LUST

Overview

LABUST
TRAINING ACTIVITIES AND RESOURCES

A. Vasilijević
Laboratory for Underwater Systems and Technologies
Faculty of El. Engineering and Computing
University of Zagreb
 LABUST
Established in 2005

• Laboratory primary goal is education of students with underwater systems

and technologies
• Education in the domain of navigation, guidance and control of unmanned
marine vessels (surface and underwater)
• R & D of underwater systems and technologies
• Interdisciplinary and multidisciplinary cooperation for the purpose of
underwater systems and technologies
• Organization of training courses in domain of underwater technolgies

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 Resources – Our fleet
AUV (autonomous underwater vehicle) - IVER2
 
 

ROV (remotely operated vehicle) - SeaMor 300F and VideoRay

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 Remote sensing – Sonars
Imaging sonar Rotary scan sonar Side scan sonar

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 Resourses

CTD Physical properties of sea water Environmental optical sensors

Acoustic communication - modems Acoustic USBL positioning system

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 Software
Our goal: to see the world around us layered with information, data and
visualizations.

Original mission planning software: Vector map

Our prefered and future platform: Google earth

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 Training
Laboratory provide variety of training courses:

• AUV / ROV Mission Planning and Operator Training

• Remote sensing
• Underwater navigation, localization and communication (situational
awareness)

Trainings are targeted for professions utilizing underwater technology:

• Maritime security, underwater surveillance and mine hunting
• Surveys, data gathering e.g. bathymetrical or environmental
• Offshore, inspection, detection and tracking of subsurface installations

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 Navy training – topic and goals
This presentation shows one of our latest training organized for Croatian Navy.

Training was provided to Mine Countermeasures personnel.

Topic: advanced underwater technology for security inspections and mine

hunting

Security inspections:
• Port and channels seabed inspections
• Ships hull and Underwater structures

Goals:
• detection, classification and identification of underwater objects
• high area search rate with low false alarm generation
• rapid deployment and employment

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 Navy training – benefits and concept
Benefits:
• fast and efficient wide area search, saving man-hours, time and money
• reduce unnecessary risk for the human operators who otherwise have to
interface with the underwater objects
• easy re-inspection
• work in a zero or low visibility conditions

As a concept is used very well known approach:

1. Target detection and localization using autonomous vehicles AUV

2. Visual
identification and classification of the previously detected objects using RO
V
3. Mapping. Map can be used for periodic inspections (re-inspections)

The training was organized into three modules:

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 Module 1
1. Technology familiarization (workshop), concept, theory and demo missions

• Concept and role of unmanned vehicles in maritime security, underwater surveillance

and mine hunting.
• Theory needed: hydro-static hydro-dynamic, underwater vehicles, navigation,
underwater sensing (sensors), acoustic localization and communication etc.
• Demo missions to explain the concept, principals and advantages

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 Module 2
2. Hands-on training providing real world experience for trainees
Participants were split in groups of two (vehicle crew)

• Mission planning
• Vehicle deployment, AUV and ROV
• Independent missions, data transfer
• Presentation and interpretation of the results

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 Module 3
3. Demonstration

• Training participants demonstrated their new skils during the international

workshop BTS 2010 Murter

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Mission planning

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 AUV Mission Results
Mission data is downloaded from the vehicle and the results are presented on
the map in layers e.g. corrected trajectory, SideScan image, temperature

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 Map – sonar image
Using SideScan image of the area, detected objects are labelled and Geo-
localized.

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 Reinspection
New inspection Previous inspection

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 ROV Mission Results

Suspicious object from AUV mission were then visually inspected using ROV.

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 ROV Mission Results
To pilot ROV to the labelled objects and to identify them, trainees used:
• USBL underwater localisation system to guide them to the proximity of the object
• Imaging Sonar in low visibility condition to find the object
• Finally video for object identification and classification.

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 Reinspection

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 Resources – Our fleet
AUV (autonomous underwater vehicle) - IVER2
 
 

 Vehicle specifications:
Hull Diameter: 14.7 cm (5.8 in)
Hull Material: Carbon Fibre Tube
Vehicle Length: 148 cm (58+ in).
Weight in air: 21kg (47+ lbs)
Maximum Operating Depth: 100 m (328 ft)
Maximum speed: 4 knots
Energy: 600 watt/hours, Li-Ion battery system.
Propulsion and Control: Direct drive DC brush-less motor and four independent fin control surfaces.
Navigation: Dead Reckoning + integrated DVL.
Processor: Two OceanServer designed CPUs (Intel ATOM 1.6Ghz)
 
Sensors: Vehicle applications:
Compass, roll and pitch sensors Creation of nautical charts, detection and identification of
GPS underwater objects and bathymetric features.
Depth sensor Archeological, biological, environmental surveys etc.
Side Scan sonar (Imaginex Sport scan). Current profiling.

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 Resources - Equipment
ROV (remotely operated vehicle) - SeaMor 300F
Vehicle applications:
Remote Visual inspections, Marine Security,Offshore,
Science, Salvage
 
Vehicle specifications:
Size (W X L X H) 355mm X 472mm X 355mm
Weight in air ~ 20kg
Construction Aluminium and high impact ABS
Depth Rating 1,000 ft / 300m
Speed Up to 3 knots
Thrusters 4x150w
 
Sensors:
Compass, roll,pitch,depth
Color Camera, focus manual/auto, zoom 10x optical, 4x digital, tilt 180 Degree and 2x50W variable intensity
light (tilt with camera).
LYYN video optimization in controller
DVR video recorder
Front looking Dual frequency sonar system BlueView DF900/2250. Provides the medium and ultra-short
range imaging required to perform complex tasks in zero visibility conditions.
DVL, LinkQuest , determine the velocity vector and altitude of a subsea vehicle moving across the sea floor.
USBL Tritech, used for underwater positioning.
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