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Maritime Systems
Overview
Paco Santana
iRobot Proprietary




                              +
NEKTON        RESEARCH, LLC



•Innovative                       • From the Lab into the
•Talented Engineers                 World

•Connected                        • Producibility
                                  • Experience Delivering
                                    Globally
iRobot Proprietary


Maritime Robots
    In the Water:
    • Seaglider


    In Development:
    • Ranger
    • Transphibian
    • Reacquire, Identify, Localize, Swimmer (RILS)
    • Next Generation Torpedo Counter Measures


    In Concept:
    • Air Deployable AUV Platform for Sensors (ADAPS)
iRobot Proprietary


Seaglider


    Highlights:
    • 15,000+ days at sea
    • 70% at 1000m depths
    • NAVO uses 15 Seagliders
    • Exceeds 10 months at sea
    • 5500km Range
iRobot Proprietary


World Record UUV Endurance
                                                                           SG144 – Ocean Station Papa Mission*
                                                                           6/14/2009 – 4/2/2010

                                                                           Dives: 878
                                                                           Duration at Sea: 9.6 months
                                                                           Vertical Distance through Water: 1734 km
                                                                           Horizontal Distance over Ground: 5076 km
                                                                           Horizontal Distance through Water: 6798m
                                                                           Velocities through Water:
                                                                                            Max Horizontal: 39.9 cm/s
                                                                                            Average Horizontal: 21.6 
                                                                                    cm/s
                                                                                            Max Vertical: 9.3 cm/s
                                                                                    Average Vertical: 6.25 cm/s
                                                                           Total Battery Remaining after Mission: 
                                                                           13.6%


                                                                           *Data includes a 1300km transit back to 
                                                                           coastal pickup location.


             SG144 – Entire Ocean Station Papa Mission
             Including a 1300km transect back to coastal pickup location
iRobot Proprietary


Seaglider
                                Specifications:
                                • Body: 1.8m long, 30cm maximum
                                  diameter
                                • Wing span: 1m
                                • Antenna mast length: 1m
                                • Weight: 52kg (dry)
                                • Power: Lithium primaries, 24V
                                  and 10V packs, 17μJ
Guidance and Control:           • Speed: 25cm/s (1/2kt)
• Dead reckoning using 3-axis   • Glide angle: 16-45°
  digital compass
• Kalman filter prediction
• Acoustic altimetry system
• Bathymetry map system
iRobot Proprietary


Seaglider
            Sensors:
            • Conductivity, Temperature &
              Depth
            • Dissolved Oxygen
            • Backscatter/Flourometer
            • Photosynthetically Active
              Radiation (PAR)


            Expanding Capabilities:
            • Acoustic Doppler Current Profiler
            • Acoustic Recorders
            • CO2
            • Hydrocarbon
iRobot Proprietary


Seaglider: Shallow to Deep
iRobot Proprietary


Seaglider
Applications:
   • Physical, chemical, and
     biological oceanography
   • Tactical oceanography and ASW
   • Long-term, long-range maritime
     reconnaissance
   • Communication gateway
   • Navigation aid
   • Weather studies
   • Water quality
   • Environmental evaluations and
     monitoring
iRobot Proprietary

Ranger

   • Low logistics
   • High functioning
   • Compact size
iRobot Proprietary

   Ranger: Modular Architecture




                                     Ranger  General Purpose UUV


                                                                                           Will vary with
                                                                                          mission/
                                                                                          customer.
                                                                                          Standard
                                                                                          backbone
                                                   Standard                                                              Will vary with
Propulsion & Rear Bulkhead                                             Standard                                         mission/
                                                                                                                        customer




                                  Main                                      Payload               Nose & Fwd Bulkhead
                                                 Mid Bulkhead


                                                                                                                                          •Standard Ranger is “A” sized,
                                                                                                                                          4.8” diameter
                                   Batteries
                                                                                      Wifi Card
                                                                                      GPS Module
                                                                                                                                          •Typically less than 40 lbs
                                   Compass
                  Motors                                      Altimeter               Payload Mother
                                   Main Proc (COM
                  Cntrl Surface                               Pwr Switch              Brd w/ Proc
                                   Express)                                                                  Mission
                  Mechanics                                   GigE Ethernet Port      Extended run
                                   GigE Network Switch                                                       Sensors (FL
                  Propeller                                   Visual Indicator        batteries
                                   Motor Cntrller                                                            SONAR, CTD,
                                                              GPS Mast                Mission
                                   Fin Cntrller                                                              Homer, etc )
                                                              Wifi Mast               Sensors
                                   Leak Detector
                                                                                      GigE Network
                                   Depth Sensor
                                                                                      Swtich
iRobot Proprietary

Ranger: Modular Architecture
                                     Main Section                                         Payload Module
 Propulsion Module

                                                                                                               Nose & Fwd Bulkhead




                                                                                                                                     Sensor Config
                                                                        Payload Support Board & Processor
                                                                                                                                        GPS

                                 Standard
                                                                    Research Ranger                                                     RF Comms
                                                                                                                                        Altimeter
                                                                  Batt      Batt    Batt     Batt    Batt    Batt
                                    Depth Sensor                  ery       ery     ery      ery     ery     ery                        Acoustic Modem
                                    Pwr Switch
                                    Watertight
                                    Ethernet Port
                                    Visual
                                    Indicator


                                                                                                                                     Sensor Config
                                                                                                                                        GPS
                                                                        Payload Support Board & Processor
                                 Main Board & Proc                                                                                      RF Comms
    Motor Drvs                                                            Recon Ranger                                                  Altimeter
                                                                                                                                        CTD
                          Batt    Batt                            Batt      Batt    Batt     Batt    Batt    Batt
                          ery     ery                             ery       ery     ery      ery     ery     ery                        Side Scan Sonar
                                                                                                                                        FL Sonar



                                               Standard
             Standard                             Bluetooth
                Motors                            Battery *
                Cntrl Surface                     IMU                                                                                Sensor Config
                Mechanics                         Main Proc                                                                             GPS
                X-fin                             Motor             Payload Support Board & Processor                                   RF Comms
                                                  Cntrller                                                                              Altimeter
                                                  Fin Cntrller            Scan Ranger                                                   Acoustic Modem
                                                  Leak           Batt      Batt    Batt     Batt    Batt    Batt                        CTD
                                                  Detector       ery       ery     ery      ery     ery     ery                         FL/ Microbath
                                                                                                                                        Combo
iRobot Proprietary

Transphibian




     Capabilities:
      • 6 Degrees of Freedom Maneuvering
      • FBN/SLAM Navigation
      • Scalable Design
      • Awkward Payloads
iRobot Proprietary

RILS
Operational Capability
•Transit: >8kts
•Sonar: 450kHz Horizontal Beam 45°
FOV, 100m Range 900kHz Vertical
Beam 45° FOV, 60m Range 5 frame
per second update rate
•Mass: 25kg, single man deployable
•Radio: 2.4GHz, 1km Range, other
radio options are available
•User Interface: Laptop, Dual monitors with BlueView Sonar imagery or
Top side camera video on one monitor. Other monitor displays
overhead view of operations area with vehicle represented at currently
reported GPS coordinates. Vehicle Telemetry - depth, speed, pitch,
roll and magnetic heading is also displayed.
iRobot Proprietary
iRobot Proprietary

Next Generation Countermeasures Mod X

•Sub/ship defense torpedo countermeasures
•Up to 15 kts
•Compatible with 3” signal ejector tube
•High efficiency acoustics projector with towed
hydrophone
iRobot Proprietary

Recap of Maritime Robots
    In the Water:
       • Seaglider
           • Endurance
           • Buoyancy-driven

    In Development:
       • Ranger
           • Compact size
           • Propeller-driven
       • Transphibian
           • 6 degrees of freedom
           • Fin-driven
       • Reacquire, Identify, Localize, Swimmer (RILS)
           • Speed
       • Next Generation Torpedo Counter Measures
           • Deployable wings for lift
iRobot Proprietary


Future Application of These Technologies
iRobot Proprietary


 Challenges with existing AUV CONOPS:
 Littoral Combat Ship (LCS) Notional Mission Cycles – BPAUV example
                                                            Launch                             Post‐Launch
  BPAUV
                        Time (hrs):           6             1   2             12                         8
  (Bluefin 12)


                                      Pre‐Launch                     Sortie Turnaround          Post Mission




                         Manning:          5 ‐ 6            5   6           3 ‐ 5                        4


                                       • Equipment Prep.                • Recovery              • Recovery
Weight: ~750 lbs.                      • Position Vehicle               • Turnaround Vehicle    • Post Mission Ops.
        10’ L x 21” D                  • Launch Prep.                   • Launch
Size:


                                      •About 1/3rd to half of mission energy consumed by
                                      transit to target zone
                                      •29 hours before data is available from mission
                                      inception
                                      •Average of 5 people to man mission
iRobot Proprietary

CNO Guidance for 2011*
Navy will invest in UUV Endurance

“Way Ahead:
   • We will pursue unmanned systems as an integrated part of our
   force, ensuring that the move to ‘unmanned’ truly reduces
   personnel requirements.
   •We will develop a long-endurance, safe power source for UUVs”
                                          *Executing the Maritime Strategy” (1 October 2010 )




“Roughead says he wants to spend about 50% of available UUV research
and development money on improving their endurance. Ultimately he
would like to see 3-4 weeks of endurance and reserve power for some
higher-speed maneuvers and to handle strong underwater currents.”
                                Aviation Week, 8-25-2010: CNO Speaks about Unmanned Vehicles at AUVSI
iRobot Proprietary




Why wait for a breakthrough in battery
endurance to achieve unmanned
underwater goals?
iRobot Proprietary

ADAPS
 Alternative approach to underwater vehicle energy limits
iRobot Proprietary


Future air deployment of AUV’s near targets of interest will
reduce transit time, improves tactical utility and relevance
iRobot Proprietary
Reduced turnaround time on AUV missions is enabled by
new digital data link relays deployed on maritime UAV’s




ADAPS passively loitering on surface to establish data link to relay
collected data and receive commands from remote control site
iRobot Proprietary

ADAPS Concept Illustration

                                                      Antenna for
                                                      communication when
                                                      surfaced

                                             Buoyancy changing
                                             mechanism

                           Wings to supply lift for
                           gliding



  Vectored thruster to
  provide auxiliary or
  primary propulsion and
  heading control
iRobot Proprietary


Sonobuoy support is everywhere in Navy

                              P-3 Orion




            Ship deck
iRobot Proprietary

UUV Sensor platforms


                            Average  Average  Max                               Nominal 
                            Propulsion Loitering  Mission  Max                  Vehicle  Max 
                            energy   energy  duration speed  Nominal            Weight  depth 
 Program      Deployed from (W)        (W)        (hrs)    ( kts ) diameter     in air   (m)
 BPAUV
              LCS Mission                                            53 cm            
                                                                                    363 kg 
              Module               120      50       18      4      ( 21 in)      (799 lbs)       6000
 LBS‐AUV
                                                                     32 cm      240 kg 
              TA‐GS‐60 (NAVO)      42       45       70      5     (12.75 in)  (530 lbs)           600
 MK‐18 
                                                                     19 cm             
                                                                                     44 kg  
 Swordfish
              Small craft, RHIB    35       35       22       5     (7.5 in)       ( 97 lbs)       100
 Sonobuoys
              P‐3, P‐8, MH‐60,                                       12 cm         18 kgs        
              Ships                NA       10       10      NA     (4.8 in)      ( 40 lbs)       100
 ADAPS  (“Air  P‐3, P‐8, MH‐60,                                      12 cm          18 kgs  
 –Ranger”) Firescout, etc          10       4        330     8      (4.8 in)       ( 40 lbs)       200
iRobot Proprietary


Things we miss by using robots…
                    Contact:
                    Paco Santana
                    psantana@irobot.com
iRobot Proprietary


iRobot Maritime Key Partners




                       Applied Physics Lab ‐ UW




                                 Duke University Marine lab

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Maritime Robotics

  • 2. iRobot Proprietary + NEKTON RESEARCH, LLC •Innovative • From the Lab into the •Talented Engineers World •Connected • Producibility • Experience Delivering Globally
  • 3. iRobot Proprietary Maritime Robots In the Water: • Seaglider In Development: • Ranger • Transphibian • Reacquire, Identify, Localize, Swimmer (RILS) • Next Generation Torpedo Counter Measures In Concept: • Air Deployable AUV Platform for Sensors (ADAPS)
  • 4. iRobot Proprietary Seaglider Highlights: • 15,000+ days at sea • 70% at 1000m depths • NAVO uses 15 Seagliders • Exceeds 10 months at sea • 5500km Range
  • 5. iRobot Proprietary World Record UUV Endurance SG144 – Ocean Station Papa Mission* 6/14/2009 – 4/2/2010 Dives: 878 Duration at Sea: 9.6 months Vertical Distance through Water: 1734 km Horizontal Distance over Ground: 5076 km Horizontal Distance through Water: 6798m Velocities through Water: Max Horizontal: 39.9 cm/s Average Horizontal: 21.6  cm/s Max Vertical: 9.3 cm/s Average Vertical: 6.25 cm/s Total Battery Remaining after Mission:  13.6% *Data includes a 1300km transit back to  coastal pickup location. SG144 – Entire Ocean Station Papa Mission Including a 1300km transect back to coastal pickup location
  • 6. iRobot Proprietary Seaglider Specifications: • Body: 1.8m long, 30cm maximum diameter • Wing span: 1m • Antenna mast length: 1m • Weight: 52kg (dry) • Power: Lithium primaries, 24V and 10V packs, 17μJ Guidance and Control: • Speed: 25cm/s (1/2kt) • Dead reckoning using 3-axis • Glide angle: 16-45° digital compass • Kalman filter prediction • Acoustic altimetry system • Bathymetry map system
  • 7. iRobot Proprietary Seaglider Sensors: • Conductivity, Temperature & Depth • Dissolved Oxygen • Backscatter/Flourometer • Photosynthetically Active Radiation (PAR) Expanding Capabilities: • Acoustic Doppler Current Profiler • Acoustic Recorders • CO2 • Hydrocarbon
  • 9. iRobot Proprietary Seaglider Applications: • Physical, chemical, and biological oceanography • Tactical oceanography and ASW • Long-term, long-range maritime reconnaissance • Communication gateway • Navigation aid • Weather studies • Water quality • Environmental evaluations and monitoring
  • 10. iRobot Proprietary Ranger • Low logistics • High functioning • Compact size
  • 11. iRobot Proprietary Ranger: Modular Architecture Ranger  General Purpose UUV Will vary with mission/ customer. Standard backbone Standard Will vary with Propulsion & Rear Bulkhead Standard mission/ customer Main Payload Nose & Fwd Bulkhead Mid Bulkhead •Standard Ranger is “A” sized, 4.8” diameter Batteries Wifi Card GPS Module •Typically less than 40 lbs Compass Motors Altimeter Payload Mother Main Proc (COM Cntrl Surface Pwr Switch Brd w/ Proc Express) Mission Mechanics GigE Ethernet Port Extended run GigE Network Switch Sensors (FL Propeller Visual Indicator batteries Motor Cntrller SONAR, CTD, GPS Mast Mission Fin Cntrller Homer, etc ) Wifi Mast Sensors Leak Detector GigE Network Depth Sensor Swtich
  • 12. iRobot Proprietary Ranger: Modular Architecture Main Section Payload Module Propulsion Module Nose & Fwd Bulkhead Sensor Config Payload Support Board & Processor GPS Standard Research Ranger RF Comms Altimeter Batt Batt Batt Batt Batt Batt Depth Sensor ery ery ery ery ery ery Acoustic Modem Pwr Switch Watertight Ethernet Port Visual Indicator Sensor Config GPS Payload Support Board & Processor Main Board & Proc RF Comms Motor Drvs Recon Ranger Altimeter CTD Batt Batt Batt Batt Batt Batt Batt Batt ery ery ery ery ery ery ery ery Side Scan Sonar FL Sonar Standard Standard Bluetooth Motors Battery * Cntrl Surface IMU Sensor Config Mechanics Main Proc GPS X-fin Motor Payload Support Board & Processor RF Comms Cntrller Altimeter Fin Cntrller Scan Ranger Acoustic Modem Leak Batt Batt Batt Batt Batt Batt CTD Detector ery ery ery ery ery ery FL/ Microbath Combo
  • 13. iRobot Proprietary Transphibian Capabilities: • 6 Degrees of Freedom Maneuvering • FBN/SLAM Navigation • Scalable Design • Awkward Payloads
  • 14. iRobot Proprietary RILS Operational Capability •Transit: >8kts •Sonar: 450kHz Horizontal Beam 45° FOV, 100m Range 900kHz Vertical Beam 45° FOV, 60m Range 5 frame per second update rate •Mass: 25kg, single man deployable •Radio: 2.4GHz, 1km Range, other radio options are available •User Interface: Laptop, Dual monitors with BlueView Sonar imagery or Top side camera video on one monitor. Other monitor displays overhead view of operations area with vehicle represented at currently reported GPS coordinates. Vehicle Telemetry - depth, speed, pitch, roll and magnetic heading is also displayed.
  • 16. iRobot Proprietary Next Generation Countermeasures Mod X •Sub/ship defense torpedo countermeasures •Up to 15 kts •Compatible with 3” signal ejector tube •High efficiency acoustics projector with towed hydrophone
  • 17. iRobot Proprietary Recap of Maritime Robots In the Water: • Seaglider • Endurance • Buoyancy-driven In Development: • Ranger • Compact size • Propeller-driven • Transphibian • 6 degrees of freedom • Fin-driven • Reacquire, Identify, Localize, Swimmer (RILS) • Speed • Next Generation Torpedo Counter Measures • Deployable wings for lift
  • 18. iRobot Proprietary Future Application of These Technologies
  • 19. iRobot Proprietary Challenges with existing AUV CONOPS: Littoral Combat Ship (LCS) Notional Mission Cycles – BPAUV example Launch Post‐Launch BPAUV Time (hrs): 6 1 2 12 8 (Bluefin 12) Pre‐Launch Sortie Turnaround Post Mission Manning: 5 ‐ 6 5 6 3 ‐ 5 4 • Equipment Prep. • Recovery • Recovery Weight: ~750 lbs. • Position Vehicle • Turnaround Vehicle • Post Mission Ops. 10’ L x 21” D • Launch Prep. • Launch Size: •About 1/3rd to half of mission energy consumed by transit to target zone •29 hours before data is available from mission inception •Average of 5 people to man mission
  • 20. iRobot Proprietary CNO Guidance for 2011* Navy will invest in UUV Endurance “Way Ahead: • We will pursue unmanned systems as an integrated part of our force, ensuring that the move to ‘unmanned’ truly reduces personnel requirements. •We will develop a long-endurance, safe power source for UUVs” *Executing the Maritime Strategy” (1 October 2010 ) “Roughead says he wants to spend about 50% of available UUV research and development money on improving their endurance. Ultimately he would like to see 3-4 weeks of endurance and reserve power for some higher-speed maneuvers and to handle strong underwater currents.” Aviation Week, 8-25-2010: CNO Speaks about Unmanned Vehicles at AUVSI
  • 21. iRobot Proprietary Why wait for a breakthrough in battery endurance to achieve unmanned underwater goals?
  • 22. iRobot Proprietary ADAPS Alternative approach to underwater vehicle energy limits
  • 23. iRobot Proprietary Future air deployment of AUV’s near targets of interest will reduce transit time, improves tactical utility and relevance
  • 24. iRobot Proprietary Reduced turnaround time on AUV missions is enabled by new digital data link relays deployed on maritime UAV’s ADAPS passively loitering on surface to establish data link to relay collected data and receive commands from remote control site
  • 25. iRobot Proprietary ADAPS Concept Illustration Antenna for communication when surfaced Buoyancy changing mechanism Wings to supply lift for gliding Vectored thruster to provide auxiliary or primary propulsion and heading control
  • 26. iRobot Proprietary Sonobuoy support is everywhere in Navy P-3 Orion Ship deck
  • 27. iRobot Proprietary UUV Sensor platforms Average  Average  Max  Nominal  Propulsion Loitering  Mission  Max  Vehicle  Max  energy   energy  duration speed  Nominal  Weight  depth  Program Deployed from (W) (W) (hrs) ( kts ) diameter in air (m) BPAUV LCS Mission  53 cm             363 kg  Module 120 50 18 4 ( 21 in) (799 lbs) 6000 LBS‐AUV 32 cm  240 kg  TA‐GS‐60 (NAVO) 42 45 70 5 (12.75 in)  (530 lbs) 600 MK‐18  19 cm              44 kg   Swordfish Small craft, RHIB 35 35 22 5 (7.5 in) ( 97 lbs) 100 Sonobuoys P‐3, P‐8, MH‐60,  12 cm         18 kgs         Ships NA 10 10 NA (4.8 in) ( 40 lbs) 100 ADAPS  (“Air  P‐3, P‐8, MH‐60,  12 cm          18 kgs   –Ranger”) Firescout, etc 10 4 330 8 (4.8 in) ( 40 lbs) 200
  • 28. iRobot Proprietary Things we miss by using robots… Contact: Paco Santana psantana@irobot.com
  • 29. iRobot Proprietary iRobot Maritime Key Partners Applied Physics Lab ‐ UW Duke University Marine lab