KM Subsea AUV Group

REMUS & HUGIN

Stronger Together

/1/ 9 Dec 2021

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The Kongsberg Group
Kongsberg Maritime – Subsea Division
Underwater Naval sonar
positioning systems

Fisheries systems

AUV’s
Seabed mapping

Underwater
surveillance

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 Kongsberg AUV Group
• Hydroid was acquired by Kongsberg
Maritime in June 2008

US Facility

Norway Facility UK Facility

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 AUV Environmental ,Scientific &
Offshore Applications
• Environmental monitoring
• Physical Oceanography
• Archaeological survey
• Marine Research
• Hydrographic survey
• Geophysical survey

REMUS 6000 data courtesy of Waitt Institute

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 AUV Military Applications
• Mine
Countermeasures
• Search & salvage
operations
• Rapid Environmental
Assessment
• Intelligence &
Reconnaissance
• Harbour security

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 The HUGIN and REMUS AUV family

REMUS 100

REMUS 600

HUGIN 1000 (3000 /4500)

REMUS 6000

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 REMUS AUVs

REMUS 100 Lightweight, compact, two-man

portable AUV for coastal (<100 meter)
applications

REMUS 600
REMUS Launch &
Recovery systems

Highly versatile, modular AUV for

600, 1500 or 3000 meter applications
REMUS 6000

Deep-water workhorse AUV for operations

from 10 to 6000 meters of water
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 REMUS 100

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 REMUS 100 Capability

GPS / Iridium/ WiFi

Vertical thruster

ADCP/DVL Inertial (INS)

Vertical thruster

Horizontal thruster
Horizontal thruster
CTD
Recon

sidescan sonar
LED Light bar

Length <254cm
Diameter 19cm LBL nav / Acomms
Mass (in air) <50kg
Max. depth 100m Payload module
Speed variable 0.25-2.8ms-1
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 REMUS 100 recent developments

• Thruster modules
• Field replaceable antenna
• Geoswath bathymetry module
• HiPAP USBL compatibility
• BlueView Sidescan ‘Gap Filler’
• Edgetech side scan option
• Klein side scan (planned)

/ 10 / 9 Dec 2021

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 Thruster (Hovering) REMUS 100

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 REMUS 100 Geoswath
interferrometric bathymetry data

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 High area coverage achieved by combined
sidescan & gap-filler sonars

Courtesy of Atlas Elektronik (UK) Ltd

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 Combined Edgetech Sidescan & BlueView Gap filler to
give seamless coverage for survey

Courtesy of Atlas Elektronik (UK) Ltd

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Example REMUS 100 modules

• Low light camera module

• LED Light bar
• Parallel Lasers

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 Payloads and sensors: Automatic Target
Recognition

• Requirement: Automatic target recognition (ATR) and transmission of

contact data
Embedded ATR running
on small-form factor PC- Classiphi embedded
104
Automatic Target
Recognition (ATR) has
been successfully
integrated onto a small
form factor PC to
operate within the
REMUS LUUV
demonstrator vehicle.
The card and its
processing are
optimised for low
power efficiency,
drawing ~8W in
operation.

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 REMUS 600

• GO DEEPER

• GO FURTHER

• FULLY MODULAR

• INCREASED PAYLOAD /
ALTERNATE PAYLOADS

• TRANSPORTABLE SYSTEM
REMUS 600 in use with the US Navy

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 REMUS 600 example payloads

EM 3002 multibeam and Edgetech side scan

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 REMUS 600 developments

• Nav P Processor
• UTP navigation aiding
• Nav Lab compatible
• HiPAP compatible

/ 19 / 9 Dec 2021

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 Launch & Recovery – Dedicated Frame

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 The HUGIN AUVs
HUGIN 1000

Weight [kg] 600-850

Length [m] 3.8 – 6.5
Diameter [m] 0.75
Speed [kts] 2-6
Depth rating [m] 1000/3000/4500

Battery [kWh] 15
(recharg. pressure tolerant
Lithium Polymer)
Endurance [hours] 16-60
(speed and payload dep.)
Payloads MBE,SSS,SBP,SAS,CTD,Fish resh, LOPC, Camera

/ 21 / 9 Dec 2021

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 HUGIN - Modes of Operation

• Supervised

• Autonomous

• Semi Autonomous

/ 22 / 9 Dec 2021

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 HUGIN 1000 Vehicle and Depth Ratings

• HUGIN 1000 basic AUV is offered with 1000-,

3000- and 4500-meter depth ratings
• Basic vehicle can be configured with several
Modular Payload Sections to suit mission objectives
> Same HUGIN 1000 platform supports many
missions

/ 23 /

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 HUGIN 1000 Modular Payload Sections

• Multibeam echo sounder

• Sub-bottom profiler

• Gradiometer

• Plume Investigation

• Ice-Mapping Sonar

• Fisheries Echo Sounder

• Additional Battery Section

• Forward-Looking Sonar

• …

/ 24 /

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 Multibeam Echo Sounder Section

• EM 2040

• EM 3002

/ 25 /

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 Sub-Bottom Profiler Section

Edgetech Sub-Bottom Profiler

• TX in modular section; RX arrays installed in mid-section
• When used w/Edgetech SSS, electronics bottle housed in mid-section
• When used with HISAS 1030, a shorter Edgetech electronics bottle is housed in
modular section along with TX

DW-216
• Mid range
• 2.7 – 16 kHz
DW-106
• Long range
• 0.7 – 10 kHz
• 1/4th attenuation

/ 26 /

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 Ice-Mapping Sonar Section

GeoSwath Plus, 250kHz

• Phase-measuring
bathymetric sonar
• Mounted on HUGIN 1000 in
upward-looking configuration
in Modular Payload Section
• Proven sensor for mapping
underside of ice – 240 deg
2 opening angle yields 2
0 0
-2 coverage of 12 x depth -2
-4 -4
Thickness(m)

-6 -6
-8 -8
-1 0 -1 0
-1 2 -1 2
Wadhams & Doble, Geophys. Res. Lett. 35. L01501

0 1 2 3 4 5 6 7 8 9 10
Distance [km]
/ 27 /

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 Plume Investigation Section

• Combination of:
• Two CONTROS HydroC sensors
(hydro-carbons and CO2)
• Eh sensor for seawater’s oxidation/
reduction potential
• Allows simultaneous recording of
several characteristics of underwater
plumes
• Section includes necessary aperture
for sensor views and water access

/ 28 /

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 Forward-Looking Sonar (FLS) Nose Cone

• Provides data for collision avoidance

• Vertical avoidance concept
• Crucial for under-ice operation
• Data used for online trajectory
generation
• Enhanced bottom-following
• Improved payload performance in
undulating terrains
• FLS specification
• Frequency: 260 KHz
• Range: 100m
• Aperture: 120° x 20 °
• Beams: 120
• Power: <5W
• Depth Rating: 3000m
• Safe operation in very rough terrains
• Safe operation at very low altitudes
• Underwater camera inspection
• Pipeline following- and inspection
• Safety mechanism
• User error
• Navigation system error

/ 29 /

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 FLS: Enhanced Bottom-Following

Water surface

Hugin Trajectory

Bottom Profile

/ 30 /

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 Digital Still Camera (TileCam)

• HUGIN 1000 “TileCam” camera

solution
• Underwater camera from NEO
(Norwegian Electro Optics)
• Fully-cast LED-array with control
electronics from Hydroid
• Separation of LED panel and
optics to reduce backscatter
• Altitude 5-10 m
• FLS recommended for safe
low-altitude operation
• Enables ID of mines w/same
AUV
• Power consumption 20-60W
• Dependent on picture rate and
exposure time

/ 31 /

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 Emerging HUGIN Applications

• Pipeline inspection & Auto tracking

capability
• Under ice
• Environmental surveillance

HiPAP navigation and tracking concept

Ice breaker trajectory

AUV trajectory

Pipeline mapped with HUGIN 1000 Concept for operating HUGIN 1000
equipped under ice from ice breaker
with HISAS 1030 synthetic aperture
sonar
/ 32 / 9 Dec 2021

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 HUGIN Launch and Recovery System

• Containerized or open deck ramp

system

• Launch and recovery at high sea

states routinely performed since
1997 – thousands of dives

• Full maintenance,
recharge/refueling and service
facilities

• Suitable for road, rail or sea

transportation of complete system

• Standard ISO shipping containers

can be used

/ 33 / 9 Dec 2021

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 REMUS 6000

• LITTORAL TO DEEP OPERATIONS – Designed to

operate in depths ranging from 10 meters to 6000
meters, allowing for a wide spectrum of autonomous
operations. (4000 and 6000 meters rated configurations
available.)

• CUSTOM DESIGN – Can be configured to include a wide

array of customer specified sensors depending upon
mission requirements. This workhorse provides ample
space and power for the most challenging applications.

• EASE OF OPERATION – Operates using the same

proven Vehicle Interface Program as the popular REMUS
100 AUV. The highly refined graphical user interface
makes vehicle maintenance/checkout, mission planning,
and data analysis fast and easy.

• PROVEN LAUNCH AND RECOVERY SYSTEM (LARS) –

Designed to function off the stern of a ship and can be
set up for shipboard operations within a few hours. The
LARS is based on another operational system, designed
by WHOI, which has completed over 1000 launch and
recovery operations at sea.

• PROVEN REMUS TECHNOLOGY – The REMUS 6000 is

based on the same leading edge technology that has
brought the REMUS 100 to the forefront of autonomous
operations.

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 REMUS 6000 in operation

/ 35 / 9 Dec 2021

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 Summary
• “Small” REMUS 100(~50 kg):
• Endurance: 8-12 hours
• Sensor: Simple configurations
• Low Cost, Man Portable, Multiple
Vehicle Operations, Increased
Flexibility
• “Medium” REMUS 600(~300 kg):
• Endurance: 12-24 hours
• Sensor: Complex Payloads,
Deeper Operation,
Transportable
• “Large” HUGIN 1000/ REMUS
6000(~750 kg):
• Endurance: 24 - 60 hours
• Sensor: Complex payloads,
HISAS 1030 High Performance
High Resolution, Increased
Depth

/ 36 /

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 Thank You!

/ 37 / 9 Dec 2021

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