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194
final report/references.bib
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@ -192,13 +192,14 @@
year = {2010}
}
@misc{rov-manual,
author = {{Marine Technology Society ROV Committe}},
groups = {ROV},
howpublished = {Online},
title = {Operational Effectiveness of Unmanned Underwater Systems},
url = {https://rov.org/wp-content/uploads/2020/06/manual.pdf},
urldate = {2020-12-16}
@Misc{rov-manual,
author = {{Marine Technology Society ROV Committe}},
howpublished = {Online},
title = {Operational Effectiveness of Unmanned Underwater Systems},
year = {1998},
groups = {ROV},
url = {https://rov.org/wp-content/uploads/2020/06/manual.pdf},
urldate = {2020-12-16},
}
@Misc{noaa-depth,
@ -919,6 +920,183 @@ Li metal has been attracting increasing attention as an anode in all-solid-state
urldate = {2021-1-2},
}
@Misc{whats-an-auv,
author = {NOAA},
howpublished = {Online},
month = sep,
title = {What is the difference between an AUV and an ROV?},
year = {2020},
groups = {AUV},
url = {https://oceanservice.noaa.gov/facts/auv-rov.html},
urldate = {2021-1-3},
}
@Misc{what-is-an-rov,
author = {BlueRobotics},
howpublished = {Online},
month = sep,
title = {What is an Underwater ROV?},
year = {2019},
groups = {ROV},
url = {https://bluerobotics.com/learn/what-is-an-rov/},
urldate = {2021-1-3},
}
@Misc{wired-cable-repair-ops,
author = {Matt Burgess},
howpublished = {Online},
month = nov,
title = {Ever wondered how underwater cables are laid? We take a trip on the ship that keeps us online},
year = {2016},
groups = {ROV},
url = {https://www.wired.co.uk/article/subsea-internet-cable-ship-boat},
urldate = {2021-1-3},
}
@Misc{noaa-what-are-auvs-and-why,
author = {Denise Crimmins and Justin Manley},
howpublished = {Online},
title = {What Are AUVs, and Why Do We Use Them?},
year = {2008},
groups = {AUV},
organization = {NOAA},
url = {https://oceanexplorer.noaa.gov/explorations/08auvfest/background/auvs/auvs.html},
urldate = {2021-1-3},
}
@InProceedings{underwater-gps-problem,
author = {G. {Taraldsen} and T. A. {Reinen} and T. {Berg}},
booktitle = {OCEANS 2011 IEEE - Spain},
title = {The underwater GPS problem},
year = {2011},
pages = {1-8},
doi = {10.1109/Oceans-Spain.2011.6003649},
groups = {Navigation},
url = {https://ieeexplore.ieee.org/document/6003649},
urldate = {2021-1-3},
}
@Misc{marine-insight-dead-reckoning,
author = {Shilavadra Bhattacharjee},
howpublished = {Online},
month = oct,
title = {What is Dead Reckoning Navigation Technique at Sea?},
year = {2019},
groups = {Navigation},
organization = {Marine Insight},
url = {https://www.marineinsight.com/marine-navigation/what-is-dead-reckoning-navigation-technique-at-sea/},
urldate = {2021-1-3},
}
@Article{aviation-dead-reckoning,
author = {Gebre-Egziabher, Demoz and Powell, J.D. and Enge, P},
title = {Design and Performance Analysis of a Low-Cost Aided Dead Reckoning Navigator},
year = {2010},
month = {07},
groups = {Navigation},
url = {https://www.researchgate.net/publication/228696978_Design_and_Performance_Analysis_of_a_Low-Cost_Aided_Dead_Reckoning_Navigator},
urldate = {2021-1-3},
}
@InCollection{kalman-filter-intro,
author = {Youngjoo Kim and Hyochoong Bang},
booktitle = {Introduction and Implementations of the Kalman Filter},
publisher = {IntechOpen},
title = {Introduction to Kalman Filter and Its Applications},
year = {2019},
address = {Rijeka},
chapter = {2},
editor = {Felix Govaers},
doi = {10.5772/intechopen.80600},
groups = {AUV, Navigation},
url = {https://doi.org/10.5772/intechopen.80600},
urldate = {2021-1-3},
}
@Article{kalman-filter-paper,
author = {Kalman, Rudolph Emil},
journal = {Transactions of the ASME--Journal of Basic Engineering},
title = {A New Approach to Linear Filtering and Prediction Problems},
year = {1960},
number = {Series D},
pages = {35--45},
volume = {82},
groups = {AUV, Navigation},
url = {https://www.cs.unc.edu/~welch/kalman/media/pdf/Kalman1960.pdf},
urldate = {2021-1-3},
}
@InProceedings{acoustic-positioning-overview,
author = {Keith Vickery},
booktitle = {Dynamic Positioning Conference},
title = {Acoustic Positioning Systems: A Practical Overview of Current Systems},
year = {1998},
month = oct,
groups = {Navigation},
url = {https://dynamic-positioning.com/proceedings/dp1998/SVickery.PDF},
urldate = {2021-1-3},
}
@Article{usbl-aup,
author = {Cho-Chung Liang},
journal = {Marine Geodesy},
title = {A Study of a Short-Baseline Acoustic Positioning System for Offshore Vessels},
year = {1999},
number = {1},
pages = {19-30},
volume = {22},
doi = {10.1080/014904199273579},
eprint = {https://doi.org/10.1080/014904199273579},
groups = {Navigation},
publisher = {Taylor & Francis},
url = {https://doi.org/10.1080/014904199273579},
urldate = {2021-1-3},
}
@PhdThesis{uan-italian-thesis,
author = {Andrea De Vito},
school = {University of Pisa},
title = {An underwater acoustic positioning system based on buoys with GPS},
year = {2007},
groups = {ROV, Navigation},
url = {https://core.ac.uk/download/pdf/14694283.pdf},
urldate = {2021-1-3},
}
@Article{gib-diver,
author = {Sgorbini, Sergio and Peirano, Andrea and Cocito, Silvia and Morgigni, Massimo},
journal = {Enzyme and Microbial Technology - ENZYME MICROB TECHNOL},
title = {An underwater tracking system for mapping marine communities: An application to Posidonia oceanica},
year = {2002},
month = {05},
pages = {135-138},
volume = {25},
doi = {10.1016/S0399-1784(02)01188-X},
groups = {Navigation},
url = {https://www.researchgate.net/publication/251592155_An_underwater_tracking_system_for_mapping_marine_communities_An_application_to_Posidonia_oceanica},
urldate = {2021-1-3},
}
@InProceedings{janus-uac,
author = {J. {Potter} and J. {Alves} and D. {Green} and G. {Zappa} and I. {Nissen} and K. {McCoy}},
booktitle = {2014 Underwater Communications and Networking (UComms)},
title = {The JANUS underwater communications standard},
year = {2014},
pages = {1-4},
doi = {10.1109/UComms.2014.7017134},
groups = {Communications},
url = {https://ieeexplore.ieee.org/document/7017134},
urldate = {2021-1-3},
}
@Misc{ap-submarine-cable-map,
author = {TeleGeography},
howpublished = {Online},
title = {Submarine Cable Map},
url = {https://www.submarinecablemap.com/},
urldate = {2021-1-3},
}
@Comment{jabref-meta: databaseType:bibtex;}
@Comment{jabref-meta: grouping:
@ -930,5 +1108,5 @@ Li metal has been attracting increasing attention as an anode in all-solid-state
2 StaticGroup:ROV\;0\;1\;0x8a8a8aff\;\;\;;
2 StaticGroup:AUV\;0\;1\;0x8a8a8aff\;\;\;;
1 StaticGroup:Renewables\;0\;1\;0x8a8a8aff\;\;\;;
1 StaticGroup:Battery\;0\;1\;0x8a8a8aff\;\;\;;
1 StaticGroup:Battery\;0\;0\;0x8a8a8aff\;\;\;;
}

300
final report/report.lyx
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@ -2375,6 +2375,7 @@ Figure?
\end_inset
.
This will provide 2.44 MWh of electrical energy storage for the buffer system.
\end_layout
\begin_layout Standard
@ -3644,8 +3645,8 @@ Summary
\end_layout
\begin_layout Standard
The proposed buffer solution includes 193,600 NCM Lithium-ion cells requiring
replacement every 2.3 years.
The proposed 2.44 MWh buffer solution includes 193,600 NCM Lithium-ion cells
requiring replacement every 2.3 years.
As a result of this replacement rate, it is stipulated that the battery
be re-appropriated for second-use such as energy storage following decommission
in order to extend their life and reduce the environmental impact.
@ -4065,13 +4066,30 @@ ROVs and AUVs
UUVs can be divided into two categories based on their control scheme.
Remotely operated underwater vehicles (ROV) and autonomous underwater vehicles
(AUV) are distinguished by whether a human is controlling the vehicle or
whether it operates independently; as such they have different applications.
whether it operates independently; as such they have different applications,
\begin_inset CommandInset citation
LatexCommand cite
key "whats-an-auv"
literal "false"
\end_inset
.
ROVs have been the vehicle class of choice where complex intervention and
actuation is required such as offshore oil and gas operations and cable
repair.
A human operator controls the vehicle from the surface vessel; bi-directional
communication including data, control, video and power are transmitted
through an umbilical cord tether between the two vessels.
through an umbilical cord tether between the two vessels,
\begin_inset CommandInset citation
LatexCommand cite
key "what-is-an-rov"
literal "false"
\end_inset
.
AUVs on the other hand have primarily been used for survey and research
purposes.
@ -4101,7 +4119,15 @@ Physical Configuration
\begin_layout Standard
The physical layout of a UUV can generally be described by one of two classes,
box frames or torpedo shaped.
box frames or torpedo shaped,
\begin_inset CommandInset citation
LatexCommand cite
key "rov-manual"
literal "false"
\end_inset
.
\begin_inset Flex TODO Note (Margin)
status open
@ -4128,7 +4154,16 @@ Current ROV Usage
Cable repair operations are currently undertaken, where possible, with human-con
trolled ROVs.
With visual contact and direct actuation at the seabed, the ROV is used
to identify, cut and grip the cable for retrieval to the surface-vessel.
to identify, cut and grip the cable for retrieval to the surface-vessel,
\begin_inset CommandInset citation
LatexCommand cite
key "wired-cable-repair-ops"
literal "false"
\end_inset
.
In doing so the need for repeated motions of the ship across the cable
is removed, saving time and fuel.
Instead, the surface vessel uses dynamic positioning in order to maintain
@ -4138,7 +4173,15 @@ trolled ROVs.
\begin_layout Standard
While this finer control is a key benefit for ROV use over grapnels, one
of the most important benefits is the ability to bury repaired cables in
the sea floor using high-powered water jets.
the sea floor using high-powered water jets,
\begin_inset CommandInset citation
LatexCommand cite
key "smd-qtrencher-600-datasheet"
literal "false"
\end_inset
.
70% of cable damage is caused by man-made activity, of which over a third
is a result of fishing activity; another quarter is as a result ship anchors,
@ -4703,12 +4746,12 @@ noprefix "false"
of about 3 km.
This poses a problem to cable repair operations where, further out to sea,
the sea floor can extend much further, see figure
\begin_inset Flex TODO Note (Margin)
status open
\begin_layout Plain Layout
bathymetry chart?
\end_layout
\begin_inset CommandInset ref
LatexCommand ref
reference "fig:bathymetry-rov-range-estimation"
plural "false"
caps "false"
noprefix "false"
\end_inset
@ -4726,6 +4769,58 @@ bathymetry chart?
this operating range where burying the cable is less important.
\end_layout
\begin_layout Standard
\begin_inset Float figure
wide false
sideways false
status open
\begin_layout Plain Layout
\noindent
\align center
\begin_inset Graphics
filename rov range.png
lyxscale 40
width 60text%
\end_inset
\end_layout
\begin_layout Plain Layout
\begin_inset Caption Standard
\begin_layout Plain Layout
An estiamtion as to the operating range of the ROV, shaded red indicates
seabed outside of the operating area,
\begin_inset CommandInset citation
LatexCommand cite
key "noaa-depth-google,ap-submarine-cable-map"
literal "false"
\end_inset
\begin_inset CommandInset label
LatexCommand label
name "fig:bathymetry-rov-range-estimation"
\end_inset
\end_layout
\end_inset
\end_layout
\end_inset
\end_layout
\begin_layout Paragraph
Requirements Specification
\end_layout
@ -4784,7 +4879,16 @@ Measurement of the depth of a body of water
\end_inset
, surveys and chemical composition investigations such as pH and toxin levels.
, surveys and chemical composition investigations such as pH and toxin levels,
\begin_inset CommandInset citation
LatexCommand cite
key "noaa-what-are-auvs-and-why"
literal "false"
\end_inset
.
\end_layout
\begin_layout Standard
@ -4847,7 +4951,7 @@ An advantage of using an autonomous vehicle would be the lack of need for
This could reduce the required power directed to dynamic positioning which
in higher sea states can become a significant draw.
Additionally, as the UUV can move independently, the surface vehicle would
not need to directly track the vehicles movement; for example, when the
not need to directly track the vehicle's movement; for example, when the
UUV is re-burying the repaired cable in shallower waters.
This would, again, lower the required propulsion power used by the surface
vessel.
@ -4920,7 +5024,15 @@ Decoupling the vehicles introduces complications that are not necessarily
typical to the existing use cases for AUVs.
The frequency of EM waves used by GNSS systems do not penetrate deep through
the water and an AUV must be able to operate without world co-ordinates
provided in this manner.
provided in this manner,
\begin_inset CommandInset citation
LatexCommand cite
key "underwater-gps-problem"
literal "false"
\end_inset
.
As such, navigation systems used by AUVs are typically
\emph on
dead reckoning
@ -4928,7 +5040,15 @@ dead reckoning
systems.
This is a form of navigation that operates relative to a known fixed point
(where a UUV is deployed for example) as opposed to one relative to world
co-ordinates.
co-ordinates,
\begin_inset CommandInset citation
LatexCommand cite
key "marine-insight-dead-reckoning"
literal "false"
\end_inset
.
\end_layout
\begin_layout Standard
@ -4939,7 +5059,15 @@ With an accurate system, this will satisfy many surveying and research use
navigate to a specific location (the cable fault).
A dead reckoning system as described above uses relative sensors to measure
speed and infer the current location however these relative sensors have
associated measurement errors which accumulate over time.
associated measurement errors which accumulate over time,
\begin_inset CommandInset citation
LatexCommand cite
key "aviation-dead-reckoning"
literal "false"
\end_inset
.
This would be more pronounced under the water where sea currents are liable
to accentuate these errors, the efficacy of an AUV's fault location capabilitie
s may be reduced to the point of unacceptability.
@ -5112,10 +5240,21 @@ literal "false"
\end_inset
will be used.
will be implemented.
The vehicle will likely be at the larger and heavier end of existing ROVs
as the vehicle must now have the onboard energy capabilities to complete
a mission without a constant power supply from the surface vessel.
The vehicle is assumed to have similar dimensions to existing vehicles,
an estimation of 4m x 4m x 2m for a volume of 32m
\begin_inset script superscript
\begin_layout Plain Layout
3
\end_layout
\end_inset
is used as well as an estimation of 10 t for weight.
\end_layout
\begin_layout Subsubsection
@ -5135,7 +5274,17 @@ return home
orders.
When operating underwater, acoustic signals are the primary medium for
wireless communication.
JANUS is a NATO standard for underwater communications using modulated
audio signals, as such this protocol will be used between the two vessels,
\begin_inset CommandInset citation
LatexCommand cite
key "janus-uac"
literal "false"
\end_inset
.
\end_layout
\begin_layout Subsubsection
@ -5157,7 +5306,16 @@ dead reckoning
\emph default
using an inertial navigation system (INS).
An INS uses input from many types of sensor such as accelerometers and
gyroscopes to measure the movement of the vehicle and hence infer its location.
gyroscopes to measure the movement of the vehicle and hence infer its location,
\begin_inset CommandInset citation
LatexCommand cite
key "nortek-subsea-navigation"
literal "false"
\end_inset
.
None of these could individually provide an accurate determination of location
and as such
\emph on
@ -5172,13 +5330,11 @@ sensor fusion
\emph on
Kalman filter
\emph default
\begin_inset Flex TODO Note (Margin)
status open
\begin_layout Plain Layout
reference, explain?
\end_layout
,
\begin_inset CommandInset citation
LatexCommand cite
key "kalman-filter-paper,kalman-filter-intro"
literal "false"
\end_inset
@ -5224,13 +5380,29 @@ Alongside the use of acoustic signals for communications it will also be
employed for positioning.
One application for this is underwater acoustic positioning which employs
the use of time-of-flight measurements to beacons of a known location to
triangulate an object's location.
triangulate an object's location,
\begin_inset CommandInset citation
LatexCommand cite
key "acoustic-positioning-overview"
literal "false"
\end_inset
.
There are different configurations for such a system depending on how these
beacons are laid out,
\emph on
long-baseline
\emph default
(LBL) systems involve beacons located on the sea floor.
(LBL) systems involve beacons located on the sea floor,
\begin_inset CommandInset citation
LatexCommand cite
key "nortek-subsea-navigation"
literal "false"
\end_inset
.
Spreading these beacons around the working area of an ROV widens the baseline
of the system and provides higher accuracy when triangulating.
This configuration is best suited to static areas of research such as ship
@ -5249,7 +5421,15 @@ Short-baseline
\emph default
(SBL) systems involve a number of beacons placed at the furthest corners
of the surface vessel, this has the benefit of requiring little set-up
and pack-down at the cost of reduced accuracy.
and pack-down at the cost of reduced accuracy,
\begin_inset CommandInset citation
LatexCommand cite
key "acoustic-positioning-overview,usbl-aup"
literal "false"
\end_inset
.
Relative to the UUV these beacons are all on a similar bearing when operating
at a distance, as a result changes in the vehicle's location would be reflected
in similar changes to the measurements from all of the beacons.
@ -5282,7 +5462,15 @@ inverted long-baseline
\emph on
smart buoys
\emph default
around the expected working area of the UUV.
around the expected working area of the UUV,
\begin_inset CommandInset citation
LatexCommand cite
key "uan-italian-thesis,gib-diver"
literal "false"
\end_inset
.
The use of buoys as opposed to beacons on the sea-floor significantly decreases
the preparation and clean-up mission phases.
\end_layout
@ -5458,6 +5646,17 @@ The cell voltage (3.6 V) and capacity (3.5 Ah) were multiplied for 12.6 Wh
The battery system constitutes an extra 5,700 kg of extra weight for the
UUV, it is important that the battery be removable for tethered operation
in order to increase efficiency when independent operation is not required.
This will bring the total weight of the vehicle to 16t when operating in
AUV mode and is estimated to take up 2.5 m
\begin_inset script superscript
\begin_layout Plain Layout
3
\end_layout
\end_inset
of space.
\end_layout
\begin_layout Standard
@ -5757,7 +5956,7 @@ digitisation
Digitisation describes the transforming of data or a process from an analogue
system to a digital one,
\begin_inset CommandInset citation
LatexCommand citep
LatexCommand cite
key "workingmouse-digitalisation"
literal "false"
@ -5775,7 +5974,7 @@ literal "false"
Digitalisation describes the use of digitisation to increase efficiency
and access new value-producing business opportunities,
\begin_inset CommandInset citation
LatexCommand citep
LatexCommand cite
key "workingmouse-digitalisation,gartner-digitalization"
literal "false"
@ -5834,6 +6033,41 @@ Within the vessels, machine learning (ML) and AI will have varying applicability
location.
\end_layout
\begin_layout Part
Design Summary
\end_layout
\begin_layout Section
Vessel
\end_layout
\begin_layout Subsection
Electrical Energy Storage
\end_layout
\begin_layout Standard
The surface will be fitted with 2.44 MWh of electrical energy storage acting
as a buffer between the ammonia fuel cells and the thrusters.
This will allow the power from the ammonia cells to be generated in the
most efficient manner possible with this primarily being varied by changing
the population of active cells instead of the draw on a fixed group.
The system will be repurposed following decommission in order to extend
the life of the system and reduce the environmental impact.
\end_layout
\begin_layout Subsection
Autonomous Underwater Vehicle Capabilities
\end_layout
\begin_layout Standard
The proposed UUV inherits the operating capabilities of existing ROVs used
in the domain while proposing extensions to allow autonomous operations.
This allows an increase in efficiency while decoupling the two vessels
in order to save fuel for the ship.
The UUV has 1.5 MWh of removable onboard power storage for autonomous missions
in order to allow a 20 hour operating time.
\end_layout
\begin_layout Standard
\begin_inset Newpage newpage
\end_inset

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