Underwater vehicle networks for acoustic and oceanographic measurements in littoral ocean

1. The GOATS Joint Research Project (Generic Oceanographic Array Technology Systems) 1998 - 2001 Underwater vehicle networks for acoustic and oceanographic measurements in littoral ocean

2. AUV based REA and MCM Insufficient capability to Do covert reconnaissance in VSW Operate in all water depths Counter modern mines at safe distance Operate quickly ahead of amphibious forces Collect & disseminate environmental data REA and MCM with a suite of AUV based sensors Reducedriskto personnel Covert operations Faster operations (multiple systems) Reduced cost

3. GOATS Original Objectives - 1 • Demonstrate REA techniques for mine warfare using AUVs, including the acquisition of ocean parameters in a test area North of Elba Island, and the subsequent data fusion in a geographically referenced data base distributed over a wireless network, available for browsing at remote REA sites. • Use nested oceanographic models to predict the effect of wind waves and currents on AUV performance especially in very shallow water • Develop and validate 3-D acoustic modeling capabilities for target scattering and reverberation in shallow and very shallow water

4. GOATS Original Objectives - 2 • Investigate feature based navigation (FBN) and bathymetric navigation (BN) techniques applicable to AUV with the final goal to demonstrate concurrent mapping and localization (CML) capabilities • Develop the preliminary on-board logic to detect and classify mines from an AUV adapting search patterns and strategies to water depth, marine growths, bottom types and characteristics of the detected objects • Demonstrate the autonomous, adaptive detection and acquisition of 3-D multipath features of acoustic target scattering

5. GOATS plan of action & milestones

6. GOATS’98 Experiment

7. GOATS’98 Model validation and measurement of target scattering Frequency & grazing angle dependence for buried sphere OASES-3D Modeling HLA Data 1m diameter air-filled sphere buried 1m deep from centre Flush-buried Cylinder - 45 deg Aspect

8. GOATS’00Multiscale Environmental Assessment Network Studies (MEANS) CUPOM REGIONAL MODEL (3.3 km) SWAFS BASIN SCALE MODEL (10 km) HOPS LOCAL MODEL (0.3 km) HOPS REGIONAL MODEL (1 km) TAIPAN SEPTR

9. GOATS’00 MEANS Results Successfully issued 11 sets of model forecast products for three modeling domains in real time over the web Comparison with sea surface temperature and ADCP data show that model results accurately forecast local conditions Procchio Bay circulation was forecast by assimilating into dynamical model only data external to the Bay 1st ever nesting of HOPS and CUPOM

10. GOATS’00 REA experiment OEX equipped with DF1000 and Video provided tiled SSS and unsupervised segmented images of Procchio Bay OEX

11. GOATS’00 Bistatic scattering Odyssey TOPAS tower Water filled sphere Water filled cylinder

12. GOATS’00Bistatic Scattering Enhancement Demonstrated with AUV Cylinder Monostatic Configuration Direct Direct Cylinder Bistatic Configuration Target Bearing Initial demonstration of cooperative behaviour

13. GOATS’00Adaptive behaviour andmulti aspect classification OEX Rockan Manta MP80

14. GOATS’00 Bathymetric Navigation • The TRIN algorithm developed by FFI has been tested on real data from GOATS 2000: • It is stable and insensitive to errors in initial position in this type of bathymetry. • It needs only a few beams, and runs in real time.

15. GOATS 99 and 00 Networked GIS database

16. Final results - 1 • AUV networks can be operated in very shallow, denied littoral areas, launched from off-shore platforms, and operated either fully autonomous or under partial remote control to perform MCM and REA missions • AUV networks feasible as generic platforms for environmentally adaptive sonar technology • Current wave-theory models capable of accurate prediction of target scattering and reverberation in littoral environments • Oceanographic models with different resolution can be nested to forecast current fields and help planning AUV missions in littoral environment • Terrain referenced navigation can provide sufficient accuracy to navigate AUVs • Networked GIS DB are efficient tools to distribute REA information

17. Final results - 2 • Very successful interdisciplinary, multinational Joint Research Project covering Oceanography, REA and MCM, spanning from basic research (bistatic sonar) to prototype development (Networked GIS and video DB) • Successful demonstration of the Virtual Laboratory Concept • Unique data set that has generated many joint scientific publications : 9 refereed journal articles, 12 papers in conference proceedings, 2 SLC reports • The international cooperation of the JRP enabled SLC to quickly bridge the gap on AUV technology developed over the years • SLC is the ideal place to develop a comprehensive AUV program as proposed by the MO2015 report (MCM Concept Development and Experimentation)

18. Future plans • Improve performance of single AUV • Advanced minehunting sonars for AUVs (SAS, Bathymetric) • Navigation • SAS micronavigation • Terrain referenced navigation and CML • Adaptive behaviours • Multi aspect detection and classification • Optimal mission execution (oceanography, sea floor) • Improve performance of a network of AUVs • cooperative behaviours • integrated communication and navigation • networked GIS data base • Assess the value of battle space preparation with AUVs

19. P01B schedule

20. MEANS-ASCOT’02

21. MCMFORMED PC trial