In-Line Multi-Node Tether Management for Hull Maintenance
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Solution Overview
Problem
Existing underwater hull maintenance systems for Navy ships face challenges in managing umbilical tethers for autonomous or semi-autonomous vehicles, lacking sufficient navigation, positioning, and power throughput, which leads to entanglement and inefficient operations.
Innovation Solution
A method utilizing an in-line multi-node tether management system with umbilical line sections connecting node vehicles and an end effector vehicle to a power source, equipped with sensor suites for tracking and maintaining desired tether tension to prevent entanglement, enabling precise navigation and power delivery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If traditional diver-controlled or manually driven crawling vehicles are used for hull maintenance, then operational flexibility is maintained, but automation capability and continuous unattended operation are insufficient
Solution Approach 1:
The vehicle is equipped with onboard sensors (acoustic, optical, inertial) and processing capabilities that enable it to autonomously navigate, locate itself on the hull, and perform maintenance tasks without continuous manual intervention or external control, allowing the system to serve itself in navigation and operation
Solution Approach 2:
Traditional mechanical manual control is replaced with sensor-based autonomous navigation systems including acoustic positioning, optical cameras, and inertial measurement units that enable the vehicle to independently determine its position and execute maintenance routines
2Measurement precision
If externally applied integrated navigation systems are used, then positioning capability is provided, but navigation precision and tether management effectiveness are insufficient
Solution Approach 1:
The navigation system is divided into multiple independent sensor modules (acoustic position sensors, optical cameras, inertial measurement units) distributed on the vehicle, each performing a specific sensing function that collectively provides precise three-dimensional positioning and orientation data
Solution Approach 2:
The sensor suite performs multiple functions simultaneously: acoustic sensors provide position tracking, optical sensors capture visual data for navigation and inspection, and inertial sensors provide attitude information, creating a multi-functional navigation system that enhances precision without requiring separate dedicated systems
3Power
If umbilical lines are used for power delivery optimization, then power throughput is enhanced, but tether entanglement and management difficulty increase
Solution Approach 1:
The onboard sensors continuously monitor the vehicle's position, orientation, and umbilical line status, providing real-time feedback to the control system that adjusts vehicle movement and umbilical deployment to maintain optimal tension and prevent entanglement during autonomous operations
Solution Approach 2:
The umbilical line management system dynamically adjusts line deployment and retraction based on vehicle position and operational needs, using active control to maintain appropriate tension and prevent slack that could lead to entanglement, rather than using fixed or passive line management
Data Source
AI summary
A method of maintaining an outer surface of a hull, including providing a power source and an end effector vehicle for performing maintenance operations on the hull, the method of maintaining including providing an in-series tether management system having one or more nodes, and umbilical line sections extending through the one or more nodes to the end effector vehicle, transmitting power from the power supply to the end effector vehicle, and including selecting a work area, and positioning the one or more nodes and end effector to perform maintenance in the defined work area.