VEHICLE CONTROL TECHNOLOGIES

Transcription

1 VEHICLE CONTROL TECHNOLOGIES

2 PTB TECHNOLOGIES AND PRODUCTS HarborScan AUV UDS MISSION Long known for its hydrodynamic maneuvering simulations and undersea control systems, VCT is now delivering turnkey UUVs, Gliders, Powered Tow Bodies (PTB), and towed sonar vehicles. Drawing upon its design and simulation experience with over 360 vehicles, VCT is currently producing a series of modular UUVs. Standardized electronic and mechanical components as well as open-architecture core software make these modular vehicles exceptionally reliable and inexpensive to maintain. VCT s advantage in the vehicle marketplace is that it incorporates its high-fidelity physicsbased M&S capabilities throughout the design, fabrication and testing phases. This allows VCT to design in an environment rich in numerical and graphical analysis using highproductivity design tools. It also stimulates innovation, enlists cooperation within design teams, finds errors early in the vehicle development cycle, and lowers risk by conducting Hydro/Control simulations before hardware is finalized. VCT s design approach supports DDR&E s System 2020 vision: Application of modeling and simulation throughout the development process fosters more effective concept engineering and concurrent design, development, manufacturing, deployment and evolution. Hydro Modeling & Simulation Validated simulation for both undersea and air vehicles Software Flexible open-architecture software ASTM F-41 Architecture, SAE AS-4 JAUS messaging 95% of VCT core software is common across all vehicles Vehicle-specific parameters are in a separate.ini input file Hardware/Underwater Vehicles Enhances the design of vehicle shapes, towed systems and vehicle controllers Certification hours accumulate with each new vehicle Standard Linux operating system with 2.6 kernel 16 new vehicles have been designed in the past 10 years The hydrodynamic, control and software simulation capability enables VCT to design and fabricate underwater vehicles that are more reliable, with modular hardware, field-replaceable components, and an affordable upgrade path for new missions. Standardizing key components across vehicle sizes and types enables rapid development cycles.

3 POWERED TOW BODY PTB at 4 Levels of Thrust VCT has designed its Powered Tow Body (PTB) for mine hunting, oceanographic, ISR and ASW missions. The PTB is a towed UUV with propulsion applied from both the towing craft and the on-board UUV s propulsion. By varying the UUV thrust, a loop is formed in the cable, which reduces tow craft-induced motions by 80%. Permits Synthetic Aperture Sonar (SAS) operation in sea state from an 11 meter RHIB Power sharing with the host vehicle increases mission endurance significantly Provides increased power for payloads Relays real-time data back to host ship PTB System Specs Diameter 12.75" Length 87"- 140" Weight 280 lbs Depth 1000 ft Max Speed UUV Kts PTB 7 Kts Propulsion 1.8 kw IMU HG-1700/3DM-GX1 Tracking USBL, Emergency Pinger Depth and Altitude Sensors Launch & Recovery Lightweight integrated LARS with Universal Docking System (UDS) for UUV, Glider and PTB launch and recovery UUV Conversion PTB becomes a UUV in 30-minute changeover on deck PTB is an ideal low-risk test bed for UUV subsystem development

4 HARBORSCAN VEHICLE COMMAND & CONTROL AND AUTOPILOT SYSTEMS Pier Scan Two-Man Launch Designed for harbor operations, the HarborScan is an integrated product from VCT and L3-Klein for ultra high-resolution underwater inspection and bottom survey. A two-man portable unmanned underwater vehicle (UUV), it fits in a pick-up truck or van and can be on station in minutes collecting photo-quality sidescan sonar images. All moving parts are fieldswappable for maintainability, and the open software interface makes customization simple. HarborScan System Specs Diameter 7.5" Length 98.5" Weight in Air 116 lbs Depth 1000 ft (300 meters) Max Speed 5 Kts Tracking USBL, Emergency Pinger Energy 1,140 Whrs rechargeable and replaceable batteries Navigation GPS, Teledyne DVL, Kearfott INS Imaging L3-Klein dual-frequency sonar Communications Wi-Fi, Acoustic Modem, Iridium Satellite Modem VCT s vehicle software architecture is based on the ASTM F-41 international standard. It is open, object-oriented, scalable and applicable across all of the vehicles of interest in this community. The same VCT software is currently being used in 16 different UUVs, gliders, and towed vehicles. Flight hours from any vehicle using VCT s vehicle software translate to increased reliability and robustness across all vehicles. In order to facilitate the use of VCT s software on many different vehicles, key aspects of the software such as autopilot, device, and vehicle controller configuration are stored in configuration files, not hard-coded in the source. Integration of new sensors, autonomy modules, and command and control is facilitated by the object-oriented design of the vehicle software and its adherence to the ASTM F-41 architecture. Software robustness and reliability are assured through well-defined software development processes and thorough testing. Software testing includes both automated and manual testing at all scales, from unit testing to full vehicle SITL, PITL, and HITL testing. VCT engineers combine aero/hydrodynamic engineering and software design work into a single, seamless process. VCT software development utilizes the latest compilers, configuration management, issue tracking, and continuous integration software.

5 VCT VEHICLE COMPONENTS VCT E-1 PC-104 Stack Contains all vehicle control electronics: CPU, Serial-12, IMU, Environmental, Remote Admin, Power, Power Distribution (2) VCT Universal Tailcone Contains all vehicle moving parts: Actuators, shaft and bearings, propeller, motor, motor controller VCT has developed its line of underwater vehicles in a modular fashion that allows them to be configured as a UUV, glider or towed vehicle. Standardizing key components across vehicle diameter and functions enables rapid development cycles and makes vehicles easy to maintain. Launch and Recovery System (LARS) VCT s lightweight LARS for 12 3/4" UUV/PTB as well as a hybrid LARS for either a 12 3/4" or 21" UUV/PTB have been in service at VCT for the past 18 months. Universal Docking System (UDS) Docking of the UUV with the LARS is a key component of automated recovery. VCT has developed the Universal Docking System (UDS), a towed system that enables the autonomous underwater capture of a UUV. The UDS has been demonstrated on a 12 ¾ UUV. Smart Winch A component of the PTB motion-reduction approach, the Smart Winch provides additional motion compensation topside and has a controller that communicates with other vehicles or systems on the network. This allows PTB-related autonomy software to control the surface craft, winch, and the PTB vehicle in support of completely autonomous UUV/PTB missions. UUV-PTB-Glider Hybrid Vehicle VCT s UUV is available in diameters from 6.5" to 15" and a wide range of vehicle lengths. The same standardized hardware and software is used for all vehicle sizes. When the buoyancy engine is added to the UUV, it can operate as a UUV and a glider on the same mission. Changing out the nose section converts the UUV to a powered tow body (PTB). Operator Console The operator console (OC) is used to communicate with all the vehicles. The OC provides an interface through which the status and health of all systems can be monitored. In the context of an UUV, the OC is used to update mission plans prior to launch as well as track its position relative to the surface craft and UDS during the recovery phase. For a towed vehicle or PTB, the OC enables the operator to monitor vehicle health and status at all times and to continuously monitor vehicle and control system outputs (pitch, roll, heading, fin deflections, RPM, etc.) ONGOING S&T DEVELOPMENTS VCT s physics-based modeling and simulation capabilities, its vehicle control expertise, modular software and autopilot capabilities, along with its modular hardware uniquely positions it to develop an integrated autonomy system for USV/UUV/PTB applications. Progress to date includes: Unmanned Surface Vehicle (USV) VCT s 36 ft RV has been outfitted with an all-digital control system for propulsion rpm and rudder control and is ready for integration of the PTB, LARS, and Smart Winch software for a completely autonomous mission capability.

6 Surface Craft UDS Docking With UUV LARS with UUV COMPANY HISTORY Founded in 1993 by Dr. Douglas Humphreys and Mr. Kenneth W. Watkinson, Vehicle Control Technologies, Inc. (VCT) is a valued member of vehicle design teams at Navy shipbuilders, weapon system prime contractors and Navy laboratories. The VCT team continues a commitment to excellence and service spanning more than 40 years 30 years in private industry (Titan Research & Technologies) and 10 in the Navy laboratory system. VCT is a small business, having started as a transition of personnel and technology from the ARAP group of Titan Research and Technologies. MANAGEMENT TEAM Dr. Humphreys has performed design studies covering concept formulation, feasibility analyses, preliminary design, detailed design and experimental validation on a wide variety of undersea vehicle systems including AQS-20 Towed Sonar Vehicle and Mk 30 Target Vehicle. 80% of those applications have been for vehicles with unique or novel geometries, where no previous experimental data were available. He has conducted the design or analysis of over 360 underwater and air vehicles, and he has authored more than 200 technical reports. HarborScan AUV Dr. Douglas E. Humphreys, President Dr. Humphreys is a senior consultant to both industry and government agencies, primarily on U.S. Navy research projects in dynamics and control, simulation, and design of both hydrodynamic and aerodynamic vehicles. He has conducted research, design and analysis of the dynamics and control of numerous underwater vehicles, performing studies and simulations on the four newest U.S. fleet submarines and control surface design concepts for the SSN 21 and the new Virginia class. Dr. Thomas F. Tureaud, Vice President Since 1994, he has been a Senior Design Engineer at Vehicle Control Technologies, Inc. Dr. Tureaud manages the underwater development group that includes four Mechanical Engineers and four Electrical Engineers. At VCT, he has been involved with over 30 designs for underwater systems. These include an UXO underwater search vehicle; the AQS20 towed system, an automated docking and launch and recovery system, and several UUV and towed vehicles. He is partner on two patents and currently has several patents pending.

7 VEHICLE CONTROL TECHNOLOGIES