Download pdf - Cerulean – REMUS 100 overvie · 2018. 11. 7. · Cerulean – REMUS 100 overview Developed as a two man-portable, yet operationally flexible AUV, the REMUS 100 system has become

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Cerulean–REMUS100overview

Developedasatwoman-portable,yetoperationallyflexibleAUV,theREMUS100systemhasbecometheindustryleadersinceitsdebutin2001.TheREMUS100systemhasdemonstratedcapabilities,whicharepertinenttomarineresearch,hydrographic,offshore/energy,andmilitaryapplications.Itisidealforcoastalhydrographicsurveyandtargetlocalisationmissionswhilerequiringminimalinfrastructuretosupportandoperate.TheREMUS100AUVsystemwasdesignedasasmall,lightweight,low-cost,easytouseandhighlyaccuratesystemforresearchtasksincoastalwaters,reachingdepthsofupto100meters.The100-meterratingofthevehiclehasanadditionalsafetyfactorof15%toensuresafeoperationatmaximumdepth.Thevehiclealsohasabuilt-incapabilitytoadaptautomaticallyshouldthevehicletrytoexceedthedepthratingforanyreasonduringamission.Thevehicle’scompactsizerequiresminimalinfrastructureforsupportandoperation,meaningtwopeoplecandeployandoperatethevehicle.Thevehicleandsupportequipmentfitsintwocustomdesignedtransitcasesforeasyshippingandhandling.Despiteitssmallsize,theREMUS100containsenoughsophisticatedsensor,navigation,andpowerresourcestoperformdetailedsonarandoceanographicsurveysoverhugeareas.ThebaselineREMUS100AUVsystemprovidessufficientreservevolume,payloadandpowertosupportavarietyofstandardorcustomsensors,anditcanbeeasilyconfiguredtomeetuniquemissionrequirements,includingtheadditionofenvironmental,communications,navigationandimagingsensors.ThemodulardesignoftheREMUS100vehicleallowsittobesetupasoperationaldemandsrequire.Itcanbeequippedwithawidevarietyofsensorpackagestosuittheneedsofjustaboutanyuser;operatorscansimplychangesensorsviatheuseofv-bandclampslocatedinthepayloadssectionofthevehicle.TheremaininghousingsectionsofthevehiclefromthetailtotheADCP/DVLmoduleissealedtoprotectthepropulsionsystem,mainelectronicschassis,batteries,andnavigationfromexposuretoelements.AuniqueattributeofREMUSisitsabilitytovisitthesamestudyspotoverandoveragainrepeatedly.AllthedataREMUScollectsisalsotimedstampedallowingtheusertoreferenceentiredatasetsfromeverysensoronthevehicleatthesametimeknowingitwasrecordedatthesamepreciselocation.


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Ceruleanvehicleinitstransportcontainer.

Capabilities(toplevel):

• Waterqualityassessments• Hydrographic/GeophysicalSurveys(mappingseabed3D)• Ecosystemassessments• PhysicalOceanography• EnvironmentalMonitoring• Marine/GeologyInvestigation• MarineBiology• Fisheriesresearch• SeabedMapping• FishStockassessments• Pipelineservery's• Cablingsurveys• Wreckagedetection(MalaysianAir)• GeologySeafloormapping

o Mineralso Oilo gas

• Waterquality• Routesurveys• Pre-Postdredgingimpactsurveys• Debris&clearanceafterstorms• Shipwreckhunting&Salvage


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AUV/UUV3500-Klein455/900kHzDualFrequencySideScanSonarwithBathymetry.Applications:

• Hydrographic/GeophysicalSurveys(mappingseabed3D)• Cable/PipelineSurveys• EnvironmentalAssessments(Reef)• ObjectDetection(Wrecks)• Inspection• MineCountermeasures/Intelligence,SurveillanceandReconnaissanceSurveys

TheUUV3500wasdevelopedasasidescansonarwiththeunprecedentedbenefitofanadvancedbathymetrypayloadforthegrowingAutonomousUnderwaterVehicles(UUVs).TheUUV3500productlineleveragesapowerful-whollyFPGAimplemented-multi-channelprocessingengine.Thesonarenginesimultaneouslyoptimizestwodifferentandconcurrentoutputdatastreamsfor:photoqualitysidescanimageryandhighaccuracy,co-registeredSwathBathymetry.TheUUV3500operatesexclusivelywithKlein'sproprietarywidebandtechnologyprovidingunmatchedsidescanrangeandresolutionperformanceinalow-power,compactandlightweightpayload.TheSwathBathymetryoptionallowsforwideswathperformancewhichistypically10-12timestheoverallaltitudeoftheUUVandtherebysignificantlygreatercoveragethancanbeachievedbyamulti-beamechosounder.Klein'snewlydesigned,ruggedizedtransducersarebuilttolastandperforminthemostdemandingenvironmentalconditions.Withtheadditionoftheswathbathymetrysonar,theKleinsystememploysadvancedinterferometricsignalprocessingtoproducesimultaneousestimatesoftheseabedtopographyouttothefullswathextentofthesonar,typically10-12timestheoverallaltitudeoftheAUV.Theaddedseabedtopographicmeasurementispostprocessedandco-registeredwiththesidescanbackscatterimagerytomoreaccuratelypositionseabedtargets.SonarbeamformingisdonebytheKleinsystemelectronicsthusallowingforintegrationwithonboardCAD/CACsoftware. TomakefulluseofthesonarsystemwithBathymetrytheflowingsoftwarewillbeneededhttp://kleinmariSonarPronesystems.com/products/sonarpro/ ExamplesofKlien3500withbathyimages:Sidescanexample:


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KleinSonarProsoftware

Sidescanexample:


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Bathymetricexample:

Post-processed3Dbathymetricexample:


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PhasedArrayDopplerVelocityLog(DVL)–300kHz–Vehiclenavigation+- Vehiclevelocity - Watercurrentvelocity(flow&current) - Vehiclepositionfromsurfaceandbottom - Depth - Obstacleavoidance - Terrainfollowing - DeadReckoningofroutetravelled

DataexampleADCP–Watervelocity

iXblueC3IMUw/NavPVehiclenavigation+

- Inertialnavigationforsurveygradenavigation- iXblue’ssilenttruesolidstateFiber-OpticGyroscopetechnologybuiltin- TheKongsbergMaritimeNavPaidedinertialnavigationsystembuiltin- Precise,reliableacousticpositioning

WetlabsTripletECOPuck TheTripletisaspecial-order,three-optical-sensorinstrumentavailableinauser-definedconfiguration.TheTripletaddressestheneedformultiplesimultaneousscatteringandfluorescencesensorsforautonomousandunattendedmeasurementplatforms.

ThesensorisprimarilyusedtomeasureTurbidity&Florescence.Thesensoriscustomisedatbuild,capableof:onescattering,twofluorometers;twoscattering,onefluorometer;threefluorometerorthreescatteringmeasurements.Optionsinclude:

• Bluescattering• Greenscattering• Redscattering• Chlorophyllfluorescence• CDOMfluorescence• Phycoerythrinfluorescence• Phycocyaninfluorescence• Rhodaminefluorescence• Uranine(fluorescein)fluorescence


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AanderaaOxygenOptodesensor.TheOxygenoptodeisdesignedtomeasureabsoluteoxygenconcentrationand%saturation.Theoptodecanbeusedfromstreamstodeepsea,fromfishfarmstowastewaterandfrompolariceareastohydrothermalvents.Thelifetime-basedluminescencequenchingprincipleoffersthefollowingbenefits:

• Responsetime<8sec(63%)• Highaccuracy• Notstirringsensitive(itconsumesnooxygen)• Lowerfoulingsensitivity• Measuresabsoluteoxygenconcentrationswithoutrepeatedcalibrations• Betterlong-termstability• Hotwatermonitoring• Lessaffectedbypressure• NotsensitivetoH2S• Notfreezingsensitive

YSIConductivityandTemperatureSensor-6560Stablemulti-probemeasuresconductivityandtemperaturelevelsandcalculatessalinityvalues.Thermistorreadingsareusedtotemperature-correctotherparametermeasurements.TemperatureYSIutilizesahigh-precisionthermistor:2252ohmsat25ºC(±1%)fortemperaturemeasurement.Resistancechangeswithtemperatureandthe6-SeriessondesconvertresistanceintoºC,ºF,orKautomatically.Bestofall,thetemperaturesensoriscalibration-and-maintenance-free.Specifications:Range:-5to50ºCResolution:0.01ºCAccuracy:±0.15ºC

ConductivityFourpure-nickelelectrodesallowtheYSI6560sensortoaccuratelydeterminetheconductivityofasample.Alongwithconductivity,theYSI6-Seriessondecancalculatespecificconductance,salinity,resistivityandtotaldissolvedsolids.Specifications:Range:0to100mS/cmResolution:0.001to0.1mS/cm(rangedependent)Accuracy:±0.5%ofreadingplus0.001mS/cm


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EK-80FishSonarsystemTheSimradEK80supersedesthepopularSimradEK60,asystemthathassoldmorethan1,100unitsforresearchvesselsworldwideandhasbecomeaninternationalstandardforfishstockassessment.Developedinclosecooperationwithleadingmarineinstituteswhocarriedoutextensivetestingofprototypesduringthedevelopmentperiod,theEK80providesanadvancedtoolforscientistsinvestigatingmarineandfreshwaterecosystems.ThisisthefirsttimeanEK80hasbeenadaptedandinstalledonaREMUS100AUVThesystemexploitswidebandechosoundertechnologywherebackscatterlevelsfromarangeoffrequenciesareprocessed,providingenhancedtargetinformation.Thewidebandfrequencysweep(chirp)incombinationwithadvancedsignalprocessinggivesexceptionallygoodsignaltonoiseratioandrangeresolution.Thiscombinationofhighresolutionanddetailedfrequencyresponseassistsscientistswithecosystemmonitoringandstockassessmentsenablingthemtoidentifyspeciesmoreaccurately.PostprocessingsoftwareisrequiredtomakethemostoftheEK80data.Oncethedataisprocessedthroughoneofthesuitablepackageslistedbelow,theEK80candeliverastonishinginformationaboutaterritoriesfishstocks.

• TotalBiomass• Schools• Singletargetdetectionandidentification• Seepandplumedetection• Hydrographyandbottomtype

Processingsoftware:

• EchoView• LSS• Sonar5

DepthSensor-TECONNECTIVITYPART#U5361-H00014-500PAThissensorrecordspressuretocalculatedepthBENEFITS

• ±0.1%Accuracy• ±0.5%TotalErrorBand• InstrumentGradeandCompact• VarietyofPressurePortsandElectricalConfigurations• OptionalStainlessSteelSnubber• CECompliantandWeatherproof• Gage,Sealed,Absolute,Compound• ExpediteConfigurationsAvailable(10Days)• 10V/mEMIProtection• ReversePolarityProtectiononInput• ShortCircuitProtectiononOutput• -40°Cto+125°COperatingTemperature


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CeruleanREMUS100Specifications:

Charitableaccesstoadvancedmarineresearchtechnologies