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
Amount:
$98,774.00
Award Year:
2007
Program:
SBIR
Phase:
Phase I
Contract:
W31P4Q-08-C-0024
Award Id:
81306
Agency Tracking Number:
07SB2-0559
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
BARRON ASSOC., INC. (Currently BARRON ASSOCIATES, INC.)
1410 Sachem Place, Suite 202, Charlottesville, VA, 22901
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
120839477
Principal Investigator:
Nathan Richards
Research Scientist
(434) 973-1215
barron@bainet.com
Business Contact:
Connie Hoover
General Manager
(434) 973-1215
barron@bainet.com
Research Institution:
n/a
Abstract
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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