Autonomous Hull Grooming Vehicle

Award Information
Agency: Department of Defense
Branch: Navy
Contract: N68335-18-C-0471
Agency Tracking Number: N18A-020-0129
Amount: $122,642.00
Phase: Phase I
Program: STTR
Awards Year: 2018
Solicitation Year: 2018
Solicitation Topic Code: N18A-T020
Solicitation Number: 2018.0
Small Business Information
10 East Main Street, Richmond, VT, 05477
DUNS: 795039945
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Ben Kinnaman
 (802) 434-6080
 bkinnaman@greenseainc.com
Business Contact
 Ben Kinnaman
Phone: (802) 434-6080
Email: bkinnaman@greenseainc.com
Research Institution
 Florida Institude of Technology
 Carolyn Lockyer
 150 W University Blvd
Melbourne, FL, 32901
 (321) 674-7490
 Nonprofit college or university
Abstract
The objective of this proposed effort is to develop a highly autonomous hull-grooming system that can be operated easily and cost-effectively with minimal supervision. This system will meet the rigorous standards of current manned-grooming operations using a rotating brush tool and will ensure complete coverage of the groomed area by providing on-hull positioning accuracy of 0.15m. We will develop this system initially for use on DDG-51 class destroyers as well as both Freedom and Independence-variant Littoral Combat Ships though due to the tremendous commercial potential for such a capability, we will also design for multi-purpose ship grooming use. Building on the significant developments already realized for on-hull underwater vehicles, vehicle-to-hull attachment methods, tooling, and grooming methodologies, our research will focus on providing an accurate navigation, control, and operations scheme to these existing capabilities. Our proposed technical approach is based on the development of a multi-modal aided Inertial Navigation System (INS) specifically for hull-relative orientation, localization, and navigation combined with a proven autonomous control architecture for miniature water-borne robots and an intuitive mission-planning, quality assurance, and visualization Human Machine Interface (HMI) for supervising the hull grooming robot.

* Information listed above is at the time of submission. *

Agency Micro-sites

SBA logo
Department of Agriculture logo
Department of Commerce logo
Department of Defense logo
Department of Education logo
Department of Energy logo
Department of Health and Human Services logo
Department of Homeland Security logo
Department of Transportation logo
Environmental Protection Agency logo
National Aeronautics and Space Administration logo
National Science Foundation logo
US Flag An Official Website of the United States Government