1 MANO: An AUV for Engineering and Science Research Alison Proctor.
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MANO: An AUV for MANO: An AUV for Engineering and Engineering and Science ResearchScience Research
Alison ProctorAlison Proctor
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Who We AreOcean Technology Lab (OTL)• Previous OTL Projects:
– MACO Hybrid Autonomous Underwater Vehicle.
– Undersea Window – High Definition Camera Platform.
– Underwater Acoustic Ranging System.
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Who We AreOcean Technology Lab (OTL)• Current Projects:
– Ocean Technology Test Bed (OTTB)
– MANO Autonomous Underwater Vehicle
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• Mission Statement– To acquire a commercially available “off-the-shelf” AUV which
can be used by academia and industry to develop and test new AUV products and develop new operational protocols which can expand the use of AUVs for science, security, and industrial purposes.
• Source of Funding– Western Economic Diversification Canada
• Matching Funds– Canadian Foundation for Innovation– British Columbia Knowledge Development Fund– Ping Digital Signal Processing Ltd.
MANO Project Overview
• Torpedo style Autonomous Underwater Vehicle– Free flooded hull– Flexible payload configuration and software interface
MANO: Vehicle Description
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Description Value (Imperial) Value (metric)Vehicle Dimensions
Hull Diameter 12.75In 0.32mLength 148.5In 3.77m
Displacement * Weight in Air 450Lbs 204.12kgBuoyancy 7.5Lbs 3.40kg
Maneuvering Speed Range 0.5-5.0kts 0.25-2.5m/sDVL range for bottom lock 656.17ft 200mOperation Depth Rating 656.17ft 200m
Energy and Endurance Capacity 4.5kWh Endurance * 19.50hrs @3kts with full payload
* approximate - value depends on payload configuration
MANO: Payload Package
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• AML Oceanographic Micro CTD (Conductivity, Temperature, and Depth)– Standard data required for
most science missions– High speed sampling rates and
rapid response times give high resolution data in high speed conditions
• Xchange sensors - field swappable sensors– Only need to send the sensor back for recalibration not the entire
instrument.– Multiple sensors means no down time– Ability to change the instrument range on the fly
• Custom MANO enclosure– Allows the pressure housing to be mounted inside the vehicle with
only the sensor heads exposed to the flow.
MANO: Payload Package
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• Rockland Scientific MicroRider– Turbulence sensor for profiling
ocean microstructure– Equipped with:
• 2 microstructure turbulence shear probes;
• 2 microstructure fast thermistors;
• 1 High resolution pressure sensor;
• 1 Three-axis, high-accuracy accelerometers for measurement instrument attitude and vibration
• Effectively being used on gliders already
• MANO will provide a platform for examining methods of integrating this instrument into AUVs
MANO: Payload Package
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• JFE Alec Electronics - Rinko Fast Response Oxygen Sensor – Optical DO sensor – Response time <1 second– Small package (15.7cm long x
5.4cm diameter)– Other commercial oxygen
sensors have response times of 15-30 seconds. Not appropriate for sensing from an AUV
•
MANO: Payload Package
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• Wet Labs ECO Puck– Combo Fluorometer-Turbidity
Sensor – Measures chlorophyll-a and
turbidity.– Very small size (5.0 cm x 6.3
cm diameter)
MANO: Payload Package
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• Ping Digital Signal Processing– Prototype Forward Looking
Imaging Sonar System. High resolution imaging for:
• mapping, • classification, • object identification, • obstacle avoidance • and in-situ path planning
– Prototype Side Scan Sonar System. High resolution side scan imaging for:
• Bathymetric mapping, • Cataloging and
classification, • and, ultimately, synthetic
aperture sonar (SAS).
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• Primary Electronics Enclosure– Power electronics– Networking electronics– Data management computer and central storage– Computer for developing experimental guidance and navigation
algorithms– Computer for developing experimental analysis software for
sonars– GPS– TSR-100 Motion Reference Unit from Think Sensor Research
• GPS and MRU are redundant sensors that enable future research.
MANO: Payload Package
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OTTB: Overview
~1km
~1km
IAS Towers x 5
Service BuoyVENUS NodeRecoverable
Platform
• Ocean Technology Test Bed (OTTB) – is an underwater laboratory for developing and testing new underwater sensors and vehicle technology.
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• Wireless Network– Coverage over entire operating
area with 15Mbps bandwidth– Operators in the boat are in
continuous communication with the underwater instruments
• On-site ROV• Differential GPS Positioning for
surface vehicles– +/-2cm accuracy– positions integrated into OTTB
tracking system
OTTB Network & Surface Segment
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The easy of deployment and remote monitoring system makethe OTTB an ideal place for both short and long termresearch and technology development projects.
• Basic Ocean Technology: AUV and ROV control, acoustic tracking and communications.
• Oilfield: Monitoring subsea equipment and instrumentation, surveys.
• Port Security: object location and identification.• Ocean Science: cabled ocean observatories, sea floor
mapping, ocean chemistry and biology.• Military Applications: mine detection, surveillance
OTTB Application Areas
MANO & OTTB: Big Picture
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• Combining the MANO and the OTTB– Enable precision tracking inside the OTTB arena which can lead
to new types of science missions– OTTB can provide “truth” data for AUV when developing new
guidance and navigation technologies.– OTTB can facilitate the calibration and verification of sonar
imaging systems.– OTTB is an easily accessible training ground for proving out any
new AUV technology
Summary
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• The OTL will be acquiring a new Bluefin-12 AUV in 2010
• Already, we have 5 different “first time” instruments which will be tested and potentially released into the market as commercial AUV products.
• Ultimately, MANO will leverage the Ocean Technology Test Bed (OTTB), which is currently under construction, to become a full service AUV test platform
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