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Autonomous Hull Grooming Vehicle

Award Information
Agency: Department of Defense
Branch: Navy
Contract: N68335-19-C-0452
Agency Tracking Number: N18A-020-0129
Amount: $1,997,307.00
Phase: Phase II
Program: STTR
Solicitation Topic Code: N18A-T020
Solicitation Number: 18.A
Timeline
Solicitation Year: 2018
Award Year: 2019
Award Start Date (Proposal Award Date): 2019-08-29
Award End Date (Contract End Date): 2024-03-16
Small Business Information
10 East Main Street P.O. Box 959
Richmond, VT 05477
United States
DUNS: 795039945
HUBZone Owned: No
Woman Owned: No
Socially and Economically Disadvantaged: No
Principal Investigator
 Ben Kinnaman
 CEO
 (802) 434-6080
 bkinnaman@greensea.com
Business Contact
 Ben Kinnaman
Phone: (802) 434-6080
Email: bkinnaman@greenseainc.com
Research Institution
 Florida Institute of Technology
 Geoffrey Swain Geoffrey Swain
 
150 W University Blvd
Melbourne, FL 32901
United States

 (321) 674-8096
 Nonprofit College or University
Abstract

The objective of this STTR is to develop a highly autonomous hull grooming system that can be operated easily and cost effectively with minimal supervision. The focus of the Phase 1 effort was to design and characterize the navigation system that can provide the required accurate on-hull navigation. The focus of the Phase 2 Base effort is to demonstrate closed loop autonomous control for relative positioning from primary fixes established on the hull. In Phase 2 Option, we will deliver a complete hull-grooming system to a program sponsor customer for fleet integration and evaluation.Our Phase 2 proposal develops an autonomous hull grooming vehicle prototype providing less than 0.15m RMS error over 1200m of grooming area, the equivalent of the groomable region on one side of a DDG-51 hull. Implemented through an open architecture software model, our solution is vehicle agnostic and provided in a stand-alone attachment containing the navigation system, system autonomy, sensor, hull crawling tracks, hull attachment method, and grooming tool. The proposed navigation strategy is based on an Inertial Navigation System utilizing a novel alignment method and aiding sensors for error correction and bounding while on the ship hull.

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

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