Multi-Platform Active Heave Compensation System
Navy SBIR 2009.3 - Topic N093-215
NAVSEA - Mr. Dean Putnam -
Opens: August 24, 2009 - Closes: September 23, 2009

N093-215 TITLE: Multi-Platform Active Heave Compensation System

TECHNOLOGY AREAS: Ground/Sea Vehicles, Materials/Processes, Sensors

ACQUISITION PROGRAM: Submarine Rescue Diving and Recompression System (SRDRS) ACAT IV

OBJECTIVE: Design and develop an active heave compensation system for a launch and recovery system that can be installed on any platform, without having to know the platformís motion characteristics or tune the system prior to operation.

DESCRIPTION: The SRDRS is the United States Navyís primary rescue asset to rescue personal from a disabled submarine. The SRDRS concept of operations requires that the rescue asset be mobilized and onsite with 72 hours. The SRDRS does not have a full capability to reduce heave and uncouple the motion between the tethered ROV and the vessel. It is desired to have an active heave compensation system that does not require to be tuned for each vessel and has the capability to reduce heave disturbances by 80% in up to Sea State 4, as defined in DOD-STD-1399, section 301A.

Without a heave compensation system, the LARS operations of the SRDRSís Pressurized Rescue Module (PRM), or tethered ROV, has to be operated in manual mode, relying on operator proficiency. Operator fatigue can occur because of continuous operations, increasing the risk of damage to the PRM and the LARS lift lines, especially in higher sea states. The system should have two modes of operation, constant tension and heave compensation, and also provide the capabilities to smoothly transition from one mode to another. In constant tension, the LARS lift lines should stay at a given tension set-point while raising and lowering the PRM. The heave compensation mode should be able to keep the PRM at a given depth.

PHASE I: Conduct conceptual studies/R&D/analysis determining possible methods to reduce heave experienced by the system on multiple platforms without having to tune the system or knowing the platformís motion characteristics. The concept should include a preliminary design of the system, including the algorithm and necessary system hardware. A review of the existing system and how the proposed concept applies would be of benefit. Documentation related to the status of the current system will be given to the awardee as GFI.

PHASE II: Develop detail design of the Phase I preliminary design and demonstrate, via simulation the system requirements, including the heave reduction on multiple platforms.

PHASE III: Upon meeting the U.S. Navyís systems requirements, the active heave compensation system will be certified as a capability for the SRDRS.

PRIVATE SECTOR COMMERCIAL POTENTIAL/DUAL-USE APPLICATIONS: The multi-platform active heave compensation system has a potential use for the commercial nad scientific communities to operate ROVs that use LARS on multiple platforms without having to tune the compensation system. In addition to the multiple ROVs that the Navy operates, the Navy has other systems, such as TAVTS (Test Article Vehicle Transfer System), in which heave compensation is used. Currently these systems are installed on platforms where the motion characteristics are known or the system has to be tuned. The final design could also be applicable for subsea mine reconnaissance.

1. Lainiotis, D.G,; Plataniotis, K.N.; Menon, Dinesh; Charalampous, C.J., "Adaptive Heave Compensation via Dynamic Neural Networks", Proceeding of OCEANS í93, pp. I243-I248 vol. I.

2. DOD-STD-1399, Section 301A

3. NAVSEA ltr 9070 Ser394RR/0114 of 25 Jan 2008 -Software Requirements Specification (SRS) for the Submarine Rescue System Handling System, Rev 6.0 of 21 Jun 2007

4. NAVSEA Document TM304147 Rev D, Performance Specification of the SRS Handling System of 26 May 2005

KEYWORDS: Heave Compensation; algorithm; launch and recovery system; subsea; sensors; control

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