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Systems Engineering Of A Survey Class AUV
Fakhri H. Alibrahim, Hamza Al-Meshal, Jeffrey Donovan, Olayinka Badejo, Perri
Quattrociocchi, William Cole
SYS 5310: Principles of Systems EngineeringFall 2011
Topics CoveredIntroduction to AUV’sAUV PurposesIndividual SubsystemsSystems Engineering Overview
Functional Flow Block DiagramsHouse of QualityProduct LifecycleCost Benefit Analysis (TBD)
Conclusion
AUV PurposesCommercial
Inshore and Offshore SurveyingSearch and Recovery
ScientificOceanographic ResearchEnvironmental Protection and Monitoring
DefenseSecurity of Ports and HarborsShip Hull InspectionMine DetectionAnti-Submarine Warfare
Bluefin Subsystems Electrical/Power
SystemsNavigation Systems
Computer/Autonomy Systems
Propulsion SystemsHull/Infrastructure
System Sensors/
Instrumentation Systems
Bluefin Power System Reduces the number and magnitude of disadvantages,
and Maximizes energy density (thru use of Li-Poly chemistry)Fully submersible-withstanding deep underwater
pressure.Swappable-allows quick replacement-> Reduce turnaround
time.Rechargeable – Can be
recharged in six hours.Must survive harsh
conditions; numerous dives, charge cycles, and on-deck conditions).
Navigation Systems Compass Based: AUV navigates through dead-reckoning while
submerged and obtains GPS fixes upon occasional surfacingInertial: INS acquires data from the other aiding sensors and
provides an integrated solution that takes advantage of the best characteristics of each sensor
Deep-water USBL/INS: Topside USBL system calculates absolute position by sending and receiving an acoustic signal to and from the AUV. Vehicle position is transmitted via acoustic communications. Vehicle navigates by dead reckoning using its INS and USBL updates
Hull Relative: HAUV navigates w.r.t. ship hull by using a DVL pointed normal to the hull and dead reckoning across and along it
Operator Software
Mission Planner Dash Board Lantern
Mission Plannin
g
Verification
Vehicle Testing
Checkout
Mission Monitorin
g
Display
Analysis
Reporting
Design Criteria for Propulsion SystemDucted Propeller
Gimbaled thruster
Max speed of 4.5 knots
Tailcone acts as a rudder and an elevator
Torque Nuetral
Electronics integrated directly into the tailcone module.
Modular (easily replaceable)
Free-Flooded Modularity Hull Optimization The hull of the Bluefin is “Free-flooding”Each subsystem is contained in a modular watertight unit.The modularity in Bluefin allows for easy maintenance. These modules are connected by wet cables inside an
ABS plastic vessel.
Sensors/Instrumentation SystemsImaging SystemsSide scan sonar (SSS)Synthetic aperture sonar (SAS)Multibeam echosounders (MBES)Imaging sonarSub-Bottom Profiler (SBP)Video CameraStill CameraScientific SensorsCTD, CT sensorFluorometerTurbidity sensorSound velocity sensorBeam attenuation meterScattering meterTransmissometerMagnetometer
Navigation Sensors USBL system LBL system Doppler Velocity Logger (DVL) Altimeter Pressure sensor Inertial Navigation Sensor (INS) Inertial Measurement Unit (IMU) Acoustic tracking transponder Compass GPS (SAASM, P-code, L-band)Communication Equipment Acoustic modem RF modem Wi-Fi Iridium
Systems Engineering OverviewThe integrated systems must be broken down into
subsystemsHelps to ensure safety and quality goals are metAllows specific engineering groups as specialists
Additionally, the goals must be broken down into smaller goals as well as customer goals and needs
Several SE methods can be used to help:Vee-model, FFBD, Product Lifecycle/Maintenance
Concept, and Mission Overview: isolate subsystems, define system needs
House of Quality: defines customer wants/needs
Vee-Model: ExpandedDue the large percent of customer
involvement, the technical requirements must be formulated:
House of Quality
Mission Overview:UAV
Mission Overview:AUV
Product Lifecycle
Maintenance Concept
Levels of Maintenance
Functional Flow Block Diagram
Data Flow
ConclusionAUV systems are becoming more and more popular in
the commercial, scientific and defense communitiesCustomers have a high level of influence over designBy using House of Quality (QFD) it became much
simpler to identify the customers needs, in each component of the AUV.
In doing a Life Cycle analysis, we learn about maintenance schedules, and can plan ahead for future projects.
By analyzing the FFBD’s we learned how to increase efficiency during operation.
This complexity is best approached through system engineering, much like with UAVs
Any Questions?
References1. Bildberg, D. Richard, 2005, Solar Powered Autonomous Undersea Vehicles, Lee, New Hamphsire, Autonomous
Undersea Systems Institute, http://ausi.org/publications/SeaTechSolar.pdf
2. Jarasch, G. and Schulte, A. 2008. Satisfying Integrity Requirements for Highly Automated UAV Systems by a Systems Engineering Approach to Cognitive Automation. IEEE 27th Digital Avionics Systems Conference
3. Navy Air Military, Nov 2009, Maintenance Concepts Programs and Processes, http://www.navair.navy.mil/logistics/4790/library/Chapter%2003.pdf
4. http://auvlab.mit.edu/history.html
5. www.bluefinrobotics.com
6. www.mbari.org
7. http://202.114.89.60/resource/pdf/2175.pdf
8. http://www.fiberglassafi.com/fiberglass-benefits.htm
9. ING Engineering: www.ingengineering.com 10. Soundoceans.com 11. http://www.hydro-international.com/productsurvey/compare.php