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Novel Actuation and Control for Unmanned Underwater Riverine Craft (UURC)…

Award Information

Department of Defense
Defense Advanced Research Projects Agency
Award ID:
Program Year/Program:
2007 / SBIR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
Solicitation Number:
Small Business Information
Barron Associates, Inc.
1410 Sachem Place Suite 202 Charlottesville, VA 22901-2496
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Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Phase 1
Fiscal Year: 2007
Title: Novel Actuation and Control for Unmanned Underwater Riverine Craft (UURC) Shallow-Water Behavior
Agency / Branch: DOD / DARPA
Contract: W31P4Q-08-C-0024
Award Amount: $98,774.00


Military operations in littoral and riverine environments are increasingly important, and unmanned underwater riverine craft (UURC) are likely to play a key role in such operations providing surveillance, delivering payloads (including human divers), etc. Operation in the riverine environment, however, presents a number of unique difficulties, including tidal variations, complex currents and turbulence, suspended sand and particulates, changing bottom conditions, moving obstacles, etc. To perform complex missions in this environment, UURC systems will require innovative effectors, intelligent control methods, and advanced sensors. The proposed plan of research seeks to develop (a) novel effectors and combinations of diverse effectors suitable for maneuvering in the riverine environment, (b) intelligent control methods that learn about the vehicle and environment, adapt to changes, and coordinate action among the diverse effectors, and (c) intelligent path-planning methods that can string together key behavioral primitives (swim, crawl, hover in turbulence, sleep, etc.) in a way that minimizes power consumption and maximizes the probability of successful completion of the UURC mission. It is anticipated that the result will be a set of key enabling technologies that can be applied to a wide range of future UURC systems.

Principal Investigator:

Nathan D. Richards
Research Scientist

Business Contact:

Connie R. Hoover
General Manager
Small Business Information at Submission:

1410 Sachem Place Suite 202 Charlottesville, VA 22901

EIN/Tax ID: 541243694
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No