Maritime properties of UNCOSS ROV

V. Valković, D. Sudac, Jasmina Obhođaš, R. Kollar, K. Nađ, Ž. Orlić,Z.Domitran

UNCOSSPROJECT MEETING AND WORKSHOP

DUBROVNIK, November 30.–December 1. 2011.

Presented byVladivoj Valkovic,

A.C.T.d.o.o., Prilesje 4, 10000 Zagreb

http://www.youtube.com/watch?hl=en&v=hXUxmHQo6gw

Field test site in Kovčanje, Island Field test site in Kovčanje, Island Lošinj, Adriatic SeaLošinj, Adriatic Sea

Inside of the control room in the container.Experimental container for housing control electronics and crane for submarine.

““SURVEYOR”SURVEYOR”

3'' x 3'' NaI(Tl)

API120

shieldAl ring

Tagged neutron cone

Submarine

40

19

Al slab

5

10

Experimental set-up

Submarine «Surveyor» ready for tests.

Schematic presentation of major components of detection system.

Photo of the inside of submarine. Neutron generator API-120 on the right side,

with NaI(Tl) detector on the left side.

The figure shows the system performing the measurement using the NaI gamma The figure shows the system performing the measurement using the NaI gamma detector and an API-120 neutron generator which could be rotated in order to detector and an API-120 neutron generator which could be rotated in order to

maximize the inspected target volume. The neutron beam intensity during the 10-30 maximize the inspected target volume. The neutron beam intensity during the 10-30 min. measurements was 1x107 n/s in 4π.min. measurements was 1x107 n/s in 4π.

UNCOSS SUCCESS CASE-ANNEX I: DOW (16.05.2011)-

A caliber 150 mm projectile with a mass of 7 kg TNT (total mass 43 kg) will be chosen to demonstrate the UNCOSS capability to identify the presence of the explosive during a 10 minute measurement with the neutron sensor, which will be previously positioned above the object by using the underwater vehicle and the perception sensors.

Due to the small quantity of explosives compared to larger UXOs (torpedoes, airplane bombs, antiship mines…), this “UNCOSS success case” is very demanding but it represents a large population of ammunitions present on the seafloor.

Grenade 155 mm (total mass 42.0 kg, TNT mass = 7.18 kg) filled with 6.2 kg of TNT-S1

The diver realizing the bomb from the crane attachment and

positioning it to the realistic environment.

The alternative:

Objects on interest on the sea floor are also drums filled with

variety of threat materials which usually contain carbon

as a component. We have therefore performed

measurement with the drum filled with 60 kg of graphite

powder.

Yet another alternative:

Gamma ray spectra from drum filled with 60 kg of graphite powder (black)

and background – target out (red). Neutron generator angle α=26°.

Measurement time = 20 minute Gamma ray spectrum of drum filled with60 kg of graphite

powder (black) and background – target out (red). Neutron

generator angle α=26°.

Measurement time 67 s.

Testing UNCOSS ROVTesting UNCOSS ROVsea worthness testssea worthness tests

In movement: 8 thrusters (6 degrees of In movement: 8 thrusters (6 degrees of

freedom including pitch andfreedom including pitch and

roll).roll). Standing still: 4 independetly controlable Standing still: 4 independetly controlable

legs.legs. Depths: down to 50 meters (or more ifDepths: down to 50 meters (or more if

required).required).

ROV thrusters and controls

Controlling ROV

TEST in pool at IRB

NEW LOCATION

10m

30m

Locations proposed for tests

Experimental container at the new location in Punat shipyard

ACT experimental container in Punat

UNCOSS ROV moved to Punat

Suport structure on the mother ship

Test for water leaks at depth of 3 meters

Towing ROV to the “open sea”

Test at the depth of 10 meters

10 meters depth location

Zoran Noa

Two important guys overlooking the tests

Towing UNCOSS ROV to the 30 meters deep test location:

Lowering ROV to the depth of 30 meters

Critical depth

VideoRay

Damage to the crane.

First results:

Deformation of reinforcing rib structure

LOWERING ROV LOWERING ROV INTO WATER:INTO WATER:

ROV SURFACE ROV SURFACE MOVEMENT:MOVEMENT:

ROV GOING UNDERWATER:ROV GOING UNDERWATER:

PINGERS

YET TO BE DONE:

1. ROV master cable for connection to the mother ship.

2. Choice and installation of gyroscope.

3. Laser positioning - Point beam ( Green laser module ) 2 pcs Power min. 30 mW - Line beam 90° ( Green laser module )2 pcs Power min. 30 mW.

4. Cameras Cameras for movements and positioning: - front camera 1 pcs - back camera 1 pcs - cameras for positioning ( x,y ) 2 pcs. Camera on the master cable 1 pcs.

5. Lights - Lights for positioning, flexible LED stripe l=1m, 2 pcs. - Front and back illumination, LED lights 320-650 lum., 4 pcs.

6. Central box for connection of lasers, cameras and lights to the ROV master cable.

THANK YOU FOR YOUR ATTENTION!

HVALA NA PAŽNJI!