114 untethered UUV dives: lessons learned
The Ocean Engineering Division at the Naval Command Control and Ocean Surveillance Center RDT&E Division (NRaD) has developed and field tested two successive untethered, supervisory controlled UUV systems: a prototype, and an improved model. These robotic vehicle systems were part of the Advanced Unmanned Search System (AUSS) programme. It was only after the prototype was fielded, many lessons were learned. As a consequence of the prototype experience, the improved model was developed. The second system was a complete redesign, using state-of-the-art subsystems and technologies. The resulting product was both capable and reliable, yet flexible, creating a plethora of system evolutionary possibilities. Sea tests, improved tactics, and systems engineering became synergistic and interactive. AUSS involved pioneering research in underwater search and in UUV systems. Important knowledge was also gained in systems analysis, system engineering, and program evolution. Invaluable experience was gained from 114 successful untethered dives. The purpose of this paper is to share many of the lessons learned during the AUSS program.
Unmanned Ground Vehicle (UGV) Lessons Learned
Abstract : The purpose of this effort is to compile Lessons Learned from the unmanned ground vehicle (UGV) programs that could be relevant to the objectives of the Very Shallow Water (VSW) Mine Countermeasures (MCM) and Explosive Ordnance Disposal (EOD) Unmanned Underwater Vehicle (UUV) program. Even though the operational environments of the UGV programs and the UUV program are significantly different, Lessons Learned could save the VSW MCM UUV program considerable time and resources. The domain of relevant Lessons Learned could include program management and contracting, operational concepts, sensor processing and navigation control software, multivehicle coordination processes, and other related robotics technologies.
Advanced Unmanned Search System (AUSS) Supervisory Command, Control and Navigation.
Abstract : This document summarizes three major facets of Advanced Unmanned Search System (AUSS) vehicle operation. It describes the AUSS vehicle system's four command groups: the basic vehicle mode commands, which alter the vehicle's basic mode of operation; movement commands, which move the vehicle around; search commands, which control the vehicle's search sensors; and informational and miscellaneous commands, which provide information to surface operators. The document details the operation of individual basic vehicle mode, movement, and search commands. The document discusses the two types of AUSS vehicle navigation: dead reckoning and Doppler navigation. It describes the main computer system and the sensor computer group that comprise the AUSS vehicle's basic computer architecture, and it summarizes AUSS vehicle computer system components and their specific functions.... Advanced Unmanned Search System(AUSS), Forward-Looking Sonar(FLS), Navigation, Acoustic links, Doppler sonar, Side-Looking Sonar(SLS), Obstacle-avoidance system.