An innovative system called Intuitive Robotic Launch and Recovery System (IRLRS) is proposed to safely launch, recover, and stow two MK 18 Mod 2 UUVs from the MK VI Patrol Boat in sea conditions up to sea state 3 (SS-3). The system will accommodate new UUVs in this family up to 1,200lbs and 15ft in length. Its telescopic arm has a large work space over the side of the boat. It is equipped with an end effector with infrared camera and sensors to safely and intuitively capture UUVs in high sea conditions and in full darkness. The system has a small foot print on the deck and will not block or impact other required missions. The concept of operations (CONOPS) for UUV recovery is carefully formulated to minimize the dynamical loads on the telescopic arm. It will meet or even be lower than the Navy customers desired weight and cost limits. The system will be designed to be operated normally by a single operator and, at most, by two. The system is scalable for smaller low freeboard craft.
Benefit: The Intuitive Robotic Launch and Recovery System (IRLRS) uses elegant system designs and intuitive operations to safely launch and recover UUVs in high sea conditions up to Sea State 3. Its three-stage telescopic robotic arm has a large workspace to conduct safe L&R operations over the side of the boat. The end effector has two pairs of claws to allow the operator to intuitively capture the UUV. It removes the need for a person to reach out and use a long rod with a hook to capture a UUV. The operator will be in the loop to intuitively provide critical inputs, make key decisions, and monitor the movements but the control system will shoulder the burden to compute and execute control commands. Safe and reliable L&R is a key component in the UUV applications. The IRLRS technology presents many opportunities for commercialization. It is a modular system that is capable of launching and recovery of a wide range of UUVs. It can be installed on small water craft and vessels with a low freeboard. A safer and high sea state capable L&R system is very much desired by the military and industries.
Keywords: intuitive control, intuitive control, Unmanned Underwater Vehicles (UUVs), MK VI Patrol Boat, Sea State 3, End Effector, MK 18 Mod 1 Swordfish UUV, Launch and Recovery System (LRS), MK 18 Mod 2 Kingfish UUV
