Assignment 2.5 - Blog Activity: Unmanned Systems Maritime Search and Rescue

Don Moore

UNSY 601 Unmanned Systems Sensing, Perception, and Processing

Embry Riddle Aeronautical University 

ThunderFish Autonomous Underwater Vehicle (AUV)

On June 26, 2017, Kraken Sonar Incorporated announced that they have been awarded their first Robotics Service contract (Rees, 2017).  The contract was issued to conduct underwater search operations for nine (one-eighth scale replicas) CF-105 Arrow free flight models (Rees, 2017).  The final flight design models were a part of a series of test launched over Lake Ontario from 1954 to 1957 (Rees, 2017). The ThunderFish AUV has the following specifications (Kraken).

Dimensions (L x W x H)	3.50 m x 0.95 m x 0.50 m
Hull Design	Wet Flood, Syntactic Foam Fairing
Hull Frame	Titanium
Dry Weight	675 kg Vehicle / Batteries 750 kg w/Sensors
Wet Weight	+5 kg – Positively Boyant (including 10 kg emergency drop weights)
Depth Rating	1,000 or 6,000 meters
Self Righting	Yes
Payload Capacity	75 kg
Motors	Twin Brushless DC Thruster Motors
External Connections	Power, Ethernet, Wi-Fi
Data Storage	4 TB hot swappable Data Pod

The Thunderfish Sea Vision sensor can connect to AUVs and ROVs and uses optical imaging and laser scanning to produce highly detailed data. The sensor’s unique colorized laser imagery characterizes and detects marine growth, cracks, corrosion and other defects. The SeaVision sensor has the following Specifications (Kraken).

Color camera	Quad VGA (1280 x 960)
Field of view – camera / twin tube system	65° x 50° / 80° x 50°
Steerable line lasers	Class 3R – Red / Green / Blue
Integrated light	1300 lm LED
3D scan rate (80° x 50°)	0.1 Hz – 1 Hz
3D scan performance	300 K points / sec
Scan resolution @ 2 m	0.1 – 3.0 mm
Scan resolution @ 5 m	1.0 – 10.0 mm
Working Range	0.5 – 8 m
Values per point	X/Y/Z, RGB – Color, Quality est.
Operational modes	Single scan / Continuous profiling
Mounting Baseline	20 – 60 cm
Ethernet	(2) GB / Daisy Chain
Serial	(1) RS 485
Onboard storage	Up to 2 TB
Processing	Onboard, real time
Real time capability	Live 3D scan preview / Live video
Output formats	xyz, png, jpeg, mp4
User Interfaces	Web based, Control / Data export

Proprioceptive and exteroceptive sensors specifically designed for the maritime

Proprioceptive (no specifics found but may include the following)

Wet Flood sensor

Propulsion Sensors

Optical Detector Array

Exteroceptive

AquaPix MINSAS sonar

Multi-beam echo sounder

SeaVision 3D underwater laser imaging system

Suggested modification more successful in maritime search and rescue operations

1.     Optical detector array, which estimates UUVs orientation, position, and forward velocity.

2.     Duel frequency side scan sonar which is used for seabed mapping

3.     An Arm which could help perform required tasks to include self fixes

4.     Return to base capability in case of system errors.

5.     Forward looking sonar which is basically like taking a second as the vessel moves closer

Maritime unmanned systems used in conjunction with UAS

Although Unmanned Surface Vehicles (USV) could act as command and control; I believe that using a UAS would give a broader view from above. In addition to a broader view; the UAS could help the UUS by covering a larger distance ant a faster rate and relay those new positions to the UUV.

Advantages of unmanned maritime systems over their manned counterparts

1.     Cost- they do not require life support systems

2.     Depth- UUVs can dive much lower

3.     Safety- human life isn’t in danger

More effective sensor suites on unmanned systems

I believe that there is not much of a difference when comparing the sensor suites of man and unmanned systems. I do however believe that the effectiveness when it concerns the use of the sensor suites is better due to the unmanned system being able to conduct hours upon hours search operations. That being said; the manned counterpart would not be able to go as deep and search because humans need food, rest, and environmental conditioning equipment which cost money and consumes time and space.

References:

Kraken. (n.d.). KRAKEN ROBOTIK GMBH. Retrieved from https://krakenrobotik.de/

Rees, C. (2017, July 18). Kraken AUV to Search for Lost Canadian Test Aircraft. Retrieved fromhttp://www.unmannedsystemstechnology.com/2017/07/kraken-auv-search-lost-canadian-test-aircraft/