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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).

MANO: Payload Package

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• Camera and Lights– Still looking for the perfect

camera– Any suggestions?

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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 Node Recoverable 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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The End

http://lacir.uvic.ca/ocean