Design and simulation on the morphing composite propeller (Conference Presentation)

NASA Astrophysics Data System (ADS)

Chen, Fanlong; Li, Qinyu; Liu, Liwu; Lan, Xin; Liu, Yanju; Leng, Jinsong

2017-04-01

As one of the most crucial part of the unmanned underwater vehicle (UUV), the composite propeller plays an important role on the UUV's performance. As the composite propeller behaves excellent properties in hydroelastic facet and acoustic suppression, it attracts increasing attentions all over the globe. This paper goes a step further based on this idea, and comes up with a novel concept of "morphing composite propeller" (MCP) to improve the performance of the conventional composite propeller (CCP) to anticipate the improved propeller can perform better to propel the UUV. Based on the new concept, a novel MCP is designed. Each blade of the propeller is assembled with an active rotatable flap (ARF) to change the blade's local camber with flap rotation. Then the transmission mechanism (TM) has been designed and housed in the propeller blade to push the ARF. With the ARF rotating, the UUV can be propelled by different thrusts under certain rotation velocities of the propeller. Based on the design, the Fluent is exploited to analyze the fluid dynamics around the propeller. Finally, based on the design and hydrodynamic analysis, the structural response for the novel morphing composite propeller is calculated. The propeller blade is simplified and layered with composite materials. And the structure response of an MCP is obtained with various rotation angle under the hydrodynamic pressure. This simulation can instruct the design and fabrication techniques of the MCP.

Utilizing Ocean Thermal Energy in a Submarine Robot

NASA Technical Reports Server (NTRS)

Jones, Jack; Chao, Yi

2009-01-01

A proposed system would exploit the ocean thermal gradient for recharging the batteries in a battery-powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and depths, measuring temperature and salinity. The proposed system is related to, but not the same as, previously reported ocean thermal energy conversion (OTEC) systems that exploit the ocean thermal gradient but consist of stationary apparatuses that span large depth ranges. The system would include a turbine driven by working fluid subjected to a thermodynamic cycle. CO2 has been provisionally chosen as the working fluid because it has the requisite physical properties for use in the range of temperatures expected to be encountered in operation, is not flammable, and is much less toxic than are many other commercially available refrigerant fluids. The system would be housed in a pressurized central compartment in a UUV equipped with a double hull (see figure). The thermodynamic cycle would begin when the UUV was at maximum depth, where some of the CO2 would condense and be stored, at relatively low temperature and pressure, in the annular volume between the inner and outer hulls. The cycle would resume once the UUV had ascended to near the surface, where the ocean temperature is typically greater than or equals 20 C. At this temperature, the CO2 previously stored at depth in the annular volume between the inner and outer hulls would be pressurized to approx. equals 57 bar (5.7 MPa). The pressurized gaseous CO2 would flow through a check valve into a bladder inside the pressurized compartment, thereby storing energy of the relatively warm, pressurized CO2 for subsequent use after the next descent to maximum depth.

Morphing hull implementation for unmanned underwater vehicles

NASA Astrophysics Data System (ADS)

Miller, Timothy F.; Gandhi, Farhan; Rufino, Russell J.

2013-11-01

There has been much interest and work in the area of morphing aircraft since the 1980s. Morphing could also potentially benefit unmanned underwater vehicles (UUVs). The current paper envisions a UUV with an interior pressure hull and a variable diameter outer flexible hull with fuel stored in the annulus between, and presents a mechanism to realize diameter change of the outer hull. The outer hull diameter of UUVs designed for very long endurance/range could be progressively reduced as fuel was consumed, thereby reducing drag and further increasing endurance and range capability. Diameter morphing could also be advantageous for compact storage of UUVs. A prototype is fabricated to represent an axial section of such a morphing diameter UUV. Diameter change is achieved using eight morphing trusses arranged equidistant around the circumference of the representative interior rigid hull. Each morphing truss has a lower rail (attached to the rigid hull) and an upper rail with V-linkages between, at either ends of the rail. Horizontal motion of the feet of the V-linkages (sliding in the lower rail) results in vertical motion of the upper rail which in turn produces diameter change of the outer hull. For the prototype built and tested, a 63% increase in outer diameter from 12.75″ to 20.75″ was achieved. The introduction of a stretched latex representative flexible skin around the outer rails increased actuation force requirement and led to a propensity for the wheel-in-track sliders in the morphing truss to bind. It is anticipated that this could be overcome with higher precision manufacturing. In addition to symmetric actuation of the morphing trusses resulting in diameter change, the paper also shows that with asymmetric actuation the hull cross-section shape can be changed (for example, from a circular section for underwater operation to a V-section for surface operations).

Platinum Nanoparticle Decorated SiO2 Microfibers as Catalysts for Micro Unmanned Underwater Vehicle Propulsion.

PubMed

Chen, Bolin; Garland, Nathaniel T; Geder, Jason; Pruessner, Marius; Mootz, Eric; Cargill, Allison; Leners, Anne; Vokshi, Granit; Davis, Jacob; Burns, Wyatt; Daniele, Michael A; Kogot, Josh; Medintz, Igor L; Claussen, Jonathan C

2016-11-16

Micro unmanned underwater vehicles (UUVs) need to house propulsion mechanisms that are small in size but sufficiently powerful to deliver on-demand acceleration for tight radius turns, burst-driven docking maneuvers, and low-speed course corrections. Recently, small-scale hydrogen peroxide (H 2 O 2 ) propulsion mechanisms have shown great promise in delivering pulsatile thrust for such acceleration needs. However, the need for robust, high surface area nanocatalysts that can be manufactured on a large scale for integration into micro UUV reaction chambers is still needed. In this report, a thermal/electrical insulator, silicon oxide (SiO 2 ) microfibers, is used as a support for platinum nanoparticle (PtNP) catalysts. The mercapto-silanization of the SiO 2 microfibers enables strong covalent attachment with PtNPs, and the resultant PtNP-SiO 2 fibers act as a robust, high surface area catalyst for H 2 O 2 decomposition. The PtNP-SiO 2 catalysts are fitted inside a micro UUV reaction chamber for vehicular propulsion; the catalysts can propel a micro UUV for 5.9 m at a velocity of 1.18 m/s with 50 mL of 50% (w/w) H 2 O 2 . The concomitance of facile fabrication, economic and scalable processing, and high performance-including a reduction in H 2 O 2 decomposition activation energy of 40-50% over conventional material catalysts-paves the way for using these nanostructured microfibers in modern, small-scale underwater vehicle propulsion systems.

Dr Valter Rukavina - amateur painter.

PubMed

Glavocic, Daina

2008-01-01

In this essay Dr Valter Rukavina (Rijeka 1896-1972), excellent specialist in infectious diseases and professor of the Rijeka University School of Medicine, is presented as successful amateur painter. He had been refining his talent through relentless practice since the school days, complementing it with skills and advice from established painters he associated with. He favoured figurative, realistic and somewhat romantic expression for his themes such as coastal landscapes, marinas, Quarnero sceneries, still life in tempera or oil, and drawings in ink or sepia. Despite partial colour blindness, he successfully used colour. He featured in a number of group exhibitions such as that of amateur painters of Rijeka in 1950, of painters physicians of Yugoslavia (Zagreb, 1956), in the Second International Exhibition of Contemporary Art (Florence, 1964), exhibition of the Rijeka branch of the Croatian Association of Visual Artists (Belgrade, 1966), and the 1969 exhibition in Opatija. His native city hosted two one-man exhibitions, the first retrospective in 1971, while he was still alive, and the second posthumous in 2007, with a good selection of his life's work.

Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method

PubMed Central

Zhang, Wei; Wei, Shilin; Teng, Yanbin; Zhang, Jianku; Wang, Xiufang; Yan, Zheping

2017-01-01

In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide an accurate decision-making basis for next-step collision avoidance. Second, according to minimum meeting time and the minimum distance between the obstacle and unmanned underwater vehicle (UUV), this paper establishes the collision risk assessment model, and screens key obstacles to avoid collision. Finally, the optimization objective function is established based on the improved velocity obstacle method, and a UUV motion characteristic is used to calculate the reachable velocity sets. The optimal collision speed of UUV is searched in velocity space. The corresponding heading and speed commands are calculated, and outputted to the motion control module. The above is the complete dynamic obstacle avoidance process. The simulation results show that the proposed method can obtain a better collision avoidance effect in the dynamic environment, and has good adaptability to the unknown dynamic environment. PMID:29186878

Underwater electro-optical system for mine identification

NASA Astrophysics Data System (ADS)

Strand, Michael P.

1995-06-01

The Electro-Optic Identification (EOID) Sensors project is developing a Laser Visual Iidentification Sensor (LVIS) for identification of proud, partially buried, and moored mines in shallow water/very shallow water. LVIS will be deployed in small diameter underwater vehicles, including unmanned underwater vehicles (UUVs). Since the mission is mine identification, LVIS must: a) deliver high quality images in turbid coastal waters, while b) being compatible with the size and power constraints imposed by the intended deployment platforms. This project is sponsored by the Office of Naval Research, as a part of the AOA Mine Reconnaissance/Hunter program. High quality images which retain target detail and contrast are required for mine identification. LVIS will be designed to produce images of minelike contacts (MLC) of sufficient quality to allow identification while operating in turbid coastal waters from a small diameter UUV. Technology goals for the first generation LVIS are a) identification range up to 40 feet for proud, partially buried, and moored MLCs under coastal water conditions; b) day/night operation from a UUV operating at speeds up to 4 knots; c) power consumption less than 500 watts, with 275 watts being typical; and d) packaged within a 32-inch long portion of a 21-inch diameter vehicle section.

Building oceanographic and atmospheric observation networks by composition: unmanned vehicles, communication networks, and planning and execution control frameworks

NASA Astrophysics Data System (ADS)

Sousa, J. T.; Pinto, J.; Martins, R.; Costa, M.; Ferreira, F.; Gomes, R.

2014-12-01

The problem of developing mobile oceanographic and atmospheric observation networks (MOAO) with coordinated air and ocean vehicles is discussed in the framework of the communications and control software tool chain developed at Underwater Systems and Technologies Laboratory (LSTS) from Porto University. This is done with reference to field experiments to illustrate key capabilities and to assess future MOAO operations. First, the motivation for building MOAO by "composition" of air and ocean vehicles, communication networks, and planning and execution control frameworks is discussed - in networked vehicle systems information and commands are exchanged among multiple vehicles and operators, and the roles, relative positions, and dependencies of these vehicles and operators change during operations. Second, the planning and execution control framework developed at LSTS for multi-vehicle systems is discussed with reference to key concepts such as autonomy, mixed-initiative interactions, and layered organization. Third, the LSTS tool software tool chain is presented to show how to develop MOAO by composition. The tool chain comprises the Neptus command and control framework for mixed initiative interactions, the underlying IMC messaging protocol, and the DUNE on-board software. Fourth, selected LSTS operational deployments illustrate MOAO capability building. In 2012 we demonstrated the use of UAS to "ferry" data from UUVs located beyond line of sight (BLOS). In 2013 we demonstrated coordinated observations of coastal fronts with small UAS and UUVs, "bent" BLOS through the use of UAS as communication relays, and UAS tracking of juvenile hammer-head sharks. In 2014 we demonstrated UUV adaptive sampling with the closed loop controller of the UUV residing on a UAS; this was done with the help of a Wave Glider ASV with a communications gateway. The results from these experiments provide a background for assessing potential future UAS operations in a compositional MOAO.

An overview of Ball Aerospace cryogen storage and delivery systems

NASA Astrophysics Data System (ADS)

Marquardt, J.; Keller, J.; Mills, G.; Schmidt, J.

2015-12-01

Starting on the Gemini program in the 1960s, Beech Aircraft (now Ball Aerospace) has been designing and manufacturing dewars for a variety of cryogens including liquid hydrogen and oxygen. These dewars flew on the Apollo, Skylab and Space Shuttle spacecraft providing fuel cell reactants resulting in over 150 manned spaceflights. Since Space Shuttle, Ball has also built the liquid hydrogen fuel tanks for the Boeing Phantom Eye unmanned aerial vehicle. Returning back to its fuel cell days, Ball has designed, built and tested a volume-constrained liquid hydrogen and oxygen tank system for reactant delivery to fuel cells on unmanned undersea vehicles (UUVs). Herein past history of Ball technology is described. Testing has been completed on the UUV specific design, which will be described.

Magnetic gradiometer for underwater detection applications

NASA Astrophysics Data System (ADS)

Kumar, S.; Skvoretz, D. C.; Moeller, C. R.; Ebbert, M. J.; Perry, A. R.; Ostrom, R. K.; Tzouris, A.; Bennett, S. L.; Czipott, P. V.; Sulzberger, G.; Allen, G. I.; Bono, J.; Clem, T. R.

2006-05-01

We have designed and constructed a magnetic gradiometer for underwater mine detection, location and tracking. The United States Naval Surface Warfare Center (NSWC PC) in Panama City, FL has conducted sea tests of the system using an unmanned underwater vehicle (UUV). The Real-Time Tracking Gradiometer (RTG) measures the magnetic field gradients caused by the presence of a mine in the Earth's magnetic field. These magnetic gradients can then be used to detect and locate a target with the UUV in motion. Such a platform can also be used for other applications, including the detection and tracking of vessels and divers for homeland (e.g., port) security and the detection of underwater pipelines. Data acquired by the RTG in sea tests is presented in this paper.

Investigation of low temperature solid oxide fuel cells for air-independent UUV applications

NASA Astrophysics Data System (ADS)

Moton, Jennie Mariko

Unmanned underwater vehicles (UUVs) will benefit greatly from high energy density (> 500 Wh/L) power systems utilizing high-energy-density fuels and air-independent oxidizers. Current battery-based systems have limited energy densities (< 400 Wh/L), which motivate development of alternative power systems such as solid oxide fuel cells (SOFCs). SOFC-based power systems have the potential to achieve the required UUV energy densities, and the current study explores how SOFCs based on gadolinia-doped ceria (GDC) electrolytes with operating temperatures of 650°C and lower may operate in the unique environments of a promising UUV power plant. The plant would contain a H 2O2 decomposition reactor to supply humidified O2 to the SOFC cathode and exothermic aluminum/H2O combustor to provide heated humidified H2 fuel to the anode. To characterize low-temperature SOFC performance with these unique O2 and H2 source, SOFC button cells based on nickel/GDC (Gd0.1Ce0.9O 1.95) anodes, GDC electrolytes, and lanthanum strontium cobalt ferrite (La0.6Sr0.4Co0.2Fe0.8O3-δ or LSCF)/GDC cathodes were fabricated and tested for performance and stability with humidity on both the anode and the cathode. Cells were also tested with various reactant concentrations of H2 and O2 to simulate gas depletion down the channel of an SOFC stack. Results showed that anode performance depended primarily on fuel concentration and less on the concentration of the associated increase in product H2O. O 2 depletion with humidified cathode flows also caused significant loss in cell current density at a given voltage. With the humidified flows in either the anode or cathode, stability tests of the button cells at 650 °C showed stable voltage is maintained at low operating current (0.17 A/cm2) at up to 50 % by mole H2O, but at higher current densities (0.34 A/cm2), irreversible voltage degradation occurred at rates of 0.8-3.7 mV/hour depending on exposure time. From these button cell results, estimated average current densities over the length of a low-temperature SOFC stack were estimated and used to size a UUV power system based on Al/H 2O oxidation for fuel and H2O2 decomposition for O2. The resulting system design suggested that energy densities above 300 Wh/L may be achieved at neutral buoyancy with seawater if the cell is operated at high reactant utilizations in the SOFC stack for missions longer than 20 hours.

An underwater optical wireless communication network

NASA Astrophysics Data System (ADS)

Arnon, Shlomi

2009-08-01

The growing need for underwater observation and sub-sea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, bio-geochemical, evolutionary and ecological changes in the sea, ocean and lake environments and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. We present models of three kinds of optical wireless communication links a) a line-of-sight link, b) a modulating retro-reflector link and c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered lighted it was possible to mitigate this decrease in some cases. We conclude from the analysis that a high data rate underwater optical wireless network is a feasible solution for emerging applications such as UUV to UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.

Underwater optical wireless communication network

NASA Astrophysics Data System (ADS)

Arnon, Shlomi

2010-01-01

The growing need for underwater observation and subsea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, biogeochemical, evolutionary, and ecological changes in the sea, ocean, and lake environments, and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. Models are presented for three kinds of optical wireless communication links: (a) a line-of-sight link, (b) a modulating retroreflector link, and (c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered light it was possible to mitigate this decrease in some cases. It is concluded from the analysis that a high-data-rate underwater optical wireless network is a feasible solution for emerging applications such as UUV-to-UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.

Proceedings of the Conference on the Design of Experiments in Army Research Development and Testing (34th) Held in Las Cruces, New Mexico on 19-21 October 1988

DTIC Science & Technology

1989-07-01

Webb and Linda L.C. Moss.............,,...,....., 27 COMPARISON OF RELIABILITY CONFIDENCE INTERVALS Paul H . Thrasher. ......... . 0 1...Webb and Linda L.C. Moss, U.S. Army Ballistic Research Laboratory COMPARISON OF RELIABILITY CONFIDENCE INTERVALS Paul H. Thrasher, White Sands Missile...RELEVANT Paul H. Thrasher, White Sands Missile Range 0930 - 1000 BREAK 1000 - 1130 GENERAL SESSION III Chairperson: Douglas B. Tang, Valter Reed Army

50 CFR 218.170 - Specified activity and specified geographical area and effective dates.

Code of Federal Regulations, 2012 CFR

2012-10-01

..., and UUV engine noise): Acoustic energy from engines usually from 50 Hz to 10 kHz at SLs less than 170..., classification and localization 05 4520 1510 Non-Navy testing 5 5 5 Acoustic & non-acoustic sensors (magnetic...

50 CFR 218.170 - Specified activity and specified geographical area and effective dates.

Code of Federal Regulations, 2014 CFR

2014-10-01

..., and UUV engine noise): Acoustic energy from engines usually from 50 Hz to 10 kHz at SLs less than 170..., classification and localization 05 4520 1510 Non-Navy testing 5 5 5 Acoustic & non-acoustic sensors (magnetic...

50 CFR 218.170 - Specified activity and specified geographical area and effective dates.

Code of Federal Regulations, 2013 CFR

2013-10-01

..., and UUV engine noise): Acoustic energy from engines usually from 50 Hz to 10 kHz at SLs less than 170..., classification and localization 05 4520 1510 Non-Navy testing 5 5 5 Acoustic & non-acoustic sensors (magnetic...

Analysis of Unmanned Systems in Military Logistics

DTIC Science & Technology

2016-12-01

opportunities to employ unmanned systems to support logistic operations. 14. SUBJECT TERMS unmanned systems, robotics , UAVs, UGVs, USVs, UUVs, military...Industrial Robots at Warehouses / Distribution Centers .............................................................................. 17 2. Unmanned...Autonomous Robot Gun Turret. Source: Blain (2010)................................................... 33 Figure 4. Robot Sentries for Base Patrol

A System to Integrate Unmanned Undersea Vehicles with a Submarine Host Platform

DTIC Science & Technology

2011-06-06

Charging pad (while UUV stowed) High Conceptual High based on electric car battery recharging system Technology has not been demonstrated for......and Evaluation EB General Dynamics Corp. – Electric Boat Division EMP Electromagnetic Pulse FMECA Failure Mode Effects and Criticality Analysis

High energy density aluminum-oxygen cell

NASA Technical Reports Server (NTRS)

Rudd, E. J.; Gibbons, D. W.

1993-01-01

An alternative to a secondary battery as the power source for vehicle propulsion is a fuel cell. An example of this is the metal-air fuel cell using metals such as aluminum, zinc, or iron. Aluminum is a particularly attractive candidate, having high energy and power densities, being environmentally acceptable, and having a large, established industrial base for production and distribution. An aluminum-oxygen system is currently under development for a UUV test vehicle, and recent work has focussed upon low corrosion aluminum alloys and an electrolyte management system for processing the by-products of the energy-producing reactions. This paper summarizes the progress made in both areas. Anode materials capable of providing high utilization factors over current densities ranging from S to 150 mA/sq cm have been identified. These materials are essential to realizing an acceptable mission life for the UUV. With respect to the electrolyte management system, a filter/precipitator unit has been successfully operated for over 250 hours in a large scale, half-cell system.

Professor Valter Rukavina (1896-1972): life between medicine and painting.

PubMed

Skrobonja, Ante

2008-01-01

This article on the occasion of the 111th birthday of professor Valter Rukavina (Rijeka, 1896-1972) recalls this extraordinary personality who is remembered by local and national history as an excellent physician, infectionist, university professor, equally successful scientist and practitioner, scholar and a polyglot, art lover, and last but not least, an extraordinary self-taught painter... He graduated from secondary school in Susak and studied medicine in Innsbruck, Graz, Vienna and Prague, where he received diploma in general practice in 1921. He started his career in Zagreb, then moved to Vrbovsko, KriZevci, Osijek, and Zlatar as district physician. Meanwhile, at the Institute of Epidemiology he specialised in bacteriology, epidemiology, serology, hygiene, and medical chemistry. He successfully organised anti-typhus campaigns and mass vaccinations against scarlet fever and diphtheria, and established local healthcare stations. After a brief stay in Zagreb, in WW2 he was transferred to Bosnia, returned to Zagreb, and since 1946 until his death he had lived in his native Rijeka, where he started an infectious diseases department that later grew into the School of Medicine clinic. Being a practitioner and a scientist, he was interested in all aspects of infectious diseases and contiguous areas, and made a major contribution with his systematic research and successful implementation of preventive measures and complete eradication of the great brucellosis epidemic that broke out in Istria after WW2. In addition to the membership in a number of professional associations, professor Rukavina was also an active member of the Rijeka chapter of the Croatian Association of Visual Artists.

Study of Integrated USV/UUV Observation System Performance in Monterey Bay

DTIC Science & Technology

2017-09-01

5 IV. EXPERIMENTAL SETUP... quasi -stationary at depth in low-current environments. This thesis evaluates the performance of deep sensors in determining behavior of a moving source...acoustic sensors that would be quasi -stationary receivers when in drift mode at depth in low current environments. One key advantage to this technique is

Novel Thermal Powered Technology for UUV Persistent Surveillance

NASA Technical Reports Server (NTRS)

Jones, Jack A.; Chao, Yi

2006-01-01

Buoyancy Generation: Various technology attempts include melting a wax, which pushes directly against a piston (U.S. Patent 5,291,847) or against a bladder (Webb Research), using ammonia or Freon 21 (U.S. Patent 5,303,552), and using solar heat to expand an oil (www.space.com, April, 10, 2002). All these heat-activated buoyancy control designs have thus far proved impractical and have ultimately failed during repeated cycling in ocean testing. JPL has demonstrated fully reversible 10 C encapsulated wax phase change, which can be used to change buoyancy without electrical hydraulic pumps. This technique has greatly improved heat transfer and much better reversibility than previous designs. Power Generation: Ocean Thermal Energy Conversion (OTEC) systems have been designed that transfer deep, cold sea water to the surface to generate electricity using turbine cycles with ammonia or water as the working fluid. JPL has designed several UUV systems: 1) Using a propeller water turbine to generate power on a gliding submersible; 2) Employing a compact CO2 turbine cycle powered by moving through thermoclines; and 3) Using melted wax to directly produce power through a piston-geared generator.

Underwater image mosaicking and visual odometry

NASA Astrophysics Data System (ADS)

Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

2017-05-01

This paper summarizes the results of studies in underwater odometery using a video camera for estimating the velocity of an unmanned underwater vehicle (UUV). Underwater vehicles are usually equipped with sonar and Inertial Measurement Unit (IMU) - an integrated sensor package that combines multiple accelerometers and gyros to produce a three dimensional measurement of both specific force and angular rate with respect to an inertial reference frame for navigation. In this study, we investigate the use of odometry information obtainable from a video camera mounted on a UUV to extract vehicle velocity relative to the ocean floor. A key challenge with this process is the seemingly bland (i.e. featureless) nature of video data obtained underwater which could make conventional approaches to image-based motion estimation difficult. To address this problem, we perform image enhancement, followed by frame to frame image transformation, registration and mosaicking/stitching. With this approach the velocity components associated with the moving sensor (vehicle) are readily obtained from (i) the components of the transform matrix at each frame; (ii) information about the height of the vehicle above the seabed; and (iii) the sensor resolution. Preliminary results are presented.

MIT Lincoln Laboratory Annual Report 2014

DTIC Science & Technology

2014-01-01

NAME(S) AND ADDRESS(ES) Massachusetts Institute of Technology,Lincoln Laboratory,244 Wood Street,Lexington,MA,02420 8. PERFORMING ORGANIZATION...microseconds) transmon qubits. Juan Montoya, Andrew Benedick, and Scot Shaw use prototype technology to demonstrate a new optical phased array beam...really care about. In fact, the Woods Hole Oceanographic Institution, which is designing and building UUVs, is interested in the systems the

Naval Science & Technology: Enabling the Future Force

DTIC Science & Technology

2013-04-01

corn for disruptive technologies Laser Cooling Spintronics Bz 1st U.S. Intel satellite GRAB Semiconductors GaAs, GaN, SiC GPS...Payoff • Innovative and game-changing • Approved by Corporate Board • Delivers prototype Innovative Naval Prototypes (5-10 Year) Disruptive ... Technologies Free Electron Laser Integrated Topside EM Railgun Sea Base Enablers Tactical Satellite Large Displacement UUV AACUS Directed

Superconducting magnetic sensors for mine detection and classification

NASA Astrophysics Data System (ADS)

Clem, Ted R.; Koch, Roger H.; Keefe, George A.

1995-06-01

Sensors incorporating Superconducting Quantum Interference Devices (SQUIDs) provide the greatest sensitivity for magnetic anomaly detection available with current technology. During the 1980's, the Naval Surface Warfare Center Coastal Systems Station (CSS) developed a superconducting magnetic sensor capable of operation outside of the laboratory environment. This sensor demonstrated rugged, reliable performance even onboard undersea towed platforms. With this sensor, the CSS was able to demonstrate buried mine detection for the US Navy. Subsequently the sensor was incorporated into a multisensor suite onboard an underwater towed vehicle to provide a robust mine hunting capability for the Magnetic and Acoustic Detection of Mines (MADOM) project. This sensor technology utilized niobium superconducting componentry cooled by liquid helium to temperatures on the order of 4 degrees Kelvin (K). In the late 1980's a new class of superconductors was discovered with critical temperatures above the boiling point of liquid nitrogen (77K). This advance has opened up new opportunities, especially for mine reconnaissance and hunting from small unmanned underwater vehicles (UUVs). This paper describes the magnetic sensor detection and classification concept developed for MADOM. In addition, opportunities for UUV operations made possible with high Tc technology and the Navy's current efforts in this area will be addressed.

Underwater striling engine design with modified one-dimensional model

NASA Astrophysics Data System (ADS)

Li, Daijin; Qin, Kan; Luo, Kai

2015-09-01

Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs) is discussed. And a one-dimensional model incorporated with empirical equations of mechanical loss and auxiliary power obtained from experiments is derived while referring to the Stirling engine computer model of National Aeronautics and Space Administration (NASA). The P-40 Stirling engine with sufficient testing results from NASA is utilized to validate the accuracy of this one-dimensional model. It shows that the maximum error of output power of theoretical analysis results is less than 18% over testing results, and the maximum error of input power is no more than 9%. Finally, a Stirling engine for UUVs is designed with Schmidt analysis method and the modified one-dimensional model, and the results indicate this designed engine is capable of showing desired output power.

Conceptual Design of Future Undersea Unmanned Vehicle (UUV) System for Mine Disposal

DTIC Science & Technology

2012-01-01

disproportionate effect of a single mine strike might be enough to threaten mission accomplishment of combat forces. Some potential impacts of enemy mining...parameters, which include vehicle conditions, hotel power, payload conditions, and environmental conditions. The vehicle configuration options are...transit, execution of mission, return transit, and recovery. Each of them is defined by key mission and environmental parameters such as range

Diver Relative UUV Navigation for Joint Human-Robot Operations

DTIC Science & Technology

2013-09-01

loop response: (10) where Kej is the gain that scales the position error to force . Substituting the measured values for ζ and ων as well as the...Underwater Vehicle; Tethered ; Hovering; Autonomous Underwater Vehicle; Joint human-robot operations; dynamic, uncertain environments 15. NUMBER OF PAGES...4   Figure 3.   The SeaBotix vLBV300 tethered AUV platform (left), and the planar vectored thruster

Assure Access to the Maritime Battlespace

DTIC Science & Technology

2012-10-22

Energy Section ( PEM Fuel Cells & Stirling Engines) Smart Battery High Pressure Gas Smart Li-Ion Battery BAA Technologies Energy Section... Fuel Cells and Advanced Reactant Storage 30 Days Endurance Ref Mission LDUUV INP Energy Plan 14 At Sea Test and Analysis At Sea Test and...undersea vehicles capable of operating near shore BAA Contracts awarded BAA Open for Competition Stirling Engine Demo UUV Fuel Cell 500hr

Hunting Sea Mines with UUV-Based Magnetic and Electro-Optic Sensors

DTIC Science & Technology

2010-06-01

assembly of four 3-axis fluxgate magnetometers and (c) magnetometer package for underwater deployment in flooded body section. data are automatically...features the Real-time Tracking Gradiometer (RTG), which is a multi-channel tensor gradiometer using conventional fluxgate technology. Also in this...integrated together into a Bluefin12 AUV [5]. A. RTG Sensor Technology The RTG is a multi-channel tensor gradiometer using conventional fluxgate

An Energy Dense-AI-NaBH4-PEMFC Based Power Generator for Unmanned Undersea Vehicles

DTIC Science & Technology

2016-03-01

1]. Although different types of batteries involving lithium , e.g., primary (Li-SOCb) and rechargeable (Li- ion , Li-polymer) batteries , potentially...development of innovative beyond battery -only technological capabilities would be necessary. The main objective of the proposed work is to develop an...increasing the endurance of UUVs. Lithium is commonly used in battery technology because it is the lightest metal , so higher energy densities are possible

Development of a Four-Fin Bio-Inspired UUV: CFD Studies

DTIC Science & Technology

2012-09-04

6.5ʺ″, V= 1kt, δ = -43.6°. .................................. 17   Fig. 32. Particles traces just near stroke reversal of the front and rear fins...have been studied to understand how certain aquatic animals achieve their high levels of controllability. Blake [1] determined that in low- speed...fin, the amplitude of the flapping and starting location of the down stroke . These simulations were performed in order to evaluate the hydrodynamic

Evaluating the Combined UUV Efforts in a Large-Scale Mine Warfare Environment

DTIC Science & Technology

2015-03-01

buddy, COL Fred Lough and Mary Mullin, for being loving and support parents-in-law, and Linda and Harry Thompson, for being the most devoted and...completed in 2015. Until the RMMV and AQS-20B issues are resolved, the RMS operational test cannot be completed onboard LCS ( Seligman , 2015). These poor...available in the foreseeable future. Therefore, the Avenger-Class ships will remain the main MCM platform ( Seligman , 2014). The Avenger-Class ships are

Scalable Emergency Response System for Oceangoing Assets. Final Summary Report

DTIC Science & Technology

2009-01-20

Developed for platform defense of submarines and surface ships at sea and in port, the iRobot High Speed UUV enables rapid transit with respect to a ... high level decontamination, resulting in a return to port Decision Making Option C is to sealift via decontamination vessel contingent, and perform a ...the world aboard a prepared LCAC.48 A high - speed , over- 47 One Marine’s View. Retrieved from http://www.onemarinesview.com/one_marines_view/2006/09

A Decision Analysis Perspective on Multiple Response Robust Optimization

DTIC Science & Technology

2012-03-01

the utility function in question is monotonically increasing and is twice differentiable . If γ(y) = 0, the utility function is describing risk neutral...twice differentiable , the risk aversion function with respect to a single attribute, yi, i = 1, . . . , n, is given in Equation 2.9, γUyi = − U ′′yi U...UV (V (y1, y2)) and fol- lowing the chain rule of differentiation , Matheson and Abbas [31] show that the risk aversion with respect to a single

Use of UUVs to Evaluate and Improve Model Performance Within a Tidally-Dominated Bay

DTIC Science & Technology

2008-09-30

Sequim Bay Road Sequim , WA 98382 Phone: (360) 681-3616 Fax: (360) 681-3699 Email: lyle.hibler@pnl.gov Grant Number: N00014-07-1-1113 LONG-TERM...releasing rhodamine dye on the surface of Sequim Bay ( Sequim , Washington) from an anchored vessel in 2006. Concurrently collected data from the...advective transport from a point release in Sequim Bay , Washington. Tidal, wind-driven and density-driven circulation were accounted for in the model. The

Unmanned Three-Environment Vehicle (U3V)

DTIC Science & Technology

2014-08-01

calculations and complex geometries, the number of panels per partition will be greater than 400 . The only high-lift devices permitted in TORNADO are...from nose (Nm) Speed (kts) Take-off 12 20 = Weight 2,618 -36,130 63 Cruise 4 2 = Weight 2,104 -32,178 100 Underwater sprint -1.2 0 Negligible...illustrated in Figure 30. Figure 30 – Effective power against speed for a range of torpedo shaped UUVs 0 50 100 150 200 250 300 350 400 450 500 0.0

Laser line scan performance prediction

NASA Astrophysics Data System (ADS)

Mahoney, Kevin L.; Schofield, Oscar; Kerfoot, John; Giddings, Tom; Shirron, Joe; Twardowski, Mike

2007-09-01

The effectiveness of sensors that use optical measurements for the laser detection and identification of subsurface mines is directly related to water clarity. The primary objective of the work presented here was to use the optical data collected by UUV (Slocum Glider) surveys of an operational areas to estimate the performance of an electro-optical identification (EOID) Laser Line Scan (LLS) system during RIMPAC 06, an international naval exercise off the coast of Hawaii. Measurements of optical backscattering and beam attenuation were made with a Wet Labs, Inc. Scattering Absorption Meter (SAM), mounted on a Rutgers University/Webb Research Slocum glider. The optical data universally indicated extremely clear water in the operational area, except very close to shore. The beam-c values from the SAM sensor were integrated to three attenuation lengths to provide an estimate of how well the LLS would perform in detecting and identifying mines in the operational areas. Additionally, the processed in situ optical data served as near-real-time input to the Electro-Optic Detection Simulator, ver. 3 (EODES-3; Metron, Inc.) model for EOID performance prediction. Both methods of predicting LLS performance suggested a high probability of detection and probability of identification. These predictions were validated by the actual performance of the LLS as the EOID system yielded imagery from which reliable mine identification could be made. Future plans include repeating this work in more optically challenging water types to demonstrate the utility of pre-mission UUV surveys of operational areas as a tactical decision aid for planning EOID missions.

Total Internal Reflection Ultrasonic Sensor for Detection of Subsurface Flaws: Proof of Concept

DTIC Science & Technology

2010-01-01

34 Tv001 Ve group (ray) velocity of the elastic wave X1, X2, X3 crystallographic coordinates x, y, z Descartes ’ coordinates tied to the transducer y0...TeO2 prism. 1.2.1. Orientation of directions and planes of interest with respect to Descartes ’ and Spherical coordinates. 1.2.2. Reflection of the...spect to Descartes ’ and Spherical coordi- nates. , (1.2.1) lili uuv Γ=ρ 2 where ρ is the crystal density and the symmetrical second rank Christoffel

Investigation of Requirements and Capabilities of Next Generation Mine Warfare Unmanned Underwater Vehicles

DTIC Science & Technology

2017-12-01

increases, TtC decreases. The increased travel time allows for more analysis to be completed on-board instead of through PMA and the parallel...Distance the UUV must travel past each track to have time and realign with the next track Local X X X X X X km N/A N/A TrackFlag Flag use to reroute...No. 0704-0188 Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing

Initial Design and Concept of Operations for a Clandestine Data Relay UUV To Circumvent Jungle Canopy Effects on Satellite Communications

DTIC Science & Technology

2011-09-01

rainforests are the darkest areas, corresponding to on average of 7 m2 of leaves per m2 of ground. (From ) ......3 Figure 2. A picture of the Niger River...eastern India, or cartels and narco-terrorists of the Amazon river valley, they all share a number of things in common, number one among them being...synonymous with rainforest , and will be used interchangeably. By definition, the rainforest is one of the 2 Earth’s major biomes, and is further

Hardware-in-the-loop simulation for undersea vehicle applications

NASA Astrophysics Data System (ADS)

Kelf, Michael A.

2001-08-01

Torpedoes and other Unmanned Undersea Vehicles (UUV) are employed by submarines and surface combatants, as well as aircraft, for undersea warfare. These vehicles are autonomous devices whose guidance systems rival the complexity of the most sophisticated air combat missiles. The tactical environment for undersea warfare is a difficult one in terms of target detection,k classification, and pursuit because of the physics of underwater sounds. Both hardware-in-the-loop and all-digital simulations have become vital tools in developing and evaluating undersea weapon and vehicle guidance performance in the undersea environment.

Application of Sampling Based Model Predictive Control to an Autonomous Underwater Vehicle

DTIC Science & Technology

2010-07-01

lineales y evita el mínimo local, el cual puede ocasionar que un vehículo quede inmóvil detrás de los obstáculos. El algoritmo SBMPC se aplica a un UAV...en un ambiente cargado de reflexiones de onda y a un UAV en un problema de mínimo común local. El algoritmo es luego usado en un modelo cinemático...tareas difíciles en ambientes atiborrados de reflexiones de onda tales como muelles y puertos. Sin embargo, dado que los UUVs tienen dinámicas áltamente

Improved OTEC System for a Submarine Robot

NASA Technical Reports Server (NTRS)

Chao, Yi; Jones, Jack; Valdez, Thomas

2010-01-01

An ocean thermal energy conversion (OTEC), now undergoing development, is a less-massive, more-efficient means of exploiting the same basic principle as that of the proposed system described in "Alternative OTEC Scheme for a Submarine Robot" (NPO-43500), NASA Tech Briefs, Vol. 33, No. 1 (January 2009), page 50. The proposed system as described previously would be based on the thawing-expansion/freezing-contraction behavior of a wax or perhaps another suitable phase-change material (PCM). The power generated by the system would be used to recharge the batteries in a battery- powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and depths, measuring temperature and salinity. At one phase of its operational cycle, the previously proposed system would utilize the surface ocean temperature (which lies between 15 and 30 C over most of the Earth) to melt a PCM that has a melting/freezing temperature of about 10 C. At the opposite phase of its operational cycle, the system would utilize the lower ocean temperature at depth (e.g., between 4 and 7 C at a depth of 300 m) to freeze the PCM. The melting or freezing would cause the PCM to expand or contract, respectively, by about 9 volume percent. The PCM would be contained in tubes that would be capable of expanding and contracting with the PCM. The PCM-containing tubes would be immersed in a hydraulic fluid. The expansion and contraction would drive a flow of the hydraulic fluid against a piston that, in turn, would push a rack-and-pinion gear system to spin a generator to charge a battery.

Alternative OTEC Scheme for a Submarine Robot

NASA Technical Reports Server (NTRS)

Jones, Jack; Chao, Yi

2009-01-01

A proposed system for exploiting the ocean thermal gradient to generate power would be based on the thawing-expansion/ freezing-contraction behavior of a wax or perhaps another suitable phase-change material. The power generated by this system would be used to recharge the batteries in a battery-powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and various depths, measuring temperature and salinity. This proposed system would be an alternative to another proposed ocean thermal energy conversion (OTEC) system that would serve the same purpose but would utilize a thermodynamic cycle in which CO2 would be the working fluid. That system is described in Utilizing Ocean Thermal Energy in a Submarine Robot (NPO-43304), immediately following this brief. The main advantage of this proposed system over the one using CO2 is that it could derive a useful amount of energy from a significantly smaller temperature difference. At one phase of its operational cycle, the system now proposed would utilize the surface ocean temperature (which lies between 15 and 20 C over most of the Earth) to melt a wax (e.g., pentadecane) that has a melting/freezing temperature of about 10 C. At the opposite phase of its operational cycle, the system would utilize the lower ocean temperature at depth (e.g., between 4 and 7 C at a depth of 300 m) to freeze the wax. The melting or freezing causes the wax to expand or contract, respectively, by about 8 volume percent.

Underwater magnetic gradiometer for magnetic anomaly detection, localization, and tracking

NASA Astrophysics Data System (ADS)

Kumar, S.; Sulzberger, G.; Bono, J.; Skvoretz, D.; Allen, G. I.; Clem, T. R.; Ebbert, M.; Bennett, S. L.; Ostrom, R. K.; Tzouris, A.

2007-04-01

GE Security and the Naval Surface Warfare Center, Panama City (NSWC-PC) have collaborated to develop a magnetic gradiometer, called the Real-time Tracking Gradiometer or RTG that is mounted inside an unmanned underwater vehicle (UUV). The RTG is part of a buried mine hunting platform being developed by the United States Navy. The RTG has been successfully used to make test runs on mine-like targets buried off the coast of Florida. We will present a general description of the system and latest results describing system performance. This system can be also potentially used for other applications including those in the area of Homeland Security.

Testing of a Composite Wavelet Filter to Enhance Automated Target Recognition in SONAR

NASA Technical Reports Server (NTRS)

Chiang, Jeffrey N.

2011-01-01

Automated Target Recognition (ATR) systems aim to automate target detection, recognition, and tracking. The current project applies a JPL ATR system to low resolution SONAR and camera videos taken from Unmanned Underwater Vehicles (UUVs). These SONAR images are inherently noisy and difficult to interpret, and pictures taken underwater are unreliable due to murkiness and inconsistent lighting. The ATR system breaks target recognition into three stages: 1) Videos of both SONAR and camera footage are broken into frames and preprocessed to enhance images and detect Regions of Interest (ROIs). 2) Features are extracted from these ROIs in preparation for classification. 3) ROIs are classified as true or false positives using a standard Neural Network based on the extracted features. Several preprocessing, feature extraction, and training methods are tested and discussed in this report.

Improving the Forecast Accuracy of an Ocean Observation and Prediction System by Adaptive Control of the Sensor Network

NASA Astrophysics Data System (ADS)

Talukder, A.; Panangadan, A. V.; Blumberg, A. F.; Herrington, T.; Georgas, N.

2008-12-01

The New York Harbor Observation and Prediction System (NYHOPS) is a real-time, estuarine and coastal ocean observing and modeling system for the New York Harbor and surrounding waters. Real-time measurements from in-situ mobile and stationary sensors in the NYHOPS networks are assimilated into marine forecasts in order to reduce the discrepancy with ground truth. The forecasts are obtained from the ECOMSED hydrodynamic model, a shallow water derivative of the Princeton Ocean Model. Currently, all sensors in the NYHOPS system are operated in a fixed mode with uniform sampling rates. This technology infusion effort demonstrates the use of Model Predictive Control (MPC) to autonomously adapt the operation of both mobile and stationary sensors in response to changing events that are -automatically detected from the ECOMSED forecasts. The controller focuses sensing resources on those regions that are expected to be impacted by the detected events. The MPC approach involves formulating the problem of calculating the optimal sensor parameters as a constrained multi-objective optimization problem. We have developed an objective function that takes into account the spatiotemporal relationship of the in-situ sensor locations and the locations of events detected by the model. Experiments in simulation were carried out using data collected during a freshwater flooding event. The location of the resulting freshwater plume was calculated from the corresponding model forecasts and was used by the MPC controller to derive control parameters for the sensing assets. The operational parameters that are controlled include the sampling rates of stationary sensors, paths of unmanned underwater vehicles (UUVs), and data transfer routes between sensors and the central modeling computer. The simulation experiments show that MPC-based sensor control reduces the RMS error in the forecast by a factor of 380% as compared to uniform sampling. The paths of multiple UUVs were simultaneously calculated such that measurements from on-board sensors would lead to maximal reduction in the forecast error after data assimilation. The MPC controller also reduces the consumption of system resources such as energy expended in sampling and wireless communication. The MPC-based control approach can be generalized to accept data from remote sensing satellites. This will enable in-situ sensors to be regulated using forecasts generated by assimilating local high resolution in-situ measurements with wide-area observations from remote sensing satellites.

A group filter algorithm for sea mine detection

NASA Astrophysics Data System (ADS)

Cobb, J. Tory; An, Myoung; Tolimieri, Richard

2005-06-01

Automatic detection of sea mines in coastal regions is a difficult task due to the highly variable sea bottom conditions present in the underwater environment. Detection systems must be able to discriminate objects which vary in size, shape, and orientation from naturally occurring and man-made clutter. Additionally, these automated systems must be computationally efficient to be incorporated into unmanned underwater vehicle (UUV) sensor systems characterized by high sensor data rates and limited processing abilities. Using noncommutative group harmonic analysis, a fast, robust sea mine detection system is created. A family of unitary image transforms associated to noncommutative groups is generated and applied to side scan sonar image files supplied by Naval Surface Warfare Center Panama City (NSWC PC). These transforms project key image features, geometrically defined structures with orientations, and localized spectral information into distinct orthogonal components or feature subspaces of the image. The performance of the detection system is compared against the performance of an independent detection system in terms of probability of detection (Pd) and probability of false alarm (Pfa).

Dolphin Sounds-Inspired Covert Underwater Acoustic Communication and Micro-Modem

PubMed Central

Qiao, Gang; Liu, Songzuo; Bilal, Muhammad

2017-01-01

A novel portable underwater acoustic modem is proposed in this paper for covert communication between divers or underwater unmanned vehicles (UUVs) and divers at a short distance. For the first time, real dolphin calls are used in the modem to realize biologically inspired Covert Underwater Acoustic Communication (CUAC). A variety of dolphin whistles and clicks stored in an SD card inside the modem helps to realize different biomimetic CUAC algorithms based on the specified covert scenario. In this paper, the information is conveyed during the time interval between dolphin clicks. TMS320C6748 and TLV320AIC3106 are the core processors used in our unique modem for fast digital processing and interconnection with other terminals or sensors. Simulation results show that the bit error rate (BER) of the CUAC algorithm is less than 10−5 when the signal to noise ratio is over ‒5 dB. The modem was tested in an underwater pool, and a data rate of 27.1 bits per second at a distance of 10 m was achieved. PMID:29068363

Underwater partial polarization signatures from the shallow water real-time imaging polarimeter (SHRIMP)

NASA Astrophysics Data System (ADS)

Taylor, James S., Jr.; Davis, P. S.; Wolff, Lawrence B.

2003-09-01

Research has shown that naturally occurring light outdoors and underwater is partially linearly polarized. The polarized components can be combined to form an image that describes the polarization of the light in the scene. This image is known as the degree of linear polarization (DOLP) image or partial polarization image. These naturally occurring polarization signatures can provide a diver or an unmanned underwater vehicle (UUV) with more information to detect, classify, and identify threats such as obstacles and/or mines in the shallow water environment. The SHallow water Real-time IMaging Polarimeter (SHRIMP), recently developed under sponsorship of Dr. Tom Swean at the Office of Naval Research (Code 321OE), can measure underwater partial polarization imagery. This sensor is a passive, three-channel device that simultaneously measures the three components of the Stokes vector needed to determine the partial linear polarization of the scene. The testing of this sensor has been completed and the data has been analyzed. This paper presents performance results from the field-testing and quantifies the gain provided by the partial polarization signature of targets in the Very Shallow Water (VSW) and Surf Zone (SZ) regions.

Sensing systems using chip-based spectrometers

NASA Astrophysics Data System (ADS)

Nitkowski, Arthur; Preston, Kyle J.; Sherwood-Droz, Nicolás.; Behr, Bradford B.; Bismilla, Yusuf; Cenko, Andrew T.; DesRoches, Brandon; Meade, Jeffrey T.; Munro, Elizabeth A.; Slaa, Jared; Schmidt, Bradley S.; Hajian, Arsen R.

2014-06-01

Tornado Spectral Systems has developed a new chip-based spectrometer called OCTANE, the Optical Coherence Tomography Advanced Nanophotonic Engine, built using a planar lightwave circuit with integrated waveguides fabricated on a silicon wafer. While designed for spectral domain optical coherence tomography (SD-OCT) systems, the same miniaturized technology can be applied to many other spectroscopic applications. The field of integrated optics enables the design of complex optical systems which are monolithically integrated on silicon chips. The form factors of these systems can be significantly smaller, more robust and less expensive than their equivalent free-space counterparts. Fabrication techniques and material systems developed for microelectronics have previously been adapted for integrated optics in the telecom industry, where millions of chip-based components are used to power the optical backbone of the internet. We have further adapted the photonic technology platform for spectroscopy applications, allowing unheard-of economies of scale for these types of optical devices. Instead of changing lenses and aligning systems, these devices are accurately designed programmatically and are easily customized for specific applications. Spectrometers using integrated optics have large advantages in systems where size, robustness and cost matter: field-deployable devices, UAVs, UUVs, satellites, handheld scanning and more. We will discuss the performance characteristics of our chip-based spectrometers and the type of spectral sensing applications enabled by this technology.

High speed visible light communication using blue GaN laser diodes

NASA Astrophysics Data System (ADS)

Watson, S.; Viola, S.; Giuliano, G.; Najda, S. P.; Perlin, P.; Suski, T.; Marona, L.; Leszczyński, M.; Wisniewski, P.; Czernecki, R.; Targowski, G.; Watson, M. A.; White, H.; Rowe, D.; Laycock, L.; Kelly, A. E.

2016-10-01

GaN-based laser diodes have been developed over the last 20 years making them desirable for many security and defence applications, in particular, free space laser communications. Unlike their LED counterparts, laser diodes are not limited by their carrier lifetime which makes them attractive for high speed communication, whether in free space, through fiber or underwater. Gigabit data transmission can be achieved in free space by modulating the visible light from the laser with a pseudo-random bit sequence (PRBS), with recent results approaching 5 Gbit/s error free data transmission. By exploiting the low-loss in the blue part of the spectrum through water, data transmission experiments have also been conducted to show rates of 2.5 Gbit/s underwater. Different water types have been tested to monitor the effect of scattering and to see how this affects the overall transmission rate and distance. This is of great interest for communication with unmanned underwater vehicles (UUV) as the current method using acoustics is much slower and vulnerable to interception. These types of laser diodes can typically reach 50-100 mW of power which increases the length at which the data can be transmitted. This distance could be further improved by making use of high power laser arrays. Highly uniform GaN substrates with low defectivity allow individually addressable laser bars to be fabricated. This could ultimately increase optical power levels to 4 W for a 20-emitter array. Overall, the development of GaN laser diodes will play an important part in free space optical communications and will be vital in the advancement of security and defence applications.

Employing a communication payload on an unmanned underwater vehicle (UUV) for harbor monitoring and homeland defense

NASA Astrophysics Data System (ADS)

Wells, Jeffrey S.; Wurth, Timothy J.; Manning, Mark C.

2004-09-01

The Homeland Defense community is increasing its focus on port security and harbor protection. Rising to the challenge, the U.S. Coast Guard is tasked with monitoring and protecting our harbors where commercial container ships enter. Tracking of the onboard containers is of great concern to the protectors of the waterfront. A system capable of identifying the number of containers onboard the vessel, when the containers are added or removed, contents of the containers, etc., will significantly reduce the potential for a security problem by providing essential information to the Coast Guard or other port security so that they can decide whether or not pre-boarding is necessary. That is, boarding the ship and inspecting the cargo while still at a safe distance from the harbor. A conceptual pictorial of this concept is shown in Figure 1. This paper presents a system that utilizes transmitters embedded on the containers which incorporate unique ID codes identifying the container, its history, and other information. A Communication/Navigation Aid (C/NA) type vehicle/buoy concept, presently being developed by Sippican (under contract to the Office of Naval Research (ONR) as part of the Autonomous Operations -- Future Naval Capabilities (AO-FNC) program, positioned at sea, would include a payload of NuWaves" communication transceivers able to receive the cargo container"s transmitted ID and forward this information by RF link to a ground station. The Port Authority and/or the Coast Guard would then utilize the information to make an assessment of the vessel prior to port entry. Although, this paper illustrates a scenario applicable to the cargo shipping industry, it is also applicable to other homeland defense areas such as unattended open ocean force protection, drug and law enforcement, and environmental monitoring.

Using the combination refraction-reflection solid to design omni-directional light source used in underwater wireless optical communication

NASA Astrophysics Data System (ADS)

Rao, Jionghui; Yao, Wenming; Wen, Linqiang

2015-10-01

Underwater wireless optical communication is a communication technology which uses laser as an information carrier and transmits data through water. Underwater wireless optical communication has some good features such as broader bandwidth, high transmission rate, better security, anti—interference performance. Therefore, it is promising to be widely used in the civil and military communication domains. It is also suitable for high-speed, short-range communication between underwater mobile vehicles. This paper presents a design approach of omni-directional light source used in underwater wireless optical communication, using TRACEPRO simulation tool to help design a combination solid composed of the lens, conical reflector and parabolic reflector, and using the modulated DPSS green laser in the transmitter module to output the laser beam in small divergence angles, after expanded by the combination refraction-reflection solid, the angle turns into a space divergence angle of 2π, achieving the omni-directional light source of hemisphere space, and test in the air and underwater, the result shows that the effect is fine. This paper analyzes the experimental test in the air and water, in order to make further improvement of the uniformity of light distribution, we optimize the reflector surface parameters of combination refraction-reflection solid and test in the air and water. The result shows that omni-directional light source used in underwater wireless optical communication optimized could achieve the uniformity of light distribution of underwater space divergence angle of 2π. Omni-directional light source used in underwater wireless optical communication designed in this paper has the characteristics of small size and uniformity of light distribution, it is suitable for application between UUVs, AUVs, Swimmer Delivery Vehicles (SDVs) and other underwater vehicle fleet, it realizes point-to-multipoint communications.

Titan Submarine : AUV Design for Cryogenic Extraterrestrial Seas of Hydrocarbons

NASA Astrophysics Data System (ADS)

Lorenz, R. D.

2016-02-01

Saturn's moon Titan has three seas, apparently composed predominantly of liquid methane, near its north pole. The largest of these, Ligeia Mare and Kraken Mare, span about 400km and 1000km respectively, and are linked by a narrow strait. Radar measurements from the Cassini spacecraft (currently in orbit around Saturn) show that Ligeia at least is 160m deep, Kraken perhaps deeper. Titan has a nitrogen atmosphere somewhat denser than Earth's, and gravity about the same as the Earth's moon, and its surface temperature is about 92K ; the seas are liquid under conditions rather similar to those of liquified natural gas (LNG) a commodity with familiar engineering properties. We report a NASA Innovative Advanced Concepts (NIAC) study into a submersible vehicle able to explore these seas, to survey shoreline geomorphology, investigate air-sea exchange processes, measure composition to evaluate stratification and mixing, and map the seabed. The Titan environment poses unique thermal management and buoyancy control challenges (the temperature-dependent solubility of nitrogen in methane leads to the requirement to isolate displacement gas from liquid in buoyancy control tanks, and may result in some effervescence due to the heat dissipation into the liquid from the vehicle's radioisotope power supply, a potential noise source for sonar systems). The vehicle must also be delivered from the air, either by parachute extraction from or controlled ditching of a slender entry system, and must communicate its results back to Earth. Nominally the latter function is achieved with a large dorsal phased-array antenna, operated while surfaced, but solutions using an orbiting relay spacecraft and even communication while submerged, are being examined. While these aspects seem fantastical, in many respects the structural, propulsion and navigation/autonomy challenges of such a vehicle are little different from terrestrial autonomous underwater vehicles. We discuss the results of the study to date, which brought together power/propulsion/space systems expertise from NASA Glenn Research Center, with hydrodynamics, propulsion and operations from the Penn State Applied Research Lab, and the latest Titan understanding from the JHU Applied Physics Lab. We look forward to discussions and ideas with the broader AUV/UUV community.

Architecture for autonomy

NASA Astrophysics Data System (ADS)

Broten, Gregory S.; Monckton, Simon P.; Collier, Jack; Giesbrecht, Jared

2006-05-01

In 2002 Defence R&D Canada changed research direction from pure tele-operated land vehicles to general autonomy for land, air, and sea craft. The unique constraints of the military environment coupled with the complexity of autonomous systems drove DRDC to carefully plan a research and development infrastructure that would provide state of the art tools without restricting research scope. DRDC's long term objectives for its autonomy program address disparate unmanned ground vehicle (UGV), unattended ground sensor (UGS), air (UAV), and subsea and surface (UUV and USV) vehicles operating together with minimal human oversight. Individually, these systems will range in complexity from simple reconnaissance mini-UAVs streaming video to sophisticated autonomous combat UGVs exploiting embedded and remote sensing. Together, these systems can provide low risk, long endurance, battlefield services assuming they can communicate and cooperate with manned and unmanned systems. A key enabling technology for this new research is a software architecture capable of meeting both DRDC's current and future requirements. DRDC built upon recent advances in the computing science field while developing its software architecture know as the Architecture for Autonomy (AFA). Although a well established practice in computing science, frameworks have only recently entered common use by unmanned vehicles. For industry and government, the complexity, cost, and time to re-implement stable systems often exceeds the perceived benefits of adopting a modern software infrastructure. Thus, most persevere with legacy software, adapting and modifying software when and wherever possible or necessary -- adopting strategic software frameworks only when no justifiable legacy exists. Conversely, academic programs with short one or two year projects frequently exploit strategic software frameworks but with little enduring impact. The open-source movement radically changes this picture. Academic frameworks, open to public scrutiny and modification, now rival commercial frameworks in both quality and economic impact. Further, industry now realizes that open source frameworks can reduce cost and risk of systems engineering. This paper describes the Architecture for Autonomy implemented by DRDC and how this architecture meets DRDC's current needs. It also presents an argument for why this architecture should also satisfy DRDC's future requirements as well.

Development of a novel hydroxyl ammonium nitrate based liquid propellant for air-independent propulsion

NASA Astrophysics Data System (ADS)

Fontaine, Joseph Henry

The focus of this dissertation is the development of an Unmanned Undersea Vehicle (UUV) liquid propellant employing Hydroxyl Ammonium Nitrate (HAN) as the oxidizer. Hydroxyl Ammonium Nitrate is a highly acidic aqueous based liquid oxidizer. Therefore, in order to achieve efficient combustion of a propellant using this oxidizer, the fuel must be highly water soluble and compatible with the oxidizer to prevent a premature ignition prior to being heated within the combustion chamber. An extensive search of the fuel to be used with this oxidizer was conducted. Propylene glycol was chosen as the fuel for this propellant, and the propellant given the name RF-402. The propellant development process will first evaluate the propellants thermal stability and kinetic parameters using a Differential Scanning Calorimeter (DSC). The purpose of the thermal stability analysis is to determine the temperature at which the propellant decomposition begins for the future safe handling of the propellant and the optimization of the combustion chamber. Additionally, the thermogram results will provide information regarding any undesirable endotherms prior to the decomposition and whether or not the decomposition process is a multi-step process. The Arrhenius type kinetic parameters will be determined using the ASTM method for thermally unstable materials. The activation energy and pre-exponential factor of the propellant will be determined by evaluating the decomposition peak temperature over a temperature scan rate ranging from 1°C per minute to 10°C per minute. The kinetic parameters of the propellant will be compared to those of 81 wt% HAN to determine if the HAN decomposition is controlling the overall decomposition of the propellant RF-402. The lifetime of individual droplets will be analyzed using both experimental and theoretical techniques. The theoretical technique will involve modeling the lifetime of an individual droplet in a combustion chamber like operating environment. The experimental technique will consist of subjecting droplets suspended from a fine gauge thermocouple to an instantaneous hot gas source and recording its temperature response while imaging it using a high power video microscope to determine the physical response of the droplet. This analysis will be the foundation for all future efforts in developing a propulsion system employing the use of RF-402.

PREFACE: VII Brazilian Congress on Metrology (Metrologia 2013)

NASA Astrophysics Data System (ADS)

Costa-Félix, Rodrigo; Bernardes, Americo; Valente de Oliveira, José Carlos; Mauro Granjeiro, José; Epsztejn, Ruth; Ihlenfeld, Waldemar; Smarçaro da Cunha, Valnei

2015-01-01

SEVENTH BRAZILIAN CONGRESS ON METROLOGY (METROLOGIA 2013) Metrology and Quality for a Sustainable Development From November 24th to 27th 2013 was issued the Seventh Brazilian Congress on Metrology (Metrologia 2013), which is a biannual conference organized and sponsored by the Brazilian Society of Metrology (SBM) and the Brazilian National Institute of Metrology, Quality and Technology (Inmetro). This edition was held in the charming and historical city of Ouro Preto, MG, Brazil, and aimed to join people and institutions devoted to the dissemination of the metrology and conformity assessment. The Metrologia 2013 Conference consisted of Keynote Speeches (7) and regular papers (204). Among the regular papers, the 47 most outstanding ones, comprising a high quality content on Metrology and Conformity Assessment, were selected to be published in this issue of the Journal of Physics: Conference Series. The topics of the conference covered all important areas of Metrology, which were agglutinated in the following sessions in the present issue: . Physical Metrology (Acoustics, Vibration and Ultrasound; Electricity and Magnetism; Mechanics; Optics); . Metrology on Ionizing Radiations; . Time and Frequency; . Chemistry Metrology; . Materials Metrology; . Biotechnology; . Uncertainty, Statistics and Mathematics; . Legal Metrology; . Conformity Assessment. It is our great pleasure to present this volume of IOP Journal of Physics: Conference Series (JPCS) to the scientific community to promote further research in Metrology and related areas. We believe that this volume will be both an excellent source of scientific material in the fast evolving fields that were covered by Metrologia 2013. President of the congress Americo Bernardes Federal University of Ouro Preto atb@iceb.ufop.br Editor-in-chief Rodrigo Costa-Félix Brazilian National Institute of Metrology, Quality and Technology rpfelix@inmetro.gov.br Editors José Carlos Valente de Oliveira (Editor on Mechanical Metrology) Brazilian National Institute of Metrology, Quality and Technology jcoliveira@inmetro.gov.br José Mauro Granjeiro (Editor on Biotechnology) Brazilian National Institute of Metrology, Quality and Technology jmgranjeiro@inmetro.gov.br Ruth Epsztejn (Editor on Conformity Assessment) Brazilian National Institute of Metrology, Quality and Technology repsztejn@inmetro.gov.br Waldemar Ihlenfeld (Editor on Electrical Metrology) Brazilian National Institute of Metrology, Quality and Technology wgihlenfeld-pronametro@inmetro.gov.br Valnei Smarçaro da Cunha (Editor on Chemistry Metrology) Brazilian National Institute of Metrology, Quality and Technology vscunha@inmetro.gov.br Technical and Scientific Committee for Metrologia 2013 Ado Jório (UFMG) Carlos Achete (UFRJ, Inmetro) Flávio Vasconcelos (UFMG) Giorgio Moscati (USP) Hans Peter Grieneisen (Inmetro) Humberto Brandi (Inmetro) José Carlos Valente de Oliveira (Inmetro) José Guilherme Pereira Peixoto (IRD) José Mauro Granjeiro (Inmetro) Luiz Claudio Moreira Paschoal (Petrobras) Luis Fernado Rust (Inmetro) Luiz Silva Mello (PUC RJ) Marcos Nogueira Eberlin (Unicamp) Oleksii Kuznetsov (Inmetro) Regis Landim (Inmetro) Ricardo Carvalho (ON) Rodrigo Costa-Felix (Inmetro) Romeu José Daroda (Inmetro) Ruth Epsztejn (Inmetro) Valnei Smarçaro da Cunha (Inmetro) Valter Aibe (Inmetro) Waldemar Guilherme Kürten Ihlenfeld (PTB) Wanderley de Souza (UFRJ, Inmetro)

A mobile GPR system for evaluating road landslide damage and effectiveness of the restoration works at Potenza District scale

NASA Astrophysics Data System (ADS)

Loperte, A.; Bavusi, M.; Soldovieri, F.

2012-04-01

Basilicata Region (Southern Italy) is affected by a large amount of landslides due to its geological structure and orogenic history. In particular, due to its location in the Italian Apennine chain, the District of Potenza is particularly affected by this natural hazard, which threatens private buildings and public infrastructures. In this framework, the transport infrastructures result greatly exposed to this kind of damage since there is a great probability that a road intercepts a landslide in its path. In addition, this can have relevant "social and economic" effects at large distance from the landslide due to the interconnected character of the road network. A classical remediation strategy for a damaged road, especially when affected by a localised landslide, consists in restoring its planarity by filling the depression induced by the damage. Moreover a such intervention often causes the recurrence of the damage since it results in a weakness zone in the road section. The result is that there is always an interrupted road somewhere in Basilicata. In order to design an effective remediation strategy at the scale of the district road network, a fast low-cost diagnosis method is needed in order to: • Detect damaged/restored treats of roads; • Characterize previous restoration intervention quality; • Provide a geo-database reporting all at-risk road sections; • Predict which road sections might be damaged with the upcoming rainfall events. In this framework, the Institute of Methodologies for Environmental Analysis (IMAA-CNR), also thanks to the cooperation of the Institute for Electromagnetic Sensing of the Environment (IREA-CNR) has equipped a van with a high-resolution Ground Penetrating Radar and differential GPS instrumentations so to achieve a mobile GPR system. The main elements of the GPR are the control unit IDS DAD MCH Fast-Wave, horn antenna air-launched IDS HN-1000b and high speed encoder, differential GPS 1200 Leica. Main feature of this system regards its high sampling speed allowing to gather a radargram with velocities greater than 50 Km/h. The system is able to acquire up to 100 Km per day of geo-referred radargrams. In order to test the system and the automatic processing routines needed in order to process a huge amount of data, several surveys have been preformed on few roads affected by landslides. The results of the GPR mobile system have been compared and integrated with the outcomes of surveys performed by a GSSI SIR 3000 System with a 400 MHz ground coupled antenna so to achieve information about the section of the road to depths significant for a reliable monitoring and in this work some acquisition examples are described and discussed. Acknowledgements. The research leading to these results has received funding from Provincia di Potenza. Moreover the authors would like to thank Valter Baroncini of Ingegneria dei Sistemi S.p.A for his availability and professionality demonstrated during the preparation of the mobile system.

Applied Geophysics in the world of tomorrow - Microfabrication arrives

NASA Astrophysics Data System (ADS)

Johnson, R. M.

2012-12-01

Instrument manufacturers have a unique perspective on the design and use of geophysical equipment. The field instrument must provide reliable and repeatable performance in every climate condition and environmental extreme. The gear must be easy to use and more importantly easy to understand for non-native English speakers. I have traveled the world installing, repairing, commissioning and demonstrating geophysical survey systems. Everywhere I have traveled there is one unassailable fact - our geophysicist compatriots in developed and developing countries are hungry for information and hungry for technology. They want more and better systems to help improve their understanding of the subsurface. And they want to serve their countries by helping to exploit natural resources. I hold up for your review the first highly successful portable magnetometer, the G-856. Designed in 1981 with over 5000 sold, it is still produced in record numbers today for use all over the world. How could it be that a rather simple device could be so long lived, and make such an impact in exploration programs for 32 years? The answer is in producing reliable and easy to use equipment that is affordable. One might compare it to the iPad or Android device of today. The innovative and no-frills interface has attracted users from all markets including mining, oil/gas, archaeology, environmental, UXO/military and forensics. Powerful ancillary software to process the data has always been included at no charge, offering geoscientists a solution rather than a black box. Many of our technologies are poised for dramatic breakthroughs in miniaturization and interconnectivity. I point specifically to the micro-fabrication of the cesium vapor magnetometer. Initiated 5 years ago in conjunction with NIST, Geometrics has embarked on a high stakes game of minimizing size, weight, power consumption and price while eliminating dead zones and maintaining or increasing sensitivity and sample speed. These new sensors must be deployed in more venues, on new platforms, for more and different applications to pay for the engineering costs of developing nanotechnology. What might those applications be? They may be in medical or defense or security. But one application that is sure to be employed is installing multiple magnetic sensors on robotic platforms, whether they are deployed on airborne, marine or land. UAV, AUV, UUV and even ROV's will be the platforms of the future, enabling robots to gather data and be able to make mid-survey decisions about increased coverage over areas of interest. What should you be studying or teaching to take advantage of these paradigm shifts? The disciplines of this new era of geophysical exploration will be real-time automated potential field data analysis, embedded platform computers for data logging, steering and magnetic compensation. There will be context driven navigation planning required (including altitude) based on target size and distribution. There will be high speed communications over local and distributed networks. In short many of the technologies used today in Wi-Fi, GPS, Wii controllers and Smartphones will be part of the mix.