Site: Camera Alive Ltd. Campus Tree Aberdeen Science and Technology Park Aberdeen AB22 8GW, Scotland United Kingdom Telephone:0224 826 611 Fax: 0224 706 905 Telex: 739791 Date Visited: May 14, 1993 Report Author: C. Brancart ATTENDEES WTEC: D. Blidberg C. Brancart L. Gentry J. Mooney OTHER: J. Sampson (ONR London) HOSTS: John Turner B.Sc., F.Inst.D., M.B.I.M., Managing Director BACKGROUND Camera Alive was established in 1975 to provide specialized noncontact measurement systems and underwater equipment to the offshore oil and gas industry. RESEARCH AND DEVELOPMENT ACTIVITIES Camera Alive has developed a basic stereo video system that has been augmented for noncontact measurement capability. DC2: Underwater High Resolution Digital Array Camera The DC2 is a high resolution digital array camera designed for underwater use to 1,000 m. The system has the following features: o Operates under the PC environment (MS-Windows based software control) o 1242 x 1152 x 8 bit digital data output o Does not require specialist frame acquisition hardware o Extremely accurate calibration is enabled through full pixel for pixel correlation o Supplied as a fully operational system including camera and RS 422 card, rated to 1 Mbits/second), software, surface cabling, ready to work with standard 386 personal computer NCS2: Noncontact Video Measurement System The NCS2 is a noncontact measurement system with video input. The system is a fusion of software and hardware to: o Capture video from video cameras VD1 and VD2 o View real-time stereo video in color o Take dimensional measurements from the captured stereo video o Output these measurements to a CAD The system operates with MS-Windows, allowing nonspecialized users to operate the system with minimum training and experience. SUMMARY Camera Alive has operational equipment that has proven to be successful in the underwater environment. REFERENCES Camera Alive. General write-up. DC1: High Resolution Digital Array Camera. Brochure. DC2: Underwater High Resolution Digital Array Camera. Brochure. NCS2: Noncontact Video Measurement System. Brochure. Stereo Viewing and Noncontact 3-D Measurement. General brochure with useful information. Site: Heriot-Watt University Department of Computing and Electrical Engineering Riccarton, Edinburgh Scotland EH14 4A5 United Kingdom Telephone:(44) 031-451-3329 Fax: (44) 031-451-3327 Date Visited: May 13, 1993 Report Author: L. Gentry ATTENDEES WTEC: D. Blidberg C. Brancart L. Gentry B. Mooney OTHER: CDR John Sampson (ONR Europe) HOSTS: Professor George T. Russell Head of Department Dr. Robin M. Dunbar Sr. Lecturer and Head of the Ocean Systems Laboratory Robin T. Holmes Senior Lecturer Dr. David M. Lane Lecturer Ron McHugh Lecturer Michael J. Chantler Lecturer Dr. Laurie Linnett Research Fellow and Head of Sonar Image Interpretation Group BACKGROUND Heriot-Watt University (HWU) has been involved with unmanned underwater vehicles since the early 1970s. Dr. Robin Dunbar and Dr. Robin Holmes were key to the development of the Angus class of remotely operated vehicles. Angus-1, the first deep diving ROV in Europe (>1,000 FSW) is a general purpose ROV used as an early test bed for a variety of underwater tasks and equipment under development at HWU. It was followed by Angus-2 and Angus-3, which were similar but improved ROVs also used in the HWU projects. HWU also built Rover, a small autonomous underwater vehicle that operated in coordinated tasks with Angus-3 and divers. Angus-4 was designed in the early 1980s, but was never built due to funding constraints that have continued to hinder further development of UUVs at HWU. Operation of Angus-3 has also been halted by funding constraints. Due to the lack of funding for development of UUVs, HWU has changed the development emphasis from vehicles to key UUV subsystems for ROV and AUV applications (e.g., acoustic and optic sensors, signal processing software, robotic systems, and knowledge-based systems). In line with this approach, the university has evolved a very capable set of laboratories to accomplish this objective. Supporting the department's work are five laboratory complexes: o Computing Laboratory o Electronic and Electrical Laboratory o Telecommunications Laboratory o Human-Computer Systems Laboratory o Ocean Systems Laboratory The WTEC team was most interested in research activities that were being conducted in the Ocean Systems Laboratory group headed by Dr. Dunbar; however, the team noted the good collaboration and synergy between laboratories for various projects. Dr. Russell's department also provides a full range of standard university curricula for computing and electrical engineering. HWU's UUV-related work is fully funded for the next two years through the European Economic Community MAST program and the United Kingdom's Marine Technology Directorate research and development programs coordinated by the MTD office in Aberdeen (see separate site report on MTD). Over the years, the type of funding available has been a problem for HWU. Most of the university's funding is earmarked for research. Thus when programs and projects reach a certain point in maturity, HWU is expected to seek alternate funding, generally from industry, to complete the work. It is difficult for the universities to obtain funding from industry. In the case of most projects, the universities' inability to acquire transition funding stops the work before the systems and components reach commercial usefulness. Nonetheless, HWU's accomplishments -- both in scope and depth -- are impressive. RESEARCH AND DEVELOPMENT ACTIVITIES The work in the Ocean Systems Laboratory was described in some detail. Then the team visited the labs to observe demonstrations of a variety of projects. Subsea Robotics and Multisensor Fusion The team witnessed a demonstration of two combined projects involving autonomous robotics and multisensor fusion. The robotics project led by Dr. David Lane is to develop autonomous interactive controls for two seven-function manipulators. The two arms are mounted on a wet test tank, and cooperative operation and mutual avoidance of the arms was demonstrated in water. In this demonstration, the two arms were programmed to operate in the same workspace without collision or interference. Mr. Michael Chantler's sensor fusion project has been coupled to the robotics development and will eventually include video and very high resolution sonar and laser triangulation sensors to provide reliable sensing in the manipulator's workspace. The sensor data alleviates the sensory deprivation typically experienced by operators of ROV manipulators. In the future there is the prospect of intelligent robotics able to autonomously visualize, plan and control manipulative tasks with a minimum of operator involvement. The work is at an early stage yet but is making good progress, and the demonstration was successful. Advanced Manipulator for Deep Underwater Systems (AMADEUS) Project The AMADEUS project is a joint project with the University of Genoa and the Italian Naval Automation Institute, and is funded by the European Economic Community as one of the MAST II initiatives. It is a five-year program to develop a highly dexterous, multifingered, hydraulic gripper. This gripper is to have position and force control and be suitable for attachment to a number of existing manipulators. The project will develop hardware and methodologies for grasping, simulation tools, and hardware and software for man-machine architectures. The result is to demonstrate a range of underwater grasping tasks using the robot arm that is being developed in the robotics project. European Experimentally Validated Models for Acoustic Channels (EEVMAC) Project The EEVMAC project is another cooperative EC-funded effort. The object is to gather acoustic data from a number of sources including the Firth of Forth, Loch Ness, and the Mediterranean Sea. The data will be used to validate acoustic propagation models and support design of high data rate acoustic communication systems for AUVs. Forth Base Project In conjunction with EEVMAC, HWU is developing the Firth of Forth as a communications test range. Acoustic instruments in the Forth will transmit and receive signals that are then carried by subsea cables to a new base at Leith Harbor. The signals are microwaved directly to the laboratory at HWU, allowing the range to be used in real-time testing and interaction between the scientist in the lab and the sensors in the field. This permits a real-time evaluation of communication signal propagation and system effectiveness. The range will be ready late this summer. Other Projects The team also visited Dr. Laurie Linnett's Image Processing Laboratory, where research projects related to interpretation and classification of sonar images are in progress. The lab is largely funded under the Technology for Unmanned Underwater Vehicles program managed by the Marine Technology Directorate (see separate MTD site visit report). One project is developing algorithms for rapid processing of entire side scan seabed surveys, using fractal techniques to characterize the seabed sediment textures and then employ probability statistics to identify abnormalities in the textures. In this way rapid processing of very large data sets can be achieved. Another project is developing real-time processing of side scan sonar data to locate unsupported sections of pipeline for the oil industry. A third group has been working on object detection algorithms for sonars for some time. The group has achieved excellent detection rates and is now focusing on improving detection of objects against different backgrounds and clutter. Other work in the lab is directed toward compression of sonar data to achieve manageable sized data sets from high-output, modern sonars. The results will allow more efficient storage, manipulation, and transmission of data for real-time operations. Yet another group is working on mathematical and graphical techniques for simulation of side scan sonars to better understand the sonar process and aid in the projects involved with acoustic detection and classification. Linnett's laboratory continues to do outstanding work that is well funded and recognized. The demonstrations were well organized and impressive, and it was obvious that the team of researchers are highly motivated and productive. SUMMARY HWU has done outstanding work in many areas related to underwater vehicles and intelligent subsystems relating to robotics, acoustic imaging and communications. The university's program has the objective of integration of all these intelligent subsystems to accomplish useful demonstrations with ROVs and AUVs in the ocean environment. HWU has been one of the pioneering forces in the area of UUV systems for over two decades, and has a well deserved reputation for excellence. REFERENCES Research Review and Postgraduate Prospectus. Heriot-Watt University. Department of Computing and Electrical Engineering. Brochure. Oceans Systems Laboratory. Overview brochure. Advanced Manipulator for Deep Underwater Systems (AMADEUS). Brochure. Heriot-Watt University Sonar Processing Research Group. Brochure. Heriot-Watt University Department of Computing and Electrical Engineering. Brochure reviewing programs and laboratories. Paul, J.G., R. McHugh, and S. Shaw. "The effect of DSP on the point spread function of a sonar beamformer." Heriot-Watt University. McHugh, R., J.G. Paul, and S. Shaw. "A digital focused beamformer for sonar." Heriot- Watt University. Dunbar, R., et al. "European Experimentally Validated Models for Acoustic Channels (EEVMAC)." Heriot-Watt University. HWU; Department of Computing and Electrical Engineering: The Firth of Forth Estuary Research Programme. Brochure. European Conference on Underwater Acoustics, edited by M. Weydert. Commission of the European Communities. Brussels, Belgium. Dunbar, R.M., et al. "The Transmission of Fractally Coded Sonar Images by a Frequency-Hopped Acoustic Signal." Heriot-Watt University. Sampson, J.A., CDR, U.S. Navy. "Technology for Unmanned Underwater Vehicles." Office of Naval Research, European Office; April 1993. Site: Mobil North Sea Ltd. Grampian House, Union Row Aberdeen AB1 1SA, Scotland United Kingdom Telephone:0224 855 371 Fax: 0224 855 577 Telex: 39435 Date Visited: May 14, 1993 Report Author: C. Brancart ATTENDEES WTEC: D. Blidberg C. Brancart L. Gentry J. Mooney OTHER: J. Sampson (ONR London) HOSTS: Donald G. Langrock Development Engineering BACKGROUND Mobil is one of the users of the technology and hardware developed by firms with ocean-oriented products. In its position, Mobil can direct the technology to places where it is needed. The Mobil-FSSL Diverless Intervention System is a prime example of this operating mode. RESEARCH AND DEVELOPMENT ACTIVITIES The object of the Mobil Intervention program is to maintain a subsea "tree" (completion system) by an ROV in water depths to 1,000 m. The justification for this program is cost savings. For example, two cases were presented that review operating costs (see Table Mobil.1). The capabilities of the Mobil-FSSL Diverless Intervention System are: o Component replacement o Valve operation o Valve maintenance and pressure testing o Control umbilical and flow lines installation Table Mobile.1 Two-Case Scenario for Operating Costs (Monetary figures given in U.S. dollars) Diver ROV Planned Maintenance, 20 Working Days on Location $1,680,000 $592,000 Savings $1,088,000 Unplanned Intervention, 2 Working Days on Location $528,000 $160,000 Savings $368,000 The benefits derived from this capability are: o Reduced installation and maintenance costs o Increased safety o Reduced weather-related downtime o Delivery by an ROV of opportunity o Working depths to 1,000 m SUMMARY The Mobil-FSSL Diverless Intervention System is presently being tested and evaluated. The basic ROV is the Slingsby MRV, with add-on modules that triple its size. Results to date have been very encouraging. Mobil identified the following technology areas that should be developed for future subsea completion system needs: o Autonomous navigation o Better ROV trusters (more vehicle control) o Better and faster data communications (7 to 10 km is present limit) o New manipulators o Supervisory control o Lock-on capability o Tactile sensor systems o 3-D video to operate manipulator without operator intervention REFERENCES Mobil-FSSL Intervention, New Frontiers, New Technology. Brochure. Site: Tritech International Ltd. Glenesk, Kingswells Aberdeen AB1 8QA, Scotland United Kingdom Telephone:0224 744 111 Fax: 0224 741 771 Date Visited: May 14, 1993 Report Author: C. Brancart ATTENDEES WTEC: D. Blidberg C. Brancart L. Gentry J. Mooney OTHER: J. Sampson (ONR London) HOSTS: Richard J. Marsh, C. Eng. Managing Director Kevin A. Parker Sales Manager BACKGROUND Tritech Ltd. appears to be a very small company. Company representatives introduced Tritech by stating the following: o Seabat is the best electronics scan sonar o UDI is the best mechanical scan sonar o Tritech is the best cost-effective sonar RESEARCH AND DEVELOPMENT ACTIVITIES All Tritech systems have PC-compatible hardware (PC 486-50 with two to three proprietary boards). Their display used MS-Windows, where on a single monitor it is possible to bring up the scan display, the video display, and the sonar display, or whatever combination of displays the operator wants. All of the data is logged and is recallable. Tritech has produced many types of small sonar. The company even hard-canned one of its units for subsea display by frogmen. SUMMARY Tritech did not have brochures to pass out to the participants. However, indications are that their products are very inexpensive and could be of interest to others. Site: Marconi UDI (UDI)* Denmore Road Bridge on Don Aberdeen AB23 8JW, Scotland United Kingdom Telephone:0224 703 511 Fax: 0224 821 339 Telex: 73361 UIIG Date Visited: May 14, 1993 Report Author: C. Brancart ATTENDEES WTEC: D. Blidberg C. Brancart L. Gentry J. Mooney OTHER: J. Sampson (ONR London) HOSTS: Guthrie Robertson Product Sales Manager * Marconi UDI was sold in August 1993, and is now known as Fugro-UDI Limited. Fugro-UDi indicated in November that the change in ownership has not affected activities described below. BACKGROUND Marconi UDI (UDI), a GEC-Marconi company at the time of the WTEC team's visit, may have technical and manufacturing depth gained from its parent company. RESEARCH AND DEVELOPMENT ACTIVITIES The Sonavision 4000 high definition sonar system incorporates a new composite transducer array and digital processing that has closed considerably the gap between underwater television pictures and previous sonar systems. The interpretive qualities of the unit are defined by the target's shape, size, color or shade variation, and shadows. This permits the operator to more effectively identify targets. Some of the system's unique features including the following: o Real time acoustic zoom o Audio output representing range and bearing o Built-in joystick for range and bearing cursor o Infinitely variable sector and position overlay o Selection of display modes in recordable S-VHS standard o HPIB/RS 232 interfaces for acoustic and cursor data o Choice of telemetry link to suit umbilical o Wideband composite array technology o 120 colors, either 352 x 256 pixels (recordable), or 640 x 480 pixels for high resolution monitor or printer The composite array is the result of UDI's newly developed technology. The results are wider bandwidth and much greater efficiency in the conversion of electrical energy into mechanical energy. REFERENCES Marconi UDI. Profiles. Brochure describing key people and projects. "1-3 Connectivity Composite Piezoelectric Materials for High Frequency (>100 kHz) Transducer Arrays." UDI Sonavision 4000. High Definition Sonar. Brochure.