CALMARS A solution to facilitate inter-operability and to increase the operational capacities of autonomous unmanned vehicles

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1 CALMARS A solution to facilitate inter-operability and to increase the operational capacities of autonomous unmanned vehicles Authors: Marc Luccioni Viorel Ciausu Laurent Artzner

IFREMER AUVs L&R requirements IFREMER AUVs, AsterX and IdefiX are tools

Our specification of the L&R equipment must include: No specific surface

the height is between the main deck and the sea level Can be used with any

2 IFREMER AUVs L&R requirements IFREMER AUVs, AsterX and IdefiX are tools that can be used on European research vessels. Our specification of the L&R equipment must include: No specific surface support needed Able to work with small ships Can be used no matter what the height is between the main deck and the sea level Can be used with any of the sea equipment lifts: A-frame, classical LARS, crane and gantry The system to be no longer than the AUV

3 CALMARS concept The L&R problem Legend 1 L&R device 2 - AUV

4 CALMARS concept Our solution 3 Mobile funnel jointed with the device 1 4 Small tow line

5 CALMARS concept Step 1 tow line 4 is pulled by device 1

6 CALMARS concept Step 2 : the tow line makes the first attempt at alignment

7 CALMARS concept Step 3 : LARS and AUV come into contact - ideal situation

8 CALMARS concept Step 3 : LARS and AUV come into contact non-ideal situation

9 CALMARS concept Step 4: The AUV is now connected to the mobile funnel

10 CALMARS concept Step 5: A second alignment is made by device 1

11 CALMARS concept Step 6: The AUV is pulled into device 1

12 CALMARS other potential applications In theory it s possible to connect the AUV with underwater docking systems

CALMARS concept application CALISTE Requirements SECURE LAUNCH AND RECOVERY : No swimmers needed No divers or small boats involved A flexible system ADAPTIBILITY :

13 CALMARS concept application CALISTE Requirements SECURE LAUNCH AND RECOVERY : No swimmers needed No divers or small boats involved A flexible system ADAPTIBILITY : Suitable for all types of AUV, with or without external parts such as fins or masts Can be used with light or heavy systems e.g. surface drones for civil and military operations

14 CALMARS concept application CALISTE Overview of its two functions The launch and recovery device is designed as an autonomous «swingle bar» to protect the AUV by separating it from the ship s heaving during the AUV capture or launch (patented). An active or passive system to catch a tow line integrated in the nose of the AUV (patent in process). These two solutions work with an operational or damaged AUV, on the sea s surface. They allow you to catch the tow line at a safe distance from the ship (over 30 meters).

$Buoys\ fenders AUV Cage Winch$

15 CALMARS concept application CALISTE The L&R device Remote control Lifting rig Batteries Buoys\ fenders AUV Cage Winch

16 CALMARS concept application CALISTE DESCRIPTION of the PROCEDURE The AUV is guided to the vessel or if the AUV is damaged we can go to it. The tow line is recovered and attached to the CALISTE cage, set down on the main deck.

17 CALMARS concept application CALISTE DESCRIPTION of the PROCEDURE A light, integrated winch pulls the AUV towards the cage

18 CALMARS concept application CALISTE DESCRIPTION of the PROCEDURE A funnel-shaped device leads the AUV and lines it up with the cage

19 CALMARS concept application CALISTE DESCRIPTION of the PROCEDURE The AUV is docked and locked into the cage

20 CALMARS concept application CALISTE DESCRIPTION of the PROCEDURE The CALISTE cage and the AUV are lifted on board

21 CALMARS concept application CALISTE First trials Recovery of the tow line and preparation of the cage on the deck before AUV recovery operation

22 CALMARS concept application CALISTE First trials The AUV is towed behind the cage Then the AUV is pulled into the cage All this is done directly from the CALISTE cage

23 CALMARS concept application CALISTE First trials The CALISTE cage and AUV are lifted and recovered on board

24 Centre de CALMARS concept - CALISTE system IMARTECH 08 Toulon 2008

25 Thank you

VR to DL for UUST. lfremer

VR to DL for UUST. lfremer VR to DL for UUST 1 operational tech testbed 1980 EPAULARD 1985 NAUTILE SIRENE - AUV «autonomous landing» 1998 VICTOR 6000 SWIMMER - AUV «autonomous docking» 2001 ALIVE-AUV «autonomous intervention» 2003