SeaCat SwapHead Field-Exchangeable Sensor Technology Product Description (Part 2 of 3)
SeaCat SwapHead Introduction SeaCat is the Swiss army knife of underwater survey and inspection operations. It can be supplemented by a multitude of user-defined payloads, located in the SeaCat s flooded bow section. This section the SwapHead - is exchangeable in the field within minutes and allows for optimised adaptation to the specific task. SeaCat + SwapHead permit a wide range of highly demanding missions that would otherwise require different types of vehicles. Further information Product Description Part 1 The term payload is used to describe the sensor systems that form SeaCat s user-related equipment. As per default, SeaCat is already equipped with a permanently installed sidescan sonar system which is explained in Product Description Part 1. This part of the product description lists options that are currently available; that is, more SwapHeads are about to come! Special customers have special needs and the open backseat driver concept provides the experienced customer with the possibility of integrating own sensors in a so-called Custom Head as it is described at the end of this document. ATLAS ELEKTRONIK GmbH as a full AUV supplier is moreover capable to develop new SwapHeads based on specific customer requirements. Do not hesitate to contact us if the available SwapHeads do not yet fit your needs. 2
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SeaCat SwapHead Assembly Held by only eight bolts, the head sections can be swapped in the field within minutes without any special equipment. SeaCat s body section is closed by a frontal pressure-bulkhead, equipped with underwater connectors. In front of this bulkhead, the flooded compartment the SwapHead is located, which can carry a variety of sensors. SeaCat is open to future SwapHead developments. SeaCat without a SwapHead (SwapHead in front). Pressure bulkhead with power supply underwater connectors. Held by only 8 bolts, the SeaCat SwapHeads are exchangeable in the field within minutes 4
Field-Exchangeable Sensor Technology Expand capabilities by plug & play SwapHeads in the field within minutes without affecting the AUV Survey Heads Inspection Head Water Quality Head Tunnel Inspection Head Harbour Inspection Head Geo Magnetics Head Subbottom Head Page 6 Page 12 Page 14 Page 16 Page 18 Page 20 Page 22 Customised Applications Head Page 25 5
SeaCat SwapHead Survey Head ONE ONE Bathymetric images paired with high resolution videos The SeaCat s Survey Head ONE features a NORBIT multi-beam echo sounder for high resolution bathymetric surveys. With approx. 40W power consumption, the system is suitable to operate from battery. NORBIT s wideband multi-beam technology facilitates long range real-time data collection and at the same time achieves high resolution data. The sonars are based on a state-of-the-art analogue and digital platform featuring powerful signal processing capabilities, offering roll stabilized bathymetry and several imagery and backscatter output. In addition the Survey Head offers an ATLAS IP Camera, specifically built for deep water operations that combine HD-quality video with great light sensitivity. The camera offers options for both digital video streaming and high resolution images. Feature Specification Frequency 200 to 700 khz Bandwidth 80 khz, all frequencies Beam width 0.9 x 0.9 at 400 khz Swath sector 7 to 210 Typical range of operation > 100 m Ping rate max. 50 Hz Range resolution < 10 mm (acoustic) Number of beams 256 512 EA &ED 6
Field-Exchangeable Sensor Technology Survey Results Exemplary results of the NORBIT Wide Band Multi-beam System 7
SeaCat SwapHead Survey Head TWO TWO Hydrographic surveys according to highest standards For bathymetric measurements, the SeaCat s Survey Head TWO features a R2 Sonic 2022 multi-beam echo sounder. With proven results and unmatched performance, Sonic systems generate reliable and remarkably clean data with maximum user flexibility through all range settings. The 60 khz signal bandwidth offers twice the resolution of any other commercial sonar in both data accuracy and imagery. The central frequency can be altered so that the user can trade off resolution and range and effectively control interference from other active acoustic systems. In addition to selectable operating frequencies, a variable swath coverage can be selected from 10 to 160 on the fly. Feature Specification Frequency 200 to 400 khz Bandwidth 60 khz, all frequencies Beam width 1 x1 at 400 khz Swath sector 10 to 160 Typical range of operation < 50 m Ping rate max. 60 Hz Range resolution 1.25 cm, all frequencies Pulse length 15 s to 500 s Number of beams 256 8
Field-Exchangeable Sensor Technology Survey Results 160 beam width allow mapping of vertical structures and seabed in harbour areas (image courtesy of R2Sonic) 9
SeaCat SwapHead Survey Head FOUR FOUR Combining the strengths of the Survey and Subbottom Head allows for detailed tracking and exploring of underwater structures and seabed profiles The Survey Head FOUR is equipped with a Multi-beam echo sounder, a subbottom profiler and a rotatable camera. It offers a full sensor suite for advanced survey tasks. The system consists of: A NORBIT Wide Band Multi-beam System (WBMS) - a compact high resolution wide-swath multi-beam sonar An ATLAS IP Camera, specifically built for deep water operation, that combines high resolution HD video with great light sensitivity. A Tritech Parametric Sub-Bottom Profiler that allows for a raw 200kHz seabed profile, as well as 20kHz subbottom layers produced by the parametric pulse. A connecting port for the G 882 Marine Magnetometer of Geometrics The additional sensor can be towed behind the AUV and completes the subbottom survey capabilities of this advanced SwapHead (for further information see page 20). 10
Field-Exchangeable Sensor Technology Survey Results Exemplary results of the NORBIT Wide Band Multi-beam System The figure above shows a set of sample data which has been recorded in the harbour of Olpenitz in the Baltic Sea. The path of the vehicle is shown as light green line Exemplary data taken by SeaCat showing HF data (top) and LF data (bottom) 11
SeaCat SwapHead Inspection Head Real-time data transmission for immediate point-ofinterest inspection Further information Product Description Part 1 The SeaCat is a hybrid AUV, which means it is capable of operating in a pre-programmed (AUV) mode or in a fully remotely controlled (ROV) mode. Through these properties, SeaCat does not only fulfil the requirements for large-area detection but also for point-of-interest inspection. Today s ROVs consist of an open frame where several instruments may be attached. The weight of these is compensated for by an amount of buoyancy foam on top of the ROV. For SeaCat, the Inspection Head reflects this strategy. The Inspection Head is the ultimate tool for manual inspection of objects and the transmission of realtime data. It comprises a forward-looking multi-beam sonar with a vertical angle of 20 and a lateral field of view of 120. Additionally, it features a Pan/Tilt Unit with a light source and a video camera, enabling the user to point at the object of interest. The data of camera and sonar can be displayed on any computer connected to the AUV network. Feature Frequency Angular resolution Specification 720 khz Scanning sector 120 Number of beams 256 Depth rating Video camera Min. illumination Light 1.0 acoustic, 0.5 effective 300 m 600 TV lines 0.05 lux 1500 lumens 12
Field-Exchangeable Sensor Technology Inspection Results Result of the forward-looking multi-beam sonar Result of the video camera Both results can be displayed on any computer connected to the SeaCat s network. 13
SeaCat SwapHead Water Quality Head Extended environmental monitoring by measuring distribution of chemical/organic matters The quality of coastal waters affects millions of people every day in terms of maritime urbanisation, the coastal sea areas are increasingly worthy of constant monitoring. Drinking water resources or fishing grounds, for example, are today more than ever exposed to potential terroristic attacks. In order to enforce standards for environmental protection, the Water Quality Head contributes significantly to the monitoring of health status and water quality. Another, highly useful application of SeaCat s Water Quality Head is the determination of current sonar conditions and water layers. This information may be crucial for the optimised deployment of e.g. mobile diver detection sonar systems. The Water Quality Head s sensor suite has been configured by ATLAS ELEKTRONIK GmbH s experts and mainly consists of the four sensors or sensor groups, respectively, as listed below: Type Measured Parametre(s) Manufacturer CTD 90 1. PH 2. Conductivity 3. Salinity 4. Dissolved oxygen 5. Temperature 6. Pressure 7. Turbidity 8. Chlorophyll Sea and Sun enviroflu-hc Hydrocarbons in water TriOS microflu-cdom Ramses CDOM (Coloured Dissolved Organic Matter) Photosynthetically active radiation (PAR), irradiance TriOS TriOS Two of the integrated sensors: 14
Field-Exchangeable Sensor Technology Water Quality Results Physical and bio-optical isosurfaces within a volume through a frontal zone on the northern Monterey Bay shelf Temperature and chlorophyll fluorescence at 11 m deep for the volume survey shown above. RFU is relative fluorescence units. Spatial reference matches that shown for the volume. Isotherms contoured in white on the temperature map are overlaid on the chlorophyll fluorescence map These data were captured with a comparable setup and are just to be seen as an example to demonstrate a potential outcome of this SwapHead. Source: Physical biological coupling in Monterey Bay, California: topographic influences on phytoplankton ecology by John P. Ryan, Francisco P. Chavez, James G. Bellingham) 15
SeaCat SwapHead Tunnel Inspection Head Have a look into the inside of water supply ducts! The idea of the Tunnel Inspection Head came into life when ATLAS ELEKTRONIK GmbH was faced with a customer s problem: An inspection of the internal conditions of a 24 km long fresh-water pipeline without touching the walls in order to prevent possible water pollution. After this successful survey, a number of requests for tunnel inspections followed which finally led to the serial status of the Tunnel Inspection Head. The package consists of dedicated guidance software developed by ATLAS ELEKTRONIK GmbH, which makes use of the vehicle s navigation system as well as further guidance sensors. During the mission, the SeaCat s heading, course and speed is controlled by this guidance software via its backseat driver interface (see chapter Custom Head). For the inspection of fresh-water pipelines, the Tunnel Inspection Head is equipped with five cameras, enabling a 360 view and an optimised LED lighting arrangement. In its present configuration, the Tunnel Inspection Head is optimised for use in clear fresh-water for turbid waters, a modification of the main sensor regarding the sonar system is conceptually available. Feature Resolution Low-light camera Specification 752 x 480 @ 60 frames per second from 0.5 lux 16
Field-Exchangeable Sensor Technology Tunnel Inspection Results The challenge: Inspecting 24 km of concrete tube without any possible access to the vehicle! Results of the video camera SeaCat whilst being lowered into the inflow basin The challenge: Tunnel Inspection Albstollen 24 km concrete tube without access to the vehicle possible Diameter of < 2.3 m Fully autonomous operation without mission plan Only ONE chance to exit at chamber Talheim 17
SeaCat SwapHead Harbour Inspection Head High technology enables the inspection of quays, berths and other underwater structures. Further information Product Description Part 3 The Harbour Inspection Head was especially designed for the inspection of man-made underwater infrastructure and ship hulls. It features a fully rotating sensor suite which includes a 3D video camera and a high-frequency multi-beam echo sounder. At a frequency of 2.25 MHz, the integrated BlueView MB2250-45 delivers high-resolution 3D bathymetry images. Supported by the mission planning, the Harbour Inspection Head enables the SeaCat to scan a predefined section of a harbour wall or an underwater structure. The rotating section of this SwapHead moves according to a profile defined in the mission plan. Alternatively, the SwapHead features automatic sensor positioning. Camera and sonar are working simultaneously and after post-processing of the raw data provide the user with a resulting 3D picture created by the dedicated Post Mission Analysis Software Suite (as described in Product Description Part 3 Support Set). Feature Specification Field of view 45 x 1 Max. range 9 m Beam width 1 x 1 Number of beams 256 Beam spacing 0.18 Range resolution Max. update rate Frequency 0.010 m (0.39 in.) 40 Hz 2.25 MHz 18
Field-Exchangeable Sensor Technology Harbour Inspection Results Property of BlueView Technology Inc. The Harbour Inspection Head turns the sonar and camera automatically into an ideal position for ship hull and harbour wall inspections 19
SeaCat SwapHead Geo Magnetic Head Detecting metal buried in the sediment The Geo Magnetic Head comes as a complete set, consisting of a SwapHead with cable intake, a towed magnetometer and a cable guidance system. Its outstanding feature when compared to a classical SwapHead is the possibility of towing equipment behind the SeaCat by attaching the tow cable to the strain-relief of the fibre-optic cable. The G-882 Marine Magnetometer is particularly well suited for the detection and mapping of all sizes of ferrous objects. These include anchors, chains, cables, pipelines, ballast stones and other scattered shipwreck debris, munitions of all sizes (UXO), aircrafts, engines and any other object with magnetic expression. Objects as small as a 5-inch-screwdriver are readily detected, provided that the sensor is close to the seafloor and within practical detection range. The typical magnetic signatures of common objects are as follows: Ship 1000 tons 0.5 to 1 nt at 800 ft (244 m) 1000 lb bomb 1 to 5 nt at 100 ft (30 m) Anchor 20 tons 0.8 to 1.25 nt at 400 ft (120 m) 500 lb bomb 0.5 to 5 nt at 50 ft (16 m ) Automobile 1 to 2 nt at 100 ft (30 m) Grenade 0.5 to 2 nt at 10 ft (3 m ) Light aircraft 1 to 2 nt at 100 ft (30 m) 20 mm shell 0.5 to 2 nt at 5 ft (1.8 m) Pipeline (12 ) 1 to 2 nt at 200 ft (60 m) Screwdriver (5 ) 0.5 to 2 nt at 12 ft (4 m) Pipeline (6 ) 1 to 2 nt at 100 ft (30 m ) 10 lbs of iron 0.5 to 1 nt at 20 ft (6 m) 100 kg of iron 1 to 2 nt at 50 ft (15 m) 1 lb of iron 0.5 to 1 nt at 10 ft (3 m) 100 lbs of iron 0.5 to 1 nt at 30 ft (9 m) 20
Field-Exchangeable Sensor Technology Geo Magnetic Results The figure above shows a set of sample data which has been recorded in the harbour of Olpenitz in the Baltic Sea. The path of the vehicle is shown as light green line; the data has been overlaid to a satellite image of the area. Note that the ships in the satellite image have not been present during the survey. It is clearly visible that the concrete dock structure increases the magnetic intensity in shape of a distributed noise. In contrast, there is a strong magnetic contact close to the end of the small survey. 21
SeaCat SwapHead Subbottom Head The acoustic view into the sediment helps during archeological, geological and military tasks. The Subbottom Head features a Tritech dual-frequency Seaking Parametric SBP (Subbottom Profiler) that emits a 20 khz pulse using a primary frequency of 200 khz. The profiler emits the sound vertically downward towards the seafloor and receives the return of the sound once it has been reflected. Parts of the sound will penetrate the seafloor and thus be reflected by the different subbottom layers and embedded objects. The data obtained by using the Subbottom Head provides information on the different sub-floor sediment layers. For a quick visualisation of the mission results, the package includes dedicated Tritech Seanet Pro Software. Feature Primary frequency Primary beam width Low frequency Low frequency beam width Pulse length Range resolution HF Range resolution LF Specification 200 khz 4 degrees 20 khz 4.5 degrees 100 µseconds depends on range scale (10-100mm) depends on range scale (60 µseconds @ 30 m) 22
Field-Exchangeable Sensor Technology Subbottom Results Exemplary data taken by SeaCat showing HF data (top) and LF data (bottom) The data has been recorded whilst the SeaCat was operating in a constant depth mode. The scale on the right side of the picture shows the distance to the bottom either in meter (HF) or milliseconds (LF). Note the spot in the water column which is the echo of an oil-filled towed array. 23
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Field-Exchangeable Sensor Technology Customised Applications Matching your needs with your own Custom Head Example of a customer-specific configuration: Video Inspection Head If none of the currently available SwapHeads meet your specific requirements, there are many options for matching your needs. 1) ATLAS is ready to build a new head according to the customer s specifications. A team of specialists will select sensors or actuators and design the custom head in close cooperation with the client. 2) If wanted, the customer can be empowered to develop a payload head on his own and full responsibility. For this purpose a detailed interface control document will be supplied, describing all necessary mechanical and electrical interfaces. A licence will be issued which authorises the use of customer-built equipment. A typical head consists of sensors (or actuators) and a small control- and data storage / processing unit which can be accessed via Ethernet. The highest level of customisation is possible through a mechanism, generally known as backseatdriver interface. Basically, the backseat driver concept enables the communication between the SeaCat Guidance Computer and a customer-owned payload computer. Software, running on the payload computer, may issue a command containing course, heading and speed in regular intervals. Upon reception of this command, the current mode of operation (automatic or manual) is overridden and SeaCat behaves as commanded by the payload. To use this behaviour a Software upgrade will be delivered together with a dedicated Software interface description To support own developments, a plain GRP (Glass-Reinforced Plastics) bow shell can be supplied for integrating specific payloads. SeaCat s Custom Head is available in various sizes. Among other constraints the customer must take care that the integrated head is neutrally buoyant. 25
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Field-Exchangeable Sensor Technology Further information about SeaCat SeaCat AUV & System Overview... Product Description Part 1 SeaCat Support Sets... Product Description Part 3 27
Contact ATLAS ELEKTRONIK GmbH Sebaldsbruecker Heerstrasse 235 28309 Bremen Germany Phone: +49 421 457-02 Telefax: +49 421 457-3699 www.atlas-elektronik.com Product Description (Part 2 of 3) Bremen, July 2016 The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization is prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design. Alterations, that result in technical progress, are reserved. The values mentioned in this brochure are measured under optimal environmental conditions defined by ATLAS ELEKTRONIK. These values may differ due to the environmental conditions of the customer s area of operation or storage. This brochure is for information only. The final scope and performance of the system is subject to a Contract System Specification [CSS] issued at contract award. ATLAS ELEKTRONIK GmbH - Printed in Germany