glider

❏ Programme● Late April Ô99 - hydrodynamic tests;

if OK ...● Leave unattended in Puget Sound

for Ôseveral daysÕ● Demo experiment in Monterey Bay -

August Ô99● Funded to deploy fleet of 6 in Sea of

Japan winter Ô99● Will use Iridium for data● Anticipated range 10,000 km at 1:5

glide slope; 1000 dives to 1000 m● Construction + use on 5 missions

brings cost of TS profile to same asXBT Update & images courtesy of

C Eriksen April 1999


Negatively buoyant vehicles

❏ The vast majority (if not all)science AUVs are positivelybuoyant, or use buoyancycontrol

❏ Negative buoyancy vehicleshave fewer weightconstrains - rely on thrust toproduce lift from wings

❏ Advantages:batteries or energy sourcecould be pressure balanced;no need for large expensivepressure vessels

❏ The down side É.

❏ Concept diagram for a RussianC-Sub made from concrete

First patent application for a‘U-plane’ in 1957 by Capt. HLipshutz, based on trials in

1928.

Courtesy Popular Mechanics web site


Towards low cost from economy of scaleOffshore Industry drivers for AUVs

❏ Massive increase in costs with ROVtechnology beyond 3000 m

❏ Oil majors pushing servicecompanies to source AUVtechnology

❏ First service company AUV ITT inmid 1998 (Fugro) - 7 responses

❏ One oil major sees $100m savingover 5 years using AUVs

❏ Drive will be for seabed survey, butspin-offs expected e.g dockingtechnology, reliability

ÔMainÕ suppliers

Daewoo (S. Korea)Simrad (Norway)

ISE Research (Canada)Northrop Grumman (US)Lockheed Martin (US)GEC Marconi (UK)Maridan (Denmark)

STN Atlas (Germany)Bluefin (US)

Mitsubishi H.I. (Japan)Chelsea Inst. (UK)

...


HUGIN - a commercial untethered AUV

❏ Project began 1995❏ Partners: Statoil, Simrad,

Norwegian Defence ResearchEst. & Norwegian Under-water Intervention

❏ Very strong & credible team❏ Prototype HUGIN I used by

a client in Oct. Ô97.❏ Primary purpose: Seabed &

Pipeline Survey - EM3000❏ Design emphasises real-time

communications & ease ofhandling

➜ HUGIN I and II rated to 600 m➜ Weigh ~ 700 kg➜ Length 4.8 m, low drag shape➜ HUGIN I 3 kWh NiCd battery

for 6 hr endurance➜ HUGIN II 18 kWh semi fuel

cell - 36 hr or 260 km

Courtesy NUI web site


AUVs for Transoceanic Sections

❏ The ÔJohn WoodsÕ vision for routine datagathering

❏ Technically, how far away are we?● Autonomous Undersea Consortium Institute NOPP

bid● Using ISE Research Ltd.Õs Theseus AUV(7t 10 m long)

Powered by primary Lithium callsCanada -> Portugal one way demonstrator missionDepth range surface - 300 mProposal not funded

❏ Is there still a need? If so, what & Who are thedrivers?


AUVs for Process Studies

❏ Labrador Sea deep convection : MIT Odysey❏ Sicily Strait overflow: SOC Autosub-2❏ Upper Ocean turbulence & Langmuir studies

● SOC Autosub-2 & FAU Ocean Explorer II

❏ Continental Shelf Observatories (LEO-15) :WHOI Remus

Courtesy WHOI web site

REMUS & Docking concept


Optimizing AUV Surveys

❏ Based on work at MIT (Bellingham on Barth & Wunsch)❏ Platform limitations preclude true synoptic surveys or

sampling. For AUVs, compromise between:● Resolution Survey Time● Vehicle Speed Constraint of Energy available

❏ Assuming knowledge of ocean statistics & dominantprocesses● Adaptive sampling - with time constraints f -3

without f -1

where f is the distance reduction factor achieved through adaptive sampling

❏ Adaptive sampling payback is greatest where there aretime constraints; multiple vehicles prove more effective


AUV Docking Technology

❏ MIT Odyssey - DistributedSurveillance Sensor Network;Autonomous Ocean SamplingNetwork; Labrador Sea 1998

❏ FAU Ocean Explorer (shelf)❏ EURODOCKER consortium

Courtesy MITSea Grant & NRaDweb sites


GEO Climate Study ObservatoriesN Atlantic recommended sites

1000 km

From http://uop.whoi.edu/geo.html dated 21 Sept 1998

❏ Illustrative tracks of1000 km betweenGEO observatories

❏ 1000 km possible withsecondary cells

❏ Docking Stationspossible

❏ Battery rechargingpossible

❏ Data downloadpossible

❏ Reliability?


AUVs for Polar Applications

❏ MIT Sea Grant & partners ALTEX❏ JAMSTEC Long-range AUV (project scheduled)❏ SOC Autosub-3

(part way through proposal cycle)❏ AWI (part way through proposal cycle)❏ CSIRO Hobart, Amery Ice Shelf, could use AUV❏ Italian Antarctic Programme, Terra Nova Bay

developing the SARA AUV

Courtesy CNR-IAN web site


MIT Sea Grant & PartnersÕ Arctic Project(ALTEX)

❏ NOPP Programme, vehicle ready 2000❏ Range > 1000 km Depth > 1500 m❏ Aim: To track the Atlantic water

inflow into the Nansen Basin❏ Mission: Track follow the 1300 m

isobath; transit at 275 m depth withdaily full depth profiles

❏ Vehicle expendable; data telemetry bybuoy; navigation by self-locatingtransponders in the sea ice

MIT Odyssey


JAMSTEC Long-Range (Arctic) AUV

❏ Phase I AUV 1998 - 2003● Range 300 km at 3 kt l Depth 3500 m

● Length 8.5 m l Weight 5.5 t● Power: Polymer Electrode Fuel Cell using hyperbaric

H2 and O2 & Lithium Ion secondary batteries● Navigation: Ring Laser Gyro; Doppler Sonar INS● Sensors: CTDO; Multibeam echosounder;

200 cell water sampler; TV camera; still camera● Total construction cost: ~ 4.8 Billion Yen ($40m)

❏ Phase II AUV 2003 -● Range 3000 km? Trans-arctic?


Autosub Under Ice

❏ £5m 5 year programme proposal already pastpre-filter; full proposal in July 1999

❏ Focus on under ice shelf oceanography● Wilkins Ice Shelf (before & after disintegration)● Pine Island Glacier (rapid melt rate)● Ronne Ice Shelf (up to 1000 km round trip)● 79ûN Glacier in NE Greenland

❏ Technology developments in navigation, pathplanning, mission abort options, reliability,communications


Ronne under ice-shelf cavity

Elevation (m)

Distance (km)

-1200

-1000

-800

-600

-400

-200

0

0 100 200 300 400

C C’

1000

800

600

400

200

0

0 50 100 150

A A’

Shelf IceMarine Ice

Sea WaterBed rock

Key

Redrawn from Nicholls 1996 JGR 101 (p1201)

Sensors: CTDO, Turbulence, ADCPs Water Samplers, Sidescan ...


Observatories

❏ E. Coast USA - shallow water:Katama, LEO-15, Duck,SFOMC

❏ SFOMC - potential forboundary current monitoring& N. Atlantic index?

❏ Abyssal Geophysicalobservatories: East PacificRise; GEOSTAR (off Sicily);JAMSTEC ...

❏ Cable (copper & fibre) & datacapsule technology

Bahamas

FloridaCurrent


CTD Sensors issues for AUVs

❏ Fouling, stability, time constants,thermal gradients

❏ Limited use yet by critical scientists❏ Favourable early CTD comparisons

by MIT Sea Grant❏ Similarities to and differences from

towed vehicles❏ Autosub data sets illustrate number

of CTD problems❏ AUV Water samplers available, but

unproven❏ Role of deep water masses as

calibration points

0

100

200

300

400

-12000 -10000 -8000 -6000

Depth (m)

North (m)

Mission heading north

16

20

24

28

35.50 36.00 36.50 37.00

T

S


AUV Sensors soon to be deployed orin development

❏ University of South Florida programme● Colorimetric pH● Ion trap mass spectrometer: first trials in summer

1999; possibly on Autosub in summer 2000● Long path liquid core waveguide spectrophotometer

for trace metal analysis● Particle imaging: SIPPER & Light Sheet OPC

❏ Flow cytometer - Autosub fall 1999❏ pCO2

❏ Nutrients❏ Dissolved hydrocarbons❏ Ambient noise (rain rate?)


Communications

❏ Over next 5 years - large choice of (low cost) satellitecommunications services

0

50100150200250300350400

Big LEO MEO Little LEO LEO/MEO

Suppliers Sats Operating Sats Planned

Big LEO & MEOTelephony

Little LEOMessaging

LEO/MEOBroadband Comms

Courtesy David Meldrum,DML & ISIR Newsletter,

April 99


❏ Lead Acid Secondary● 20 - 40 Wh/kg : 7.5 $0.20

❏ Manganese Alkaline Primary● ~ 120 Wh/kg : 38 100 $19

❏ Silver Zinc Secondary● 130 - 196 Wh/kg 39-59 91-137 $14● 15 - 30 usable cycles at 30 cycs

❏ Lithium Polymer Secondary: 155 - 170 Wh/kg $0.50❏ Lithium Ion Secondary: 100 - 120 Wh/kg potentially

❏ Fuel Cells; Semi-fuel Cells; Air-independentInternal Combustion; ...

Autosub Power Consumption 350 -750 WattsMax. Wt. 300 kg (GFRP vessel) to 700 kg (CFRP vessels)

GFRP CFRP $/km*

* excl. overheads

Present & Future Energy Supply Options


Legal Issues

❏ Status in National &International law unclearEven ODAS buoy convention stillin draft after 20+ years

❏ No AUV is registered orclassified, but some insured

❏ An AUV might be considereda ship for some legislation,yet not for others

❏ Obligations andresponsibilities of owners,operators, programmers &launchers unclear

❏ Way forward É● Develop Code of Practice in

the community● Include procedures, define

responsibilities, reviewdocument regularly É

● Demonstrate knowledge ofthe legal framework

● UK has AUV Legal IssuesWorking Group withinSociety for UnderwaterTechnology; SOC updating1989 legal advice

● Tackle nationally before goinginternational


Summary❏ Rapid pace of technological advance in vehicles &

communications; sensor development slower❏ Propelled vehicles energy cost per km of $0.50 likely to

be achievable in next decade❏ Glider cost-per-profile similar to XBT if amortised over

5000 profiles❏ Jury still out on the reliability of vehicles, feasibility of

commercial builds, operational overheads, long-termdata quality

❏ Continuing engineering trials and process studyexperiments will provide more experience

❏ By 2003: powered AUV range > 2000 km; depth > 3000m; gliders proven to 5000 km; docking routine

gxg [email protected] Gwyn Griffiths for Sustained ... launch and recovery gantry Launch and...

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