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UKWIAŁ Mine Countermeasure
Remotely Operated Underwater Vehicle System
The UKWIAŁ is a specialized mine countermeasure Remotely
Operated Vehicle System.
Principally system is utilized to locate, identify and
dispose bottom and anchored sea mines. To initiate a mine
explosives, charges of different weight and design can
be used. These are selected by ships command according
to local environmental and tactical condi-tions. Disposal
charge compatibility of the system is indicated below.
The UKWIAŁ system uses a ROV of typical low cost design,
supplied and controlled by an umbilical cable. It can
be used for majority of search, observation and manipulation
tasks. Delivery and location of mine disposal charges
are its main applications. It is able to deliver charges
up to 400m from mine hunting ship depending on water depth
and sea current. Marking floats can be delivered instead
of explosive charges. Open frame design of the vehicle
and open control system architecture offers easy access
to all components for maintenance, repair and modifications.
The UKWIAŁ vehicle is controlled by a pilot using 2 TV
images and status information, overlayed on one of the
images. These are supplemented by sonar image and navigation
situation screens. All the images are displayed on dedicated
12" TFT LCD screens. Vehicle movements are controlled
by means of two displacement type joystickcs. System commands
are inserted using a modified PC compatible keyboard with
IP 66 sealed membrane keys. Pilot work is aided by several
auto piloting functions such as autoheading, autodepth
and pitch stabilisation. Diagnostic functions are built
in into system software.
All data and TV signals, between ROV and deck control
room, are transmitted using fibre optic technology, giving
high quality and high speed communication links that are
immune to electromagnetic interference. Four multi-mode
fibres are used for easy assembly and maintenance. |
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UKWIAŁ with 10 kg charge
The UKWIAŁ system can be delivered with an integrated
training simulator, built into the Pilot Console. Basic
simulator is able to generate simulated image of one the
imaging devices. Simulated source can be selected by operator
during a lesson. Simulated images of additional devices
(up to 4) can be added for comprehensive training. Several
lessons are available to train personnel of different
skill levels. Complete trainer console, identical to real
Pilot Console, can be separately supplied for training
purposes.
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| System
components |
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The Ukwiał ROV system is composed
of the following components:
1. Remotely Operated Vehicle
2. Pilot Control Console
3. Power Supply Unit
4. Umbilical Cable
5. Umbilical Cable Winch
6. Tools and deck equipment
7. Spare parts set
6. System container (optional)
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UKWIAŁ with 50 kg charge
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Operating
depth:
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5
- 200m |
| Horizontal
range |
400m |
| Dimensions |
Masses |
| Length: |
1,500m |
Vehicle
alone |
175kg |
| Beam: |
0,720m |
With 50kg charge and compensating float |
230kg |
| Height: |
0,765m |
| Cameras:
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| TV1 Navigation Colour
and identification camera: |
460lines resolution, 4,5
Lux sensitivity,
90 deg. diagonal zoomed lens, auto/manual focus |
| TV2, Manipulator arm camera: |
B&W, 320 lines resolution, 0,02
Lux sensitivity, 110deg diagonal, fixed lens
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| Illumination |
2, incandescent lamps, 150W variable
output |
| Imaging sonar: |
Mechanical scanning sonar, 625kHz,
150m range |
| Navigation: |
Echosounder, 200kHz, 50m range
Electronic compass, 1 deg. accuracy
Electrolytic tilt meter, ±40 deg.
Transponder, 40W output power, 17 and 19kHz receive
frequency, 23 - 30kHz transmit frequency
2, Leak detectors (vacuum sensor)
2, Water ingress detectors
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| Pilot
Control Console |
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Pilot Control Console can be delivered
as separate functional blocks. Functional blocks
are delivered 19inch rack units mounted in transport
cases. Integrated Console is also built of several
510m wide modules and can be disassembled to allow
transfer through 600mm door openings.
The Console computer system is composed using industrial
PC technology. The following four separate PC compatible
computers are utilized for dedicated functions:
1. System and vehicle control computer
2. Navigation computer
3. Scanning sonar computer
4. Training simulator computer (1 video screen)
5. (optional) Sonar image simulator, for training
purposes
6. (optional) second video screen simulator, for
training purposes
The computers are networked using Ethernet 10/100MHz
technology. |
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The Console also contains:
UPS power supply
Video overlay module
Video tape recorder (1 or 2)
Video source switch module (TV1, TV2 and up to
two deck cameras can be selected)
Trackpoint II navigation system command module
Sonar control panel
Separate plastic fibre communication module for
vehicle Power Supply Unit and Umbilical Winch
data collection.
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Video overlay information:
Heading, digital/graphics
Depth, digital/graphics
Altitude, digital/graphics
Roll and pitch digital
Umbilical twist, digital
Date and time, digital
Charge management equipment status
Other required system data
Controls: 2, 2 axis joysticks to control
vehicle movements,
1, 102 keyboard to control digital functions
Other types of joysticks, up to 6 axes and buttons
can be supplied to a customer preferences
Portable controller is a part of operator's console.
It is used by deck personnel to control UKWIAŁ ROV
while floating at the surface prior and after a
dive. The remote controller contains a battery powered
radio transmitter sending signals read by microprocessor
from two joysticks and buttons. Components are enclosed
in a sealed, plastic box.
Console dimensions:
Length/ Width/ Height: 1100mm/1765mm/1150mm
Mass: 250kg
Power requirements: 220 VAC/50Hz, single phase,
2 kW
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| Power
Supply Unit (PSU) |
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Power Supply Unit supplies power
to the UKWIAŁ ROV. It contains insulation /step
up, single phase transformer, insulation monitor
and protection devices. The Unit increases frequency
and voltage supplied to ROV. This is provided to
reduce current in Umbilical Cable and weight of
step down transformer. High, non standardized frequency
(more than 500Hz) reduce magnetic signatures to
mislead intelligent mine fuses. Insulation Monitor
tracks variations of ROV supply circuit insulation
(umbilical and transformers).
Operating parameters: Voltage, current and insulation
resistance, are displayed on a screen of navigation
computer.
Input: 380 VAC/50Hz, three
phase, 7 kVA peak
Output: 800V, 600Hz single phase 6kVA for
ROV
Automatic Fuses: Main power 16A
Dimensions:
Length/ Width/ Height: 600mm/600mm/250mm
Mass: 50kg
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| Umbilical
cable |
The 500m umbilical cable connects
surface controls and power supply to underwater
vehicle (ROV). It is approximately neutrally buoyant,
Kevlar braid reinforced cable, in an polyurethane
or TPR jacket.
Components: 4 optical 62,5/125
glass fibres assembled in cable with Kevlar fibres,
2 copper conductors 1mm sqr, Mylar/ aluminium foil
screen with drain wire, Kevlar braid, 2mm polyurethane
jacket
Diameter: 13,6 mm
Buoyancy: Neutrally buoyant in sea water
Length: 500m (standard, other lengths optional)
Min bending radius (dynamic): 200mm
Working strength: 200N
Breaking strength: 7000N
Terminations: The umbilical cable is terminated
with a high voltage electrical connector and a single,
four way, expanded beam optical connector at vehicle
end. At the surface optical fibres are terminated
with industry standard ST connectors.
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| Umbilical
cable winch |
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Umbilical cable winch is used for
the umbilical cable storage and dispense according
to requirements. Powered version is offered as standard
and gives controlled force tensioning capability
of umbilical cable and cable length count. The cable
drum is powered by vector controlled AC motor and
dedicated frequency inverter. In speed control mode
the winch operation is controlled by means of single
axis proportional joystick. Umbilical pay off length
and tension force are displayed on control box and
pilot's console.
The winch is equipped with an electrical, 4 way
slip ring. To allow low loss transmission of optical
signals cable rewind method is utilized. Optical
cable rewind mechanism is mounted inside the umbilical
cable drum. It consists of two small cable drums
and roll on ratchet powered bailing arm.
Cable length capacity:
500m (other lengths optional)
Number of conductors: 3 power + screen
Number of optical fibres: 4
Dimensions:
Length/ Width/ Height: 1200mm/1100mm/1200mm
Mass: (cable excluded): 150kg
Input power: 380 VAC/50Hz, three phase, 3
kW |
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GDANSK UNIVERSITY of TECHNOLOGY, FACULTY
OF OCEAN ENGINEERING & SHIP TECHNOLOGY,
DEPARTMENT of SHIP DESIGN and SUBSEA ROBOTICS
80-233 Gdańsk, ul.Narutowicza 11/12, Poland
ph. (48 58) 347 19 91, fax: (+48 58) 347 26 99, e-mali: sek8oce@pg.gda.pl
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