Bluefin Robotics Corporation 237 Putnam Avenue Cambridge, Massachusetts Fax October 2008 Rand LeBouvier Addressing Priority Needs with AUV Technology

Research Needs Develop Cooperative Cued Platforms (High Priority) Explore Munitions Indicators That Can Be Exploited For Wide Area Surveys (High Priority)

Demonstration Needs Demonstrate Existing Sensors (Critical Priority) Demonstrate Combined Sensors, Platforms, and Navigation Technologies (Critical Priority)

CADRE: Cooperative Autonomy for Distributed Reconnaissance & Exploration Objectives: Modular UUV Platform/Architecture Comm/Nav Aid UUV Autonomous System-of-Systems MLBL Cooperative Navigation Demonstrate Very Wide Area Surveys in support of MCM Develop Cooperative Cued Platforms (High Priority)

Goal Precision navigation for a heterogeneous team of vehicles performing rapid large-area search and survey Search-Classify-Map and Reacquire-Identify in a single pass Solution must be robust to deal with time delays and bandwidth constraints Non-Target CADRE

Explore Munitions Indicators That Can Be Exploited For Wide Area Surveys (High Priority) Side-Scan Sonar –Bluefin 9, 12, 21 using SSS provided by Marine Sonics (3 models), Edgetech, Klein, Datasonic Multi-Beam Sonar –Bluefin 21 owned by Fugro, Multi-Beam provided by Reson Synthetic Aperture Sonar (SAS) –Bluefin 12 (SAS12) owned by the Office of Naval Research, SAS provided by ARL Penn State –Bluefin 21 (Gambit) owned by the UK, SAS provided by Qinetiq –Bluefin 21 (Muscle) owned by NURC, SAS provided by Thales UK –Bluefin 21 owned by Thales UK, SAS provided by Thales UK –Bluefin 12 owned by the Office of Naval Research, SAS (buried object sensing sonar) provided by the US Gov’t –Bluefin 12 owned by ARL University of Texas, SAS provided by ARL UT –Multiple Bluefin 12’s to be delivered to the US Navy, SAS provided by Qinetiq Sub-Bottom Profilers augmented by Moving Vessel Profiler –Bluefin 21 owned by Fugro, SBP provided by Edgetech –Bluefin 21 owned my MIT, SBP provided by Edgetech Chemical Sensors (Battelle) Optical Sensors (various) Magnetic Sensors –Bluefin 12 owned by the Office of Naval Research, RTG provided by the US Gov’t

Buried object detection sensor: Buried Object Scanning Sonar (BOSS) Bottom Object Scanning Sonar (BOSS) Real-time Tracking (Magnetic) Gradiometer (RTG) DVC 1412AM High-Resolution CCD Camera BOSS Projector BOSS Receiver Array DVC 1412AM Camera BOSS & RTG Electronics Bluefin12 Propulsor LED Light Array Bluefin12 Electronics RTG Sense Head Diameter = 12.75” Length = 155” Wing Span = 100” Weight Dry = 379 lbs Endurance= 18 Hours Courtesy NSWC-PC

Proud item detection sensors: SAS, Side-Scan Sonar, Multi- Beam Sonar PSU SAS Imagery Courtesy NSWC PC MSTL SSS imagery from Bluefin 9 Klein 5000 SSS imagery from Bluefin 21 Reson MBES imagery from Bluefin 21 Edgetech Sub Bottom Profiler Imagery

Applicable mine detection systems: Low Frequency Broad-Band (LFBB) NRL RELIANT BatteryDASReceive ArraySource ArrayNose Tail Section

Demonstrate Existing Sensors (Critical Priority) Marine UXO Characterization Based on Autonomous Underwater Vehicle Technology (SERDP project-Sky Research prime) Objective: Based on existing AUV platforms, this project will develop flexible marine surveying capabilities for wide-area screening of UXO under various marine conditions. Proof-of-concept development of an AUV mapping system will proceed in three stages: (1) a comprehensive engineering analysis, (2) design and laboratory testing of the AUV system, and (3) testing of a functional AUV-based UXO mapping technology in a controlled environment.

Demonstrate Combined Sensors, Platforms, and Navigation Technologies (Critical Priority) “… autonomous underwater vehicles (AUVs), remotely operated vehicles (ROVs), and towed arrays. Navigation and positioning technologies included long base line (LBL), ultrashort baseline (USBL), Doppler velocity log (DVL), real- time kinematic global positioning system (RTK-GPS), and inertial navigation technologies. Integrated systems may be used to determine the footprint of contamination during a wide area survey, to perform detailed surveys for individual item detection, or during the reacquisition process.” Avtrak LBL Avtrak USBL Doppler Velocity Logger (DVL) – 3 Models GPS – 5 Models INS – 4 Models MLBL for AOFNC Bluefin navigation using IMU, DVL, Compass, GPS Towed arrays for PLUS, MIT