Advanced Underwater Port Security Systems.

摘要

Long Term Goals: To show the efficacy of autonomous underwater technologies in basic applications that are of value to the Coast Guard. Operationally, the AUV will scan harbor bottoms, seawalls and ship hulls. Objectives: Continuing testing of Laser Line Scanner (ROBOT) using the remotely controllable underwater vehicle ROVEX. Modify the current Laser Line Scanning system to allow for the scanning of objects off to either side or above or below an AUV as required for scanning seawalls, harbor bottoms and ship hulls. The new Laser Line Scanning payload will be reduced in size to work with the new 12.75 diameter AUV. To integrate the ONR developed micro-modem with the AUV to facilitate the Coast Guards request that the AUV be able to operate under topside supervisory control. The use of these micromodems will allow monitoring of the vehicle and the imaging sensor status via an acoustic communication link. Efforts will be made to electronically integrate the topside acoustic modem unit with the Ultra Short Baseline (USBL) acoustic tracking system thereby simplifying the required hardware, provide acoustic transmission synchronization and combine the modem and USBL topside transducers into to a single hydrophone assembly. Work with NUWC toward the potential integration of the Laser Line Scanner/Mobile Inspection Package (ONR Award # N00014-03-1-0708 and # N00014-03-1-0750) with their 12.75 AUV. Develop for the above Coast Guard tasks additional AUV mission control path planning routines, surface following controller and asynchronous data fusion software. Conduct demonstrations of the AUV as a sensor platform in support of the USCG Port security efforts.