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 Engineering Fall 2011

Topics Covered
Introduction to AUVs AUV Purposes

Individual Subsystems
Systems Engineering Overview

Functional Flow Block Diagrams House of Quality Product Lifecycle Cost Benefit Analysis (TBD)

Conclusion

AUV Purposes
Commercial
Inshore and Offshore Surveying Search and Recovery

Scientific
Oceanographic Research Environmental Protection and Monitoring

Defense
Security of Ports and Harbors Ship Hull Inspection Mine Detection Anti-Submarine Warfare

Bluefin Subsystems
Electrical/Power Systems Navigation Systems
Computer/Autonomy

Propulsion Systems Hull/Infrastructure System

Systems

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 surfacing Inertial: 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

Display

Reporting

Verification
Mission Planning Vehicle Testing

Checkout
Mission Monitoring Analysis

Design Criteria for Propulsion System

Ducted 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 Systems
Imaging Systems Side scan sonar (SSS) Synthetic aperture sonar (SAS) Multibeam echosounders (MBES) Imaging sonar Sub-Bottom Profiler (SBP) Video Camera Still Camera Scientific Sensors CTD, CT sensor Fluorometer Turbidity sensor Sound velocity sensor Beam attenuation meter Scattering meter Transmissometer Magnetometer 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 Overview

The integrated systems must be broken down into

subsystems
Helps to ensure safety and quality goals are met Allows 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: Expanded
Due 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

Conclusion
AUV systems are becoming more and more popular in the

commercial, scientific and defense communities Customers have a high level of influence over design By 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 FFBDs we learned how to increase efficiency during operation. This complexity is best approached through system engineering, much like with UAVs

Any Questions?

References
1.

Bildberg, D. Richard, 2005, Solar Powered Autonomous Undersea Vehicles, Lee, New Hamphsire, Autonomous Undersea Systems Institute, http://ausi.org/publications/SeaTechSolar.pdf 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 Navy Air Military, Nov 2009, Maintenance Concepts Programs and Processes, http://www.navair.navy.mil/logistics/4790/library/Chapter%2003.pdf http://auvlab.mit.edu/history.html www.bluefinrobotics.com www.mbari.org http://202.114.89.60/resource/pdf/2175.pdf http://www.fiberglassafi.com/fiberglass-benefits.htm

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ING Engineering: www.ingengineering.com

Soundoceans.com http://www.hydro-international.com/productsurvey/compare.php