PS1 Project Report -NIO

8/7/2019 PS1 Project Report -NIO

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A REPORT

ON

Autonomous Underwater Vehiclesclassification and

commercial aspects with special focus on MAYA

BY

ID NO. Name of Student

1. 2004A8PS068 Utpal Mahanta

2. 2004A6PS581 Jaspreet Kaur

3. 2004P8PS003 Dhamankar Manish Suhas

At

National Institute of Oceanography

A Practice SchoolI Station of

BIRLA INSTITUTE OF TECHNOLOGY AND SCIENCE

July, 2006


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A REPORT

ON

Autonomous Underwater Vehiclesclassification and


BY

ID No./Name(s)/Discipline(s) of the Students:

1.2004P8PS003 Dhamankar Manish Suhas BE (Hons.) Electronics andInstrumentation

2.2004A6PS581 Jaspreet Kaur Master Of Management Studies3. 2004A8PS068 Utpal Mahanta BE (Hons.) Electronics and Instrumentation

Prepared in the partial fulfillment of the

Practice SchoolI Course

AT

National Institute of Oceanography

A Practice SchoolI Station of


July 2006


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Acknowledgements

We are greatly indebted to Dr. S. Shetye, Director, National Institute of Oceanography

(NIO), Goa, India for giving us the chance carry out our Practice School I program here

at NIO.

We would also like to thank Dr. L. K. Maheshwari, Director and Pro-Vice Chancellor,

BITS-Pilani for providing us with the platform of Practice School I and for facilitating

our precious exposure to NIO.

We would like to thank our project instructor, Mr. Sanjeev Afzulpurkar, scientist in the

Geological Oceanographic Department, NIO for his priceless advice and guidance

throughout the course of the project. He was there to help us out, whenever we found

ourselves amidst some difficulty. Thank you Sir.

Also we are grateful to Dr. Virupaxa K. Banakar for coordinating our work from time to

time and most of all, for appointing us under such a relevant and interesting project.

Also, we take this opportunity to thank our instructor Dr. Raghunath Behera who was

always there to guide us and share his experience and give us vital tips.We would also like to thank all the employees of NIO who directly or indirectly

contributed in the completion of this project


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PILANI (RAJASTHAN)

Practice School Division

Station: National Institute of Oceanography Centre: Goa

Duration: 53 days Date of Start: 24th

May 2006

Date of submission: 11th

July 2006

Title of the Project: Autonomous Underwater Vehicles-classification and


ID No./Name(s)/Discipline(s) of the Students:

1. 2004P8PS003 Dhamankar Manish Suhas BE(Hons.) Electronics andInstrumentation

2.

2004A6PS581 Jaspreet Kaur Master Of Management Studies

3. 2004A8PS068 Utpal Mahanta BE(Hons.) Electronics and Instrumentation

Name of the PS faculty: Dr. Raghunath Behera

Name Of the supervisor: Mr. Sanjeev Afzulpurkar


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ABSTRACT

The aim of the report is to scrutinize the various types of AUVs of the world, to classify

these on the basis of design specifications and to examine the worldwide applications of

AUVs. The report also covers the comparison of MAYA (AUV designed by NIO,

INDIA) with other AUVs and last section of report emphasizes on the commercial

aspects of AUVs.

Signature(s) of the Student(s) Signature of the PS faculty

Date: Date:


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Table of Contents

Topic Page No.

INTRODUCTION. 6

1. What is AUV?................................................................................................ 8

2. Design Specifications. 92.1 The Head section... 10

2.2 The Mid section. 10

2.3 The Tail section. 11

3. Classification.. 11

3.1 Size (Length). 14

3.2 Depth. 15

3.3 Endurance.. 16

3.4 Average Speed.. 17

4. Applications of AUV. 18

4.1 Offshore surveys... 18

4.1.1 Oil and Natural gas. 18

4.1.2 Telecommunications.. 19

4.1.3 Minerals and Mining.. 19

4.2 Military Applications. 19

4.2.1 Defensive Role .. 20

4.2.2 Offensive Role... 21

4.3 Scientific Uses... 225. What is the Market?..................................................................................... 23

5.1 Commercial.. 23

5.2 Scientific... 24

5.3 Military. 24

5.4 Presently operating AUVs 25

5.4.1 Maridan. 25

5.4.2 Hugin. 26

5.4.3 Aqua Explorer... 27

5.4.4 The other commercial players... 27

6. Cost comparison of MAYA with other AUVs... 28

7. Conclusion. 31

Figures List... 32

Tables List. 33

References. 34

Appendix... 35


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INTRODUCTION

Autonomous Underwater Vehicles (AUVs) have kept researchers occupied since the

early 60s. But in the last decade this field has gained lot of importance and has been on

the top of most developed countries research project lists. This has been mainly due to

the increased need for underwater applications and the cost effective means for these

operations provided by AUVs.

In this report we have studied the various AUVs, commercial as well as those undergoing

development (for e.g. MAYA); that have been developed in the recent past, and have

analyzed them on the basis of various criteria. Finally we have also studied the potential

market for AUVs and the avenues for commercializing them.

We have started our report with a brief introduction of AUVs, their concept, history and

principle. One of the main aspects of our project was to study the various AUVs and

classify them. The problem here was to set aside some concrete criteria for classification.

For simplicity therefore, in design specifications we have explained the basic parts of an

AUV, construction and components in various parts.

After laying the basic foundation of the project we commence with the first of our twotasks- to classify the AUVs on the basis of criteria like size, depth rating, endurance,

speed and the like. The main problem faced here was data collection. There are so many

AUVs being developed in the world, it is impracticable to account for each one. For

convenience, we short-listed, some of the more established and commercially available

AUVs for our survey. Initially data was collected from magazines like Sea Technology

etc. and the minute details were then collected from the Internet. We have also attempted

a brief yet not comprehensive classification on the type of power supply used. One

question that may arise is why we havent considered payload as a criterion. It was

unanimously decided to drop that idea because the payload for the same AUV can be

differed according to the needs of the customer.

Once a database of the various AUVs under different categories was ready, we listed

some of the tried and tested as well as proposed applications of these sea robots, as they


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are also called. It should be noted that time and again the focus has been on MAYA and

special analysis has been done for our own AUV under each chapter.

Then we moved on to the more challenging tasks of analyzing the potential market for

AUVs. Since this technology has not yet been used commercially in India, our statistics

and figures are mostly of the AUVs used by the developed countries. Yet we managed to

conduct a break-even analysis of the operational cost of MARIDAN600 and MAYA

based on the proposed figured for MAYA. And the results although not accurate, are

quite encouraging. It would be worth mentioning here that we tried contacting the

MARIDAN website for more details but they were unavailable for comment. This report

will greatly help someone who wants to decide upon the viability of a particular AUV for

given operational conditions.


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1. What is AUV?AUV stands for Autonomous Underwater Vehicle. They can be defined as free-

swimming marine robots used as mobile platforms to collect data and explore the ocean

on programmed mission tracks. The term UUV or Untethered Underwater Vehicle is also

used.In the past 30 years, nearly 200 AUVs have been built. Most of these systems havebeen experimental. However, they have achieved impressive results and this record of

success is creating a demand for their use in operational settings.

The AUVs purpose is to carry a payload. The specific composition of the payload will

be determined by the mission of the vehicle but can include instrumentation to measure

ocean water characteristics, map the seabed or inspect subsea installations such as

pipelines. In addition to gathering data, AUVs can be used to lay underwater cable or to

deliver equipment to remote destinations.

The AUV resembles a torpedo in many respects (see Fig. 1). It contains a propulsion

system consisting of one or two thrusters, control surfaces,

which act like wings to control the vehicles attitude, a

pressure hull to contain electronics and power, and a

streamlined fairing to reduce hydrodynamic drag. The

vehicle is self-sufficient. This means that it carries its ownenergy source and is programmed with a set of instructions

that enable it to carry out an underwater mission without

assistance from an operator on the surface. Included in

these instructions is information necessary for guidance and

navigation between pre-determined geographic positions,

procedures to avoid obstacles, and actions to be taken in

case of equipment breakdown. Procedures for the operation

of the payload devices are also provided.

But AUVs shouldnt be confused with submersibles and remotely operated

vehicles(ROV). The submersible is a small submarine. Unlike the AUV, it has a crew to

operate it and it usually carries one or two observers who fulfill mission tasks. It is self

sufficient, and carries its own energy source as well as the life support equipment for the

Figure1.The torpedo

shape of an AUV


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crew. Like the AUV, the ROV is unmanned but a cable links it to a remote control

console on the surface. Both electric power and control commands are sent down this

cable (sometimes called an umbilical), and data from the vehicles television cameras and

sonars is sent up the cable. As compared to ROVs and submersibles, AUVs are moderate

in cost because they do not require any tethers or cables and any life support system as in

submersibles.

2. Design Specifications

The AUV has to bear intense pressure underwater; and the pressure to which the AUV is

subjected is directly proportional to depth. At 300 metres below the surface, the pressure

about 30 times atmospheric pressure. At 5000 metres, the pressure increases to over 490

atmospheres or 3.6 tons per square inch.

Hence in all AUVs, some form of pressure hull must be provided for equipment that

needs to work in a dry, atmospheric environment. This pressure hull must be weight-

efficient and it must also contribute to the design of a vehicle hull form that is low drag.

Packaging must also be considered. Internal items must be accessible, maintainable, and

arranged so that the payload sensor operation is not compromised. Additionally, the

internal distribution of the various subsystems must leave the vehicle in proper trim.

Till depths of about 200m, the pressure hull can be made of lighter materials like

Aluminum; but as we go deeper tougher materials like Titanium are needed. In case of

MAYA the depth rating is about 200m. Hence it is made of Aluminum.

The following is a near estimate of how an AUV looks like (Fig. 2):

Figure2.Basic design of an AUV

showing the nose, mid and tail

sections


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As seen in the figure an AUV can be broadly divided into the following parts: Head

section, Mid section, Tail section.

2.1. The Head Section

The head section generally contains the mission specific replaceable sensors like the CTD

(Conductivity, Temperature, and Depth), Chlorophyll sensors, Oxygen sensors, etc.

These are used for various scientific and commercial purposes.

It also contains a SONAR obstacle avoidance system for navigation.

2.2. The Mid Section.

The Mid Section generally contains the Main Vehicle Computer (MVC), which controls

the various AUV functions; the Doppler Velocity Log (DVL) which gives the speed and

acceleration of the AUV; a Global Positioning System (GPS), which fixes the position of

the AUV ; a Inertial Measurement Unit (IMU) used to detect altitude, location, and

motion and the Battery which is the power source for the AUV .

An ideal battery should have a high power density, long life, low cost, low maintenance,

high efficiency, and should have a wide operating temperature, It should have be

recyclable and the electrolyte should be spill proof independent of temperature. There arevarious Battery sources available in the market that may be used by an AUV.

Sealed Lead Acid batteries are generally used for short missions.

Silver-Zinc batteries are also used by various AUVs. For example: Odyssey 2b.However

these batteries require high maintenance cost high and have a limited life.

Ni-Cd batteries, which are used by Florida Atlantic University. However they are about

ten times costlier. Moreover the charging is exothermic in this case. Therefore there

should be careful thermal management, careful disposal of toxic waste, etc.

Various Li polymer based batteries are also available in the market. They are highly

popular because of their high power capability despite their small size and weight. They


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are also resistant to shock and vibration. For example: The Autonomous Benthic Explorer

and Urashima use Li ion based batteries.

MAYA the AUV developed by NIO (National Institute of Oceanography) uses a Lithium

polymer based battery.

Besides these there are also Zebra batteries (liquid Sodium as anode and chloride of

transition metals as cathodes), Sodium-Sulphur, Ni-metal hydride, based batteries

available in the market.

The mid section also contains the side scan sonar, which is used for various survey

purposes.

2.3 The Tail Section

The tail section generally contains a pressure sensor, which gives the depth of the AUV.

It also contains an Ethernet link during shallow water operations for real-time data

transfer.

Besides these the AUV has microprocessor controlled fins and rudder for sideways and

upward movement respectively.

3. Classification

The areas of applications of an AUV depends on various specifications like Length,

Depth rating, Endurance, Average speed etc.

The size of an AUV determines the maneuverability of an AUV and also the manpower

needed to operate the AUV and hence the cost of operation. Accordingly we can select

different AUVs according to our specific needs. At the same time maneuverability islargely governed by the total response time of the navigation system.

Some AUVs are meant for shallow water operations. Hence if we are to select the right

AUV for our operation we should know the depth at which we are functioning and the

type of region we intend to operate it in and also the type of application.


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Endurance is also a factor, which should be taken into consideration in selecting an AUV

for our particular operation. Long missions require AUVs with greater endurance.

Endurance can be hence increased for a given power source by avoiding power wastages

Speed is also a criterion for selecting an AUV .The speed of an AUV determines the

speed of the survey and hence the speed of data collection. The speed of an AUV also

greatly influences the cost of the entire operation, as we will see later. Hence speed is an

important criterion for selecting an AUV. It should be noted here that speed of data

collection is also a function of the quality and speed of the sensor.

Hence it is seen that a proper classification will greatly help the cause of selecting the

right AUV for our operation.

The following is a table of different AUVs and their design specifications


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.

VEHICLE Length Max depth Average

Speed

Endurance/

Range

Ref.

Autosub-2 6.8m 1600m 1.35m/sec 40 hrs www.sciencemag.org

CETUS 1.8m AlPressureVessels200m, TiPV>4000m

1.25m/sec 40kms Auvlab.mit.edu

URASHIMA 10m 3500m 1.5m/sec 300kms www.jamstec.go.jp

ARCS 6.4m 304.8m 2.0m/sec 36kms(single

Ni-Cd)72kms(doubleNiCd)235kms(Al-Oxy. Fuel

Cell)

www.ise.bc.ca

ODYSSEY 1 2.15m 6000m 0.5-1.5m/sec

8hrs Auvlab.mit.edu

DORADO 425cms 4500m 1.5m/sec 10hrs www.mbari.org

ARIES 300cms 100m 0.5m/sec 4hrs www.mbari.org

PTER0A150 2000m 1.5m/sec 40min Underwater. is-u-Tokyo.ac.jp

PTER0A250 4000m 2.0m/sec 100min Underwater. is-u-Tokyo.ac.jp

ALBAC 140cms 300m 0.75m/sec Underwater. is-u-Tokyo.ac.jp

Xanthos 2.2m 3000m 1.0m/sec 4hrs/22kms Auvlab.mit.eduODYSSEY2B

2.2m 6000m 5km/hr 12hrs Auvlab.mit.edu

REMUS 100 1.6m 100m 1.5m/sec 8hrs www.hydroidinc.com

REMUS 600 3.25m 600m 2.6m/sec 7hrs www.hydroidinc.com

Table 1. The specifications of various AUVs.


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From the above table it can be seen that we can classify AUVs on the basis of the

following specifications:

3.1. SIZE (LENGTH)

Less than 2m 2-5m Greater than 5m

Maneuver-Ability

ManpowerRequired

Examples

Due it is small size, it can be used inconfined areas.

Requires lessmanpower fordeployment and

Generally deployed byhand.

CETUS,DORADO,ARIES,ALBAC

It is of medium size andcan be used wheremaneuverabilityrequirements are not thathigh.

Requires more manpowerfor deployment. Tethersare used sometimes.

ALIVE,ODYSSEY1,ODYSSEY2B,Xanthos,Maridan 600

Due to its large size itcannot avoid cannot be usedin condensed areas wheremany obstacles are present.

Requires lot of manpowerand equipment fordeployment.

Autosub-2,ARCS,URASHIMA

VEHICLE Length Max.Depth

AverageSpeed

Endurance/Range

Ref.

REMUS6000

3.84m 6000m Upto2.6m/sec

22hrs www.hydroidinc.com

HUGIN I

HUGIN1000

3.85-5m

1000m 1-3m/sec 21-27hrs www.cctechnol.com

HUGIN3000

5.3m 3000m 2.0m/sec 40hrs Sea Technology Dec. 2000

Maridan 600 4.5m 600m

MAYA 1.8m 200m 1.5m/sec 4-6hrs www.nio.org

THESEUS 10.7m 1000m 2.0m/sec >780km www.ise.bc.ca/theseus.htm

Table2.The lengthwise classification of various AUVs


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Maya having a length of 1.8m is designed to venture confined regions and requires only

two persons for deployment.

However, size is not the only criteria of maneuverability. It also depends on the response

time of navigation system, the quality of the obstacle avoidance system, speed and

processor speed, etc.

3.2. DEPTH

Less than 600m 600-2000m Greater than 2000m

Uses

Examples

Generally they are used in

costal and shallow watersfor scientific monitoringand in Oil and Gaspipeline laying. They arealso used for harbormonitoring

MAYA,ARCS,ARIES

ALBAC,OEX,REMUS100,REMUS 600,Maridan 600,MINI(FAU)

They are in

waters of depth600-2000 forscientific as wellcommercialpurposes. Theyare also used infishery surveys.

Autosub-2,

PTER0A150,HUGIN1000,SLOCUM

They are generally used for deep

sea research in waters as deep as6000m

URASHIMA,ODYSSEY1,DORADO,GAVIA,PTER0A250,Xanthos,REMUS6000,HUGIN3000,ODYSSEY2B,CARIBO

The depth rating of an AUV will strongly influence its the size and range. To go deeper,

the pressure hull must be thicker and heavier, leaving less residual buoyancy to support

batteries or payload. To increase battery or payload capacity, the pressure hull can be

made larger so that it is more buoyant. However, the in-air weight increases as well.

Selecting a deep-rated design tends to reduce range or payload capacity, and to increase

Table3: The depth wise classification of different AUVs


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size and weight. To maximize the battery capacity and range while carrying a given

payload, the shallowest depth rating possible for the mission should be chosen.

Maya can go to a depth of about 200m, which makes it ideal for shallow water

operations. One of its proposed uses has therefore been to study the corals off the cost of

Lakshdweep.

3.3. ENDURANCE

Endurance depends on power supply. Since most AUVs run on battery, power supply

itself depends on battery life. But battery life itself depends on the power consumption of

the AUVs. Higher speeds results in low battery life and hence less endurance. Moreover

small size means smaller battery and less endurance. Hence endurance depends on size as

well.

Research has been going on about solar powered AUVs that can stay in the water for

weeks. For example, if solar power is used for the propulsion of Slocum AUV its range

increases three to four times

Less than 2hrs

2-10 hrs More than 10 hrs

Uses

Examples

Used for shortmissions

PTER0A150,PTER0A250

Used for medium rangemissions.

DORADO, ARIES

Used for longer missions likepipeline surveying, etc.

HUGIN 3000,Autosub-2, ODYSSEY2B

Maya has an endurance of 6 hours, which makes it available for medium range missions.

For longer missions Maya has to be taken aboard each 6 hours to recharge its batteries.

Table4: The endurance wise classification of different AUVs.


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3.4. AVERAGE SPEED

The average speed of all AUVs is between 0.5-2m/sec. It depends highly on the size, the

payload of the mission and type of battery used. Higher payload means lower speed.

Moreover there is an intricate relationship between endurance and speed. Higher speedmeans lower battery life and less endurance and vice versa. So there is a optimum speed

to which an AUV can be pushed. Improvements in Batteries might result in higher AUV

speeds.

AUVs like PTER0A250, DORADO, and HUGIN 3000 fall in the higher speed region

with cruising speeds of nearly 2.0m/sec, while AUVs like ARIES, ALBAC etc fall in the

lower speed region with speeds of only 0.5-1.0m/sec.

Maya has a nominal speed of about 1.5 m/s. Increasing the speed of MAYA will increase

the survey speed and hence will reduce the cost of the entire mission.

4. Applications of AUV

AUV are or soon will be capable of performing many of the tasks traditionally associated

with ship work. The most obvious application for AUV operations is that most traditional

of ship-based science surveying. Equipped with multibeam echosounder, side scan sonar,

sub beam profiler the Auv is ultimate surveying tool

How the need aroused for AUV in offshore industry?

During later years of 1990s survey community investigate the possibility to solve some

problems of oil and gas industry by deploying AUVs. The impetus came from upstream

oil and gas operators where numbers of enlightened individuals were considering best

ways to approach surveying tasks in deepwater blocks than being explored in Gulf of

Mexico, West Africa and offshore South America.


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4.1 Offshore Surveys

4.1.1 Oil and Natural Gas

The main driver for introducing the survey by AUV has been the oil and gas industrys

deep-water blocks off the America and Africa, where the costs associated with surveying

using traditional techniques appeared untenable. Auv offered the prospect of proper

surveys performed at cost comparable to surveys conducted in more shallow water. It is

anticipated that AUV will one day be a viable alternative for inshore survey and have

capability of going the places that are less accessible to or could endanger a traditional

survey launch operations for oil and gas industry, survey AUVs are suitable alternative

for:

Geohazard/ clearance survey

Rig site survey Acoustic inspection of pipelines Pipeline route surveys Construction site surveys

Where AUVs offer very tangible benefits is in pipeline route surveys, where the primary

sensors are multibeam echo sounder, side-scan sonar, sub bottom profiler. AUVs can

study and monitor environmental conditions, observe shallow water flows and measure

the strength of currents throughout water column. Can be used for environmental

protection detecting and observing protected benthic populations and other ocean floor

phenomenon.

The oil and gas industry has come to depend on visual observation for much of its tasks

and will not readily change its ways. So, AUVs should be fabricated to cater to these

needs.

Figures 3.1(above) and 3.2(below):

The Ormen Lange field survey. Data

processed from EM 3000 on NUI

Explorer.


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4.1.2 Telecommunications

AUV is particularly well suited to continental shelf operations where fielding a specialist

survey vessel to remote location can be expensive. AUVs can perform short cable

crossings and inter connector route surveys entirely autonomously, launched from a shore

facility. AUV performance competition in US has shown that some vehicles are

particularly good operating in these difficult, close to shore operations.

The other obvious use of AUV is cable layer, which has already been shown to be

feasible by ISE, whose Thesus vehicle laid some 175 km of fibre optic cable beneath the

polar ice.

4.1.3 Minerals and Mining

The De Beers companys acquisition of MARIDAN was just for purpose of search for

sea floor minerals. Augmenting their surface fleet with AUV capability has significantly

increased the amount of ground they can cover each day in their search for diamonds.

Auv is a logical tool for mapping e.g. manganese module fields. Questions on AUV

economics centered on speed, endurance, equipment, sensor packages, operational

configurations, efficiency of vehicle operations especially whether it was best to have one

multi-role or several single role vehicles.

4.2 Military Applications

In developing military AUVs the first stage involves careful consideration of roles that

AUVs will be required to play and their contribution to overall force effectiveness.


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To realize the complex collation and dissemination of data across a modern battles space

requires an effective inter unit communications network and this network and its

robustness to battle conditions become a key factor in achieving war-fighting success.

AUVs represent entities that can act both as remote data gathering nodes and as agents

that can execute specific actions, including actions against other entities. So, military

roles AUVs can play can be either passive or defensive, active defensive, passive

offensive or active offensive, where passive roles are considered as those where the

AUVs does not specifically need to react to changes in sensing scenario. An important

aspect of military AUVs research over past 15 years has been the conduct of operations

analysis studies. On these missions variations to ascertain in which roles AUVs appear

likely to contribute most to overall war fighting effectiveness.

Reconnaissance from the sea:

The importance of reconnaissance and gathering of many types of intelligence

information by naval forces have remained critical aspects of successful warfare. An

ongoing recognition of Military worth of such information has meant that the execution

of Reconnaissance. Missions and gathering of tactical data have become more primary

focus for current and near term UUV developments at start of 21st century.

AUVs may be used for both offensive and defensive roles:

4.2.1 Defensive Role

Detection, location and trail of enemy submarines within antisubmarine warfarescenarios.

The detection and identification of mines within own waters. Underwater and above water gathering of enemy system data that may be

exploitable by own forces.

Some of the first applications of military UUV have been Mine Counter Measures

(MCM) applications. Key to MCM is the ability to detect mines and mine like objects

with an extremely high probability of detection in environments that are fundamentally


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very challenging for any sensor system. The low target strengths of modern mines and

the problems imposed by shallow water environment tend to mean that MCM sonars

need to be of sizes comparable to size of larger AUVs available at present. MCM

probably imposes the greatest requirement for UUV navigation accuracy since, in

addition to basic detection, accurate positioning of mine or mine like targets relative to

the AUV is required to aid in subsequent minefield mapping, mine avoidance and mine

relocation for disposal.

Characteristics of UUVs for military operations are that they are relatively small,

potentially hard to detect and potentially able to access areas that other craft would not be

able to do so safely.

4.2.2 Offensive Roles

AUVs can be used in offensive operations such as:

Dispensing of weapon systems Acting as targeting aids for weapon systems deployed from other non force units Acting as active attack system using their own targeting systems, weapon launch

and weapons.

A typical example of first type of offensive role is where an UUVs might be used to

place mine charges at given seabed locations.

Another examples of second type of offensive role might be use of UUVs in target

detection, identification and illumination role. In this role the UUVs would attempt to

penetrate any enemy harbor, convoy a task force with the aim of detecting, classifying

and localizing a specific type of target of interest using its own sensor data. On achieving

this, targetinformation would be sent to an own force unit capable of deploying missiles

or other weapon systems into target area. Once the weapon entered the target area, the

UUVs could be used to illuminate the correct target and thus potentially improve the

effectiveness of attack while reducing risk of counter attack on weapon launching unit.


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4.3 Scientific Uses

AUVs can be of immense help to the scientific community. Presently they are being used

for monitoring the following things:

Benthosecology Long-term observations Under ice investigations Mapping of ocean floor topography Large area sampling Environmental monitoring

The benthic zone is the lowest level of a body of water, such as an ocean or a lake. It is

inhabited mostly by organisms that tolerate cool temperatures and low oxygen levels,

called benthos or benthic organisms.It is not always possible to send humans there . In

such cases an AUV can be of immense help in going close to the seabed and gather

images.

AUVs reveal slope instabilities and mud volcanoes. This information will allow us to

make an improved assessment of seabed and shallow geological conditions, leading to

better design parameters for pipeline routes or marine/civil strucures.

AUVs can be used for under ice investigations where it is not possible for human divers

to go. The Theseus AUV has been extensively used for these purposes. Theseus was

Figure 4: Hydroids military vehicle, which wasdeployed extensively during Operation Iraqi

Freedom


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developed by the U.S. and Canadian Defence Establishments to lay long lengths of fiber-

optic cable under the Arctic ice pack.

AUVs are used for the real-time data collection in coastal waters and in coral reef

monitoring with cameras. AUVs can also be used for pollution detection and monitoring,

biomass survey and fishery operations.

5. What is the Market?

AUVs have long the subject of academic, military research but only entered regular

commercial operations in 2001, and only five or six units are presently operating.

Commercial acceptance of AUVs offshore is off to a fast start with the following vehicles

being sold or developed for commercial applications: Hugin (Norway), Maridan 600

(Denmark), AQUA EXPLORER 2 (Japan), Sea Oracle (U.S.), Explorer (Canada) and

CETUS II (U.S.). In addition, there are AUVs being used for military applications and

other small vehicles being produced by academic institutions.

5.1 Commercial

In the commercial sector, underwater survey in support of the oil and gas sector will

initially dominate the market. The offshore market for AUVs have been analyzed by

Douglas -Westwood Limited of U.K .The number of subsea installations such as drillingwells and laying gas-pipelines had doubled between 1998 and 2004; the value of the

subsea market had increased from $4.9 billion in 1998 to $11.8 billion in 2004. They

envision two main groups of AUVsa Survey AUV for data gathering and a Hybrid

AUV/ROV for subsea intervention. The survey systems would be used to survey drilling

sites and pipe routes, and they could also take in-situ soil measurements and measure

seabed currents along the pipeline route.

Another analysis by C&C Technologies showed that AUVs have numerous advantages

over deep-tow systems, which include:

(a) Faster line turns(b)Faster survey speed(c) Greater maneuverability(d)Better data, cheaper and faster


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(e) Reduced survey time

So, this summarizes that the total cost of a deepwater survey could be cut from $707k

using a deep-towed system to $291k using an AUV which is a whopping $416k (59%)

savings. The U.S. Navy prior to development of their 20,000 foot Advanced Unmanned

Search System (AUSS) also reached a similar conclusion. Analysis indicated an order of

magnitude reduction in full ocean depth survey time could be achieved if an AUV was

used.

According to the Douglas-Westwood studies, when AUVs met industry expectations,

sales reached 30 units by 2004 and they could account for 20% of unmanned undersea

vehicle (UUV) operations revenue. Whereas the ROV revenue had increase by about

63% from 2000 to 2005, AUV revenue was projected to be increased by 5,500% duringthe same period.

5.2. ScientificBecause of limited resources and the necessity to launch from small boats or platforms,

the academic community must keep vehicles small and economical. Smaller vehicles

such as the Woods Hole Oceanographic Institutions (WHOI) REMUS, MITs Odyssey,

and Florida Atlantic Universitys new modular AUV Morpheus is showing that costeffective missions can be performed. Small, inexpensive, mass produced AUVs that one

can afford to occasionally lose will be the catalyst that pushes operational AUVs from the

tens into the hundreds or thousands.

5.3 Military

On the military side of the equation, AUVs have been under development for decades,

and they are now reaching an operational status. Their initial fleet application will be for

mine hunting, which was also the case for fleet introduction of ROVs. However, in the

case of AUVs, they will operate from a submarine and not a surface ship. The U.S.

Navys submarine launched AUV is the Long Term Mine Reconnaissance System

(LMRS), which was initially operated in 2003. The study, which looks ahead 50 years,

provides a roadmap for the Navy to use in integrating unmanned undersea vehicles

(UUVs) into the battle space of the future. Critical missions include Intelligence,


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Surveillance, Reconnaissance, Mine Countermeasures, Tactical Oceanography,

Communications, Navigation, and Anti-Submarine Warfare.

5.4 Presently operating AUVs

5.4.1 Maridan

The AUVs developed by Maridan A/S, Denmark have had many recent successes. The

AUVs are an outgrowth of research originally carried out under the EUs MAST research

program. This began with the first prototype MARIUS (1991-1993) followed

by MARTIN (1994-1997). The vehicles, Figure 5.1, which completed over 1000 kms of

sea trials, have evolved into their first commercial vehicle, the MARIDAN 600. One of

the first successes for Maridan A/S was an underwater archaeology survey for the

National Museum of Denmark using the MARIDAN 150 during which the vehicle

located and mapped a sunken 12th century ship. The success of this survey was a

milestone for their commercial vehicle production. In 1999, the MARIDAN 200 AUV

carried out an autonomous survey off the cost of Nambia for De Beers Marine.

Recent announcements indicate that De Beers is planning to buy two MARIDAN 600

AUVs, which are capable of operating to 600-meter depths and will be used for diamond

Figure 5.1 The Maridan 600 AUV


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mining surveys. MARIDAN-3500 a deep-water survey AUV was designed in 2001.

Unofficial costs for a MARIDAN vehicle range from $15K-$20K/day with ship, or you

can buy one for around $1.5M-$2.0M depending on depth and sensors.

5.4.2. HUGIN

Norways Hugin AUV, Figure 5. 2, was developed and operated by Kongsberg Simrad in

partnership with Statoil, the Forsvarets Forskningsinstitutt (FFI the Norwegian Defense

Establishment) and Norwegian Underwater Intervention (NUI). First demonstrated in

1992, the Hugin series of vehicles has performed over 100 missions, several of them

commercial pipeline route surveys in the Norwegian Sea. The Hugin vehicle is in routine

use by NUI. Most recently, the Hugin 3000 AUV, a third generation vehicle rated to

3,000 meters, has been purchased by C&C sector of the North Technologies, Inc. of

Lafayette, Louisiana, an international hydrographic surveying company.

Figure 5.2:The HUGIN AUV


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5.4.3. AQUA EXPLORER

Japan is also in the running in the area of offshore cable surveys. The Aqua Explorer line

of AUVs has been under development for nearly a decade by KDD R&D Laboratories.

Their latest version is the AQUA EXPLORER 2 (AE2), Figure 5.3, operated by Kokusai

Marine Engineering Corp. (KMARINE). The AE2, which recently completed a survey of

a buried cable in the Taiwan Strait that exceeded 400 km, is now available for hire in the

UK through an agreement between K-MARINE and Ocean scan Ltd.

5.4.4 The Other Commercial PlayersThere are also other vehicles that have been developed and delivered commercially.

These vehicles cover size ranges from 3 to 30 feet long.

On the large-scale vehicle end, ISE has the ARCS and the Theseus vehicles and PerryTechnologies has the MUST. These vehicles have each performed some dramatic

operations including the deployment of fiber optic cables. In the case of Theseus, the

fiber optic cable was deployed under the polar ice.

Mid-size vehicles include those from the Institute of Marine Technology Problems

(IMTP), Russia. Based on their MT-88 AUV, the IMTP has built and delivered the CR-

Figure5.3 The AQUA EXPLORER


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01 and CR-01A in conjunction with the Shenyang Institute of Automation (SIA) and the

Chinese Academy of Science. They have also developed the OKPO AUV for Daewoo

Heavy Industry, Korea.

Smaller vehicles are commercially available such as the CETUS II from Lockheed

Martin. The CETUS II, the follow-on to the CETUS vehicle developed by the MIT AUV

lab for Lockheed Martin, is 33% smaller than the original and has a base price of $35K-

$45K. Three systems have been built to date for U.S. Navy organizations.

Another small size vehicle that has seen considerable success is the REMUS, which was

built by WHOI under Office of Naval Research (ONR) and National Oceanic and

Atmospheric Administration, USA (NOAA) funding. The REMUS, with over ten sold by

WHOI, and its understood another five are in production for the U.S. Navy, has a baseprice in the $175K range.

6. Cost Comparison of MAYA with other AUVs

The following is a capital cost comparison of different AUVs with MAYA.

Vehicle Capital Cost (in Lakh Rs)

REMUS 100 79.5

Maridan 600 682.5

CETUS 15.9MAYA 100(developing cost)

Of the above AUVs we have done a comparison of MAYA with Maridan.

The main criteria taken into consideration while doing the cost comparison are Capital

cost, operational costs/24 hours, speed. However there may be many other criteria on

which the value of the AUV may depend and hence our analysis may not be totally

correct.

Table5: Capital cost comparison of Maya with

other AUVs


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Capital cost Operational costs/24 hours Average Speed (m/s)

Maridan600 682.5 6.825 2.5Maya 250* 0.15 1.5

All costs are in Lakhs (Rs.)

*The face value of the MAYA AUV is considered to be Rs. 250 lakhs

**The operational cost of the MAYA is about 0.15 lakhs/24 hours but since its speed

is about 1.6 times less than Maridan, Maya takes about Rs. 0.24 lakhs to complete the

same work that Maridan does in one day.

The division of cost is as follows:Batteries- Rs. 10 lakhs/250 days

Manpower-Rs. 0.15*2 lakhs / month for 2 persons

VesselRs. 0.08 lakhs /day for 250 days

This comes to around Rs. 0.15 lakhs /day

***The exchange rate is considered to be Rs. 45.5 per dollar.

****The cost determination is done for operations like pipe line survey in which the

speed of the AUV plays a role.

The market value of the Maridan AUV is about Rs. 682.5 lakhs. For Maya we have

considered a market value of Rs. 200 lakhs.

The manufacturing cost is about Rs. 100 lakhs. And a multibeam sonar costs around Rs.

100 lakhs. Hence the total cost comes to around Rs. 200 lakhs.

Therefore the net profit is:

Profit= Rs 250 lakhsManufacturing cost

So, there is a profit of Rs. 50 lakhs.

The formula used to find out the cost of operation of the Maridan Auv is

C= 682.5+6.825*X

Now, the cost of operation of MAYA to do the same amount of work is

C= 250+1.6*X*1.6

Where X=Number of Days

Table6: Cost comparison of MAYA and Maridan 600


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In the case of MAYA the daily cost is multiplied with 1.6 because the speed of MAYA is

only 1.5 m/s and that of Maridan is 2.5 m/s. Hence the same work that is done by

Maridan in 1 day is done by Maya in 1.6 days.

The following is a graph showing the cost to time plot of both MAYA and Maridan.

0

1000

2000

3000

40005000

6000

7000

8000

9000

0 365 730 1095

MaridanMaya

From the graph it is seen that the slope for MAYA is less than that of Maridan. Hence, as

the years progress the profit of MAYA will increase many fold as the time progresses.

For example: for a 730 day period the operational cost of the Maridan AUV will be about

Rs.5664.7 lakhs. MAYA in can do the same work about Rs.425.2 lakhs. Hence MAYA

provides the consumer with savings of about Rs.5239.5 lakhs in about 730 days of

operation.

Figure6: Graph showing cost comparison of MAYA and Maridan


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7. CONCLUSION

Due to their wide applications and cost effective survey capabilities, one thing is

ascertained that in the years to come more and more underwater operations would be

undertaken by AUVs.

But a lot needs to be done in this regard. Steps have to be taken to transfer more AUVs

from the laboratory to the assembly line. Today, an AUV operation is a multi-million

dollar affair. Hence, for the most part AUVs are still a great idea seeking commercial

markets. AUV technology can advance rapidly if increased government funding is

provided to build something other than a handful of multi-million dollar systems For the

cost of launching one space satellite, hundreds of AUVs could be launched into the

oceans on limited duration missions today.

Also the payload on the AUVs has to be focused in a particular application. To move

ahead, AUV developers need to fully understand the potential applications and produce

designs to meet clearly specific customer needs. Only then will this cutting edge

technology be used widely and effectively, when the demand increases, the cost price

will reduce. This will in turn, expand the potential market to the developing and not so

affluent countries.

MAYA is Indias contribution to this field of research . The low cost AUV, which is in

its last developing stages, promises to be a very economic and efficient means for

performing underwater applications. If everything goes as planned, in the next year or

two we should be in a position to commercialize MAYA and cater to the needs of

possible users like oil companies, civil industry, pollution control boards etc . We could

also export this expertise to other developing countries. One thing is for sure, AUVs are

here to stay.


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Figures List

Figure

No.

Topic Page

No.

1 The torpedo shape of an AUV 8

2 Basic design of an AUV showing the nose, mid and tail sections 9

3 The Ormen Lange field survey. Data processed from EM 3000 on

NUI Explorer.

18

4 Hydroids military vehicle, which was deployed extensively

during Operation Iraqi Freedom

22

5 1. The Maridan 600 AUV

2. The HUGIN AUV

3. The AQUA EXPLORER

25

26

27

6 Graph showing cost comparison of MAYA and Maridan 30


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Tables List

Table No. Topic Page No.

1 The specifications of various AUVs. 13

2 The size-wise classification of different AUVs.14

3 The depth wise classification of different AUVs. 15

4 The endurance wise classification of different AUVs. 16

5 Capital cost comparison of Maya with other AUVs 28

6 Cost comparison of MAYA and Maridan 600 29


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References

1. http://www.ise.bc.ca/

2. Technology and Applications of AUV, Gwyn Griffith3. AUVS -- THE MATURITY OF THE TECHNOLOGY, Robert L. Wernli

4. AUV CommercializationWhos Leading the Pack?, Robert L. Wernli

5. www.nio.org

6. The Application of Autonomous Underwater Vehicle (AUV) Technology in

the Oil IndustryVision and Experiences, David BINGHAM and Tony

DRAKE,

7. The World AUV and ROV report, Douglas Westwood Limited

8. Auvlab.mit.edu

9. www.sciencemag.org

10. Sea Technology and Ocean News and Technology


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Appendix


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