Autonomous Platforms In Persistent Littoral Undersea Surveillance .

Autonomous Platforms in PersistentLittoral Undersea Surveillance: Scientificand Systems Engineering ChallengesDavid L. Martin, Ph.D., CAPT, USN (Ret.)Associate DirectorApplied Physics LaboratoryUniversity of WashingtonOctober 6, 2005NPS Menneken Lecture Series

MAJOR NAVAL LABORATORIES, WARFARECENTERS, AND UNIVERSITY LABORATORIESApplied Physics LaboratoryUniversity of WashingtonApplied Research LaboratoryPennsylvania State UniversityNaval UnderseaWarfare Center,KeyportNaval Research LaboratoryNaval UnderseaWarfare CenterApplied PhysicsLaboratoryJohns Hopkins UniversityNaval AirWarfare CenterNaval SurfaceWarfare CenterNaval Research LaboratoryMontereyNaval Command, Control, andOcean Surveillance CenterApplied Research LaboratoriesUniversity of TexasNaval Research LaboratoryStennis Space Center

AT A GLANCER&D ProgramOcean Acoustics – MCM, ASW, Acoustical OceanographySonars – Imaging, Mine, ShipSubmarine Acoustic Systems – ACINTArctic/Polar Science – Global Climate Change, SHEBA, SEARCH, SUBICEXOcean Physics – Turbulent Mixing, Electromagnetic SensingSatellite Remote Sensing - air/sea fluxes, aerosols, sea surface height, wavesMedical Ultrasound - Acoustic Hemostasis, Imaging, High Intensity Focused Ultrasound, LithotripsyR&D Budget6.26.36.446% Dev54% Basic 43M FY0462% Navy DerivedPersonnelHourlyAdmin1257ONR 6.1NSFNASANIHPh.D.83Students48Tech Support10S&E’s90300 Total

Navy ASW CONOPs Near-term, leverage–Data collection/sharing–Collaborative real-time planning–Reachback support–Precision engagement Smart planning & precision execution inHold at Risk and Secure FriendlyManeuver Area operations Far term, shift from “platform-intensive” to“sensor-rich” operations–Networks of sensors coupled to standoffweaponsThemesPersistencePervasive AwarenessSpeed & Operational AgilityTechnological Agility

Background32200 50030220 x 330 kmNotional Field502810001002500265000245000502250 x 175 km 5000NotionalBarriers20250018500050 m100 m200 m500 m1000 m2500 m5000 m16116118120122124126128130132 The Navy’s Hold-at-Risk ASWstrategy requires operation inchoke points, port areas, and openocean areas.– Environments are harsh andchanging– Required areas of coverage arelarge– Time frames of operationaleffectiveness are long (weeksto months)– Desired effectiveness is highwith low risk to blue forces Current systems do not supportthis ASW strategy.

Undersea Persistent SurveillanceProvide accurate, persistent submarine surveillance in complex environmentsSea Power 21Sea ShieldASWConstructsOrange Naval BaseOrange Naval BaseSeaBasePortsOp AreaBlue BaseREF: N74B ASW MCP PresentaionReduce the “detect-to-engage” timeline

Undersea Gliders for Navy Applications APL-UW Investigators:– Marc Stewart (mstewart@apl.washington.edu)– Bob Miyamoto (rtm@apl.washington.edu)– Jim Luby (jcl@apl.washington.edu)– Craig Lee (craig@apl.washington.edu)– Bruce Howe (howe@apl.washington.edu) UW School of Oceanography– Charlie Eriksen (eriksen@u.washington.edu) Office of Naval Research– Tom Swean (sweant@onr.navy.mil)– Tom Curtin (curtint@onr.navy.mil)– Theresa Paluszkiewicz (theresa paluszkiewicz@navy.mil)– Mike Traweek (mike traweek@onr.navy.mil) Program sponsors: ONR, DARPAONR RIMPAC04ONR TASWEX04Future Glider Technologies– ONR Xray flying wing glider– FutureGlider concept Role in Persistent Littoral Undersea Surveillance

RIMPAC June-July 2004

RIMPAC June-July 2004

RIMPAC June-July 2004

Acoustic effects of internal wavesProfiles 139-145PROFILES 139 TO 145CASS Transmission LossCASS Transmission Loss - Ten Sequential Seaglider ProfilesSound Speed Profiles-500Direct path-100-60Target Depth 300mTarget – 300mSource/receiver – 7.6m-200-70Transmission Loss (dB)Depth - meters-300-400-50040-60m oscillationsof thermocline-600Source Depth 0150015101520Sound Speed - meters/second15301540-1200102030Range (KYD)Conv-Zone405060

TASWEX0414 – 22 October SG017 TrackRed glider trackTurquoise glider headingBlue depth-averaged currentGreen surface current-SUCCESSES:Research glider borrowed for Navy exercise-JJVV & KKYY message auto-generation-100% data reliability despite typhoon-Kuroshio main jet-Mixed layer depth pegged(70m deeper than model)Tide-induced internal wave effectsEvaluated (and made a difference!)Seamless rendezvous with BowditchCHALLENGES:- Glider data rate vs. model capabilitiesUNCLASSIFIED

Internal Waves on ECS ShelfProfiles 95-114, 19 October ‘04Sound Speed Profiles0-20Profiles 95-114-40Depth - meters-60-80-100-120-140-160-180151030-45m oscillationsof thermocline1515153015251520Sound Speed - meters/second15351540

CASS Transmission LossTarget Depth 0 M-10File 1File 2File 3File 4File 5File 6File 7-20Source 7.6mTransmission Loss (dB)-30Receiver – surface-40-50-60Sound Speed Profiles0-70-80-20Profiles 95-11420Range (km)15105040353025Target Depth 75 M-30File 1File 2File 3File 4File 5File 6File 7-40-4010dB at 5km-50Receiver – 75m-100Transmission Loss (dB)-60-80-7015dB at 10km-80-90-120-100-140-11005101520Range (km)253035-20File 1File 2File 3File 4File 5File 6File 710dB at 5km-180151040Target Depth 99999 M-160-401515152015251530Sound Speed - meters/second15351540-60Transmission Loss (dB)Depth - meters-60Receiver – bottom20dB at 15km-80-100-120-14005101520Range (km)25303540

SG022 Double Bow-Tie Pattern (Dabob Bay)

SG022 Station-keeping (Dabob Bay)

Cumulative UW Glider Results 22 gliders built, 15 ordered4 flying today: Hawaii, Washington Coast (1), LabradorSea** (2)8 Four-, 7 Five-, and 6 Six-month missions– April 05, SG022 & 023 finished 6 month, 600 dive,3000 km voyages - new record 2500 glider-days of operation( 75% of total by all gliders)Over 32,500 kilometers traveled through water9 lost at sea, 1 recovered (SG004)

There is a Broad Glider EffortSeaGliderSlocumSprayONR FUNDED (FY03) – TOM SWEAN

A Snapshop of the Overall Glider ProgramGlobal Deployment, (very) Remote ControlSeagliderSlocumSprayLiberdade

Undersea Glider Milestones19931995Slocum Paper(Oceanography)AOSN Paper(Oceanography)20012003200520042006NAVO WestPac Demo(Slocum, Philippine Sea)RIMPAC-04 Demo(Seaglider,Hawaii)AOSN-IAOSN Glider Development(Slocum, Seaglider, Spray)TASWEX-04 Demo(Seaglider, East China Sea)APL-UWNavy Exercises Adaptive SamplingExperiments (Slocum, NJ)OBE Webb Slocum ProductionAOSN Special Issue(IEEE/JOE)SHAREM 148 Demo(Slocum, WestPac)NAVO Demo(Spray, FL)AOSN-IICNMOC/NAVOOperational GlidersTTIGlider SystemStudyAOSN-II Adaptive SamplingExperiments (Slocum, Spray; MontereyBay)Deep ConvectionExperiments (Seaglider, LabSea)Color KeyS&T onOperational TransitionCommercializationTBC, 2004Coastal Current Experiments(Seaglider; CA, WA, AKCoasts)Bluefin LicensesSprayHigh Performance PrototypeTests (Liberdade, San Diego)Cape Cod to BermudaSection (Spray, NorthAtlantic)APL/UW Glider CostCenterAdvanced Glider ResearchASAP, AESOP, LOCOUPS (Spray, Slocum,Seaglider, Liberdade, XRay; Monterey Bay)

ONR X-RAY Flying Wing Glider Funded by Office of Naval Research (Dr. Tom Swean) Collaboration with Marine Physical Laboratory, Scripps Instituteof Oceanography (San Diego, CA) High efficiency blended wing/body concept Designed to operate in efficient Reynolds number regime High lift to drag ratio will permit long duration energy efficientoperations Acoustic and EM sensors Navy interested in potential for long range, autonomoussurveillance

Xray Glide PolarCruise speed: 5 ktsWing span: 20 feetL/D: 19.5

Xray prototypeWinglet

FutureGlider Concept Primary mission: Surveillance of far-forward, littoral areas Design goals–––––––Low costAutonomous operationsPersistenceStealthEase of launch/recovery (2 people, variety of platforms)Over the horizon launch with rapid transit to operating areaRecoverable and reusable

FutureGlider: Booster/Glider

FutureGlider: Conformal Sensors

FutureGlider: Booster jettison

Multi-Institution Effort inPersistent LittoralUndersea SurveillanceNetwork (PLUSNet)

PLUSNet ConceptUnmanned Systems Approach toDistributed Sensor ASW SurveillanceUse mature (enough) technologies tofield a scalable system demonstrationEnvironmentally and tacticallyadaptive, cable-free sensor networkFixed sensor nodesMobile sensor nodesAssess environmentRedeploy (adapt)Directed as sensor "wolfpacks”Autonomous processingNested communication structure

Defining Parameters Clandestine undersea surveillance for submarines infar-forward and/or contested waters of order 103 - 104square nautical miles, shallow and deep water, operatingfor months. Innovative technologies integrated into scalablesystems. Systems at all scales that are deployable, affordableand effective for large area, persistent coverage.

Acoustic and Ocean Models220 kmTargeted ObservationsAcoustic Vector Sensor ArraysE-Field sensorsAdaptability, FeedbackUPSDirectional SensitivityCornerstonesMobility, PersistenceAutonomyAutonomous Underwater VehiclesAcoustic modemsAutonomous DCLAutomated Tracking

Stages of Undersea Persistent SurveillanceOcean Nowcast / ForecastSignal CuesNoise StatisticsStage IAdaptive SearchMaximize PD, Minimize PFATarget GlimpseStage IIAdaptive DCLMaximize GainTarget LockStage IIIAdaptive ConvergenceMaximize Intersect ProbabilityNeutralization

Environmental AssessmentEnvironmental acoustic assessment –e.g., bathymetry, SVP, detectionranges , finalize network clustertopology and fixed/mobile mix

Sensor DeploymentEnvironmental acoustic assessment –e.g., bathymetry, SVP, detection ranges ,finalize network cluster topology andfixed/mobile mixFixed and mobile sensor nodeslaunched from SSGN, LCS, USV anddeploy for optimum surveillancecoverage. AUV’s enter semi-dormantstate as temporarily fixed or driftingnodes

Reconfigure NetworkEnvironmental acoustic assessment –e.g., bathymetry, SVP, detection ranges ,finalize cluster topology and fixed/mobilemixFixed and mobile sensor nodes launchedfrom SSGN, LCS, USV and deploy foroptimum surveillance coverage. AUV’senter semi-dormant state as temporarilyfixed or drifting nodesReconfigure mobile sensors nodesbased on current tactical orenvironmental situation

Target DetectionEnvironmental acoustic assessment –e.g., bathymetry, SVP, detection ranges ,finalize cluster topology and fixed/mobilemixFixed and mobile sensor nodes launchedfrom SSGN, LCS, USV and deploy foroptimum surveillance coverage. AUV’senter semi-dormant state as temporarilyfixed or drifting nodesReconfigure mobile sensors nodesbased on current tactical or environmentalsituationTarget initial detection communicatedto network (ACOMMS or RF)

Wolfpack ResponseEnvironmental acoustic assessment – e.g.,bathymetry, SVP, detection ranges , finalizecluster topology and fixed/mobile mixFixed and mobile sensor nodes launchedfrom SSGN, LCS, USV and deploy foroptimum surveillance coverage. AUV’s entersemi-dormant state as temporarily fixed ordrifting nodesReconfigure mobile sensors nodes basedon current tactical or environmental situationTarget initial detection communicated tonetwork (ACOMMS or RF)Mobile asset "wolfpack" responds todetection to achieve weapon firing criteriaDCL

Undersea Surveillance g6.1ONR 31/32/33/35/NRL Team EffortsAdaptive Sampling and Prediction Using Mobile Sensing Networks (ASAP)Targeted observationsCooperative behaviorAdaptive gainClutter/Noise suppressionAutonomous Wide Aperture Cluster for Surveillance (AWACS)6.2Undersea Persistent Surveillance (UPS)Undersea Persistent Glider Patrol / Intervention (Sea Sentry)Four dimensional target discriminationMobile sensor environmental adaptationTarget interdiction with mobile sensorsUndersea Bottom-stationed Network Interdiction (CAATS)Persistent Ocean Surveillance (POS)Fixed surface nodesCongressional Plus-upsComponent technologies6.3Littoral Anti-Submarine Warfare (FNC)Adaptive path planningAutonomous Operations (FNC)Fixed bottom nodesONRDARPANAVSEAItalics: potential new programONR/DARPA/NAVSEA SBIR effortsPrototype system integrationand testingPMS-403PEO-LMWSubmarine T&TPersistent LittoralUnderseaSurveillance (PLUS)(INP)Task Force ASWPEO-IWSTheater ASW BAA