Novel Actuation and Control for Unmanned Underwater Riverine Craft (UURC) Shallow-Water Behavior

Award Information
Agency: Department of Defense
Branch: Defense Advanced Research Projects Agency
Contract: W31P4Q-08-C-0024
Agency Tracking Number: 07SB2-0559
Amount: $198,649.00
Phase: Phase I
Program: SBIR
Awards Year: 2007
Solicitation Year: 2007
Solicitation Topic Code: SB072-040
Solicitation Number: 2007.2
Small Business Information
1410 Sachem Place, Suite 202, Charlottesville, VA, 22901
DUNS: 120839477
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Nathan Richards
 Research Scientist
 (434) 973-1215
Business Contact
 Connie Hoover
Title: General Manager
Phone: (434) 973-1215
Research Institution
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.

* information listed above is at the time of submission.

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