Vehicle Control Technologies, Inc.

Proven Hydrodynamic Solutions from Simulation to Fabrication

Contact1900 Campus Commons Dr. Ste. 300

Reston, Virginia 20191 Phone: 703·620·0703

Email: info@vctinc.com Web: www.vctinc.com

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MISSIONLong known for its hydrodynamic maneuvering simulations and undersea control systems, VCT is now delivering turnkey UUVs, Gliders, Powered Tow Bodies (PTB), and towed sonar vehicles.

Drawing upon its design and simulation experience with over 350 vehicles, VCT is currently de-veloping a series of modular UUVs. Standardized electronic and mechanical components as well as open-architecture core software make these modular vehicles exceptionally reliable and inex-pensive to maintain.

VCT’s Advantage in the vehicle marketplace is that it incorporates its high fidelity physics based M&S capabilities throughout the design and fabrication phases. This allows us to design in an environment rich in numerical & graphical analysis using high-productivity design tools. It also stimulates innovation, enlists cooperation within design teams, find errors early in the vehicle development cycle, lowering risk by conducting Hydro/Control simulations before hardware is available. VCT’s design approach supports DDR&E’s System 2020 vision “Application of modeling and simulation throughout the development process fosters more effective concept engineering and concurrent design, development, manufacturing, deployment and evolution.”

Hydro Modeling & Simulation Validated simulation for both undersea and air vehicles

Used to design vehicle shapes, towed systems and vehicle controllers

Software Flexible, modern, open architecture software

ASTM F-41 Architecture, SAE AS-4 JAUS messaging

95% of VCT core software common across all vehicles

Vehicle-specific parameters in a separate .ini input file

Certification hours accumulate with each new vehicle

Standard Linux operating system with 2.6 kernel

16 new vehicles currently in design (Tested 10 vehicles in 2009-10

Hardware/Underwater VehiclesThe hydrodynamic, control and software simulation capability enables VCT to design and fabricate underwater vehicles that are more reliable, with modular hardware, field replaceable components, with an affordable upgrade path to do new missions. Standardizing key vehicle components across vehicle sizes and types enables rapid development cycle

TeCHNOlOgIeS ANd PrOdUCTS

UUV

PTB

UDS

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Powered Tow BodyTM

VCT has designed its Powered Tow Body (PTB) for mine hunting, oceanographic, ISR and ASW missions. The PTB is an ideal low risk test bed for UUV subsystem development (energy & high value sensors).The PTB is a towed UUV with propulsion applied from both the towing craft and the on-board UUV’s propulsion. By varying the UUV thrust, a loop is formed in the cable, which reduces tow craft induced motions by 80%, which in turn, permits Synthetic Aperture Sonar (SAS) operation in sea state from an 11 meter RHIB. By power sharing with the host vehicle, mission endurance is significantly increased. Other features include increased power for payloads and real-time data back to host ship.

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VCT FAMIly OF UNderwATer VeHICleS

Standardizing key vehicle components across vehicle diameter and Functions enables rapid development

VCT E-1 PC-104 StackContains all vehicle control electronics:

CPU, Serial-12, IMU, Environmental, Remote Admin, Power, Pwr Distribution (2)

Universal Tailcone:Contains all vehicle moving parts:

Actuators, shaft and bearings, propeller,motor, motor controller

VCT has developed its line of underwater vehicles in a mod-ular fashion that allows them to be configured as a UUV, glider or towed vehicle.

SySTeM SPeCS

diameter: 12.75”length: 87”- 140”weight: 280 lbsdepth: 1000ftMax Speed: UUV 12-14 Kts PTB 7 Kts

UUV design adapts to PTB for low risk T&E of UUV components No impact on UUV design objectives On deck change-over in 30 min for 12.75” vehicle Currently being used in prototype risk reduction testing for LDUUV

Propulsion: 1.8 kWIMU: HG-1700/3DM-GX1Tracking: USBLdepth and Altitude SensorsNoise Spec: Nonelocating System: Emergency Pinger

Lightweight integrated LARS with Universal DockingSystem (UDS) for UUV, Glider and PTB launch and recovery.

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c.com xgliderTM

VCT has developed its line of underwater ve-hicles in a modular fashion that allows them to be configured as a UUV, glider or towed vehicle. Because of VCT’s modular compo-nents, our gliders can be upgraded to hybrid vehicles allowing the use of the UUV function when speeds above 2 kts are critical (heading into currents) and the glider function when quietness is critical, all in the same mission.

Several advances in glider design expand the CONOPS for glider use. The key advance in-clude removal of the wing and replacement of the shifting roll and pitch masses with actu-ated external fins. The xGlider has an endurance of 2 to 10 months depending on the glider size and battery type chosen by the Customer. This design is capable of transecting ocean currents of 2 knots, exceeding legacy glider capabilities by a factor of 4. All components are depth rated to 1000 meters in order to maximize its navigability. Baseline xGlider outperforms legacy systems in speed and turning diameter. VCT’s xGlider removes most, if not all the shortcomings with legacy gliders and UUV’s.

VCT FAMIly OF UNderwATer VeHICleS

UUV glIder

VeHICle COMMANd & CONTrOl & AUTOPIlOT SySTeMS

VCT’s vehicle software architecture is based on the ASTM F-41 international standard. It is open, object-oriented, scalable and applicable across all of the vehicles of interest in this community. The same VCT software is currently being used in 16 different UUV’s, gliders, and towed vehicles. References are available upon request. Flight hours from any vehicle using VCT’s vehicle software translate to increased reliability and robustness across all vehicles.

In order to facilitate the use of VCT’s software on many different vehicles, key aspects of the software such as autopilot, device, and Vehicle Controller configuration are stored in configuration files, not hard-coded in the source.

Integration of new sensors, autonomy modules, and command and control is facilitated by the object-oriented design of the vehicle software and its adherence to the ASTM F-41 architecture.

Software robustness is assured through well-defined software development processes and thor-ough testing. Software testing includes both automated and manual testing at all scales from unit testing to full vehicle SITL, PITL, and HITL testing.

VCT engineers combine aero/hydrodynamic engineering and software design work into a sin-gle, seamless process. Our software development utilizes the latest compilers, configuration management, issue tracking, and continuous integration software to produce robust and reli-able vehicle software.

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CUrreNT r&d INTereSTS/PrOjeCTSVCT’s physics based modeling and simulation capabilities, its vehicle control expertise, modular software and autopilot capabilities, along with its modular hardware uniquely positions it to de-velop an integrated autonomy system for USV/UUV/PTB applications. Progress to date includes:

Unmanned surface vehicle (USV)VCT’s 36 ft RV has been outfitted with an all digital control system for propulsion rpm and rud-der control and is ready for integration of the PTB, LARS, smart winch software for a completely autonomous mission capability.

Powered Tow Body (PTB)PTB was demonstrated at TRL-6 level in September 2010.

launch and recovery System (lArS)VCT’s light weight LARS for 12 3/4” UUV/PTB as well as a hybrid LARS for either a 12 3/4 “ or 21” UUV/PTB has been in service at VCT for the past 18 months.

Smart winchA component of the PTB motion reduction approach is the Smart Winch. It provides additional mo-tion compensation topside and has a controller that communicates with other vehicles or systems on the network. This allows PTB-related autonomy software to command and control the surface craft, winch, and the PTB vehicle in order to support completely autonomous UUV/PTB missions.

Unmanned Underwater Vehicle (UUV)VCT’s UUV is available in diameters from 6.5” to 15” and a wide range of vehicle lengths. The same standardized hardware and software is used for all vehicle sizes. When the buoyancy engine is added to the UUV, it can operate as a UUV and a glider on the same mission. Changing out the nose section converts the UUV to a powered tow body (PTB).

Universal docking System (UdS) Docking of the UUV with the LARS is a key component of automated recovery. VCT has developed the Universal Docking System (UDS), a towed system that enables the autonomous underwater capture of a UUV. UDS has been demonstrated on a 12 ¾” UUV.

Operator ConsoleThe operator’s console (OC) is used to communicate with the all the vehicles. The OC provides an interface through which status and health of all the systems can be monitored. In the context of an UUV, the OC is used to update mission plans prior to launch as well as track its position relative to the surface craft and UDS during the recovery phase. For a towed vehicle or PTB, the operator con-sole enables the operator to monitor health and status of the vehicle at all times and to continuously monitor vehicle and control system outputs (pitch, roll, heading, fin deflections, RPM, etc.).

VCT is currently developing the Towed Air Vehicle (TAV) system under an SBIR pro-gram. The purpose of the system is to provide an aerial communications relay for USV line of sight communications. The current prototype will demonstrate powered towed flight from the VCT test boat and communications relay.

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MANAgeMeNT TeAMDr. Douglas E. Humphreys, President Dr. Humphreys is a senior consultant to both industry and government agencies, primarily on U.S. Navy research projects in dynamics and control, simulation, and design of both hydrodynamic and aerodynamic vehicles. He has conducted research, design and analysis of the dynamics and control of numerous underwater vehicles, performing studies and simulations on the four new-est U.S. fleet submarines and control surface design concepts for the SSN 21 and the new Vir-ginia class. He has performed design studies covering concept formulation, feasibility analyses, preliminary design, detailed design and experimental validation on a wide variety of undersea vehicle systems including AQS-20 Towed Sonar Vehicle and Mk 30 Target Vehicle. 80% of those applications have been for vehicles with unique or novel geometries, where no previous experi-mental data were available. He has conducted the design or analysis of over 350 underwater and air vehicles, and he has authored more than 200 technical reports.

Dr. Thomas F. Tureaud, Vice President Since 1994, he has been a Senior Design Engineer at Vehicle Control Technologies, Inc. Dr. Ture-aud manages the underwater development group that includes four Mechanical Engineers and four Electrical Engineers. At VCT, he has been involved with over 30 designs for underwater sys-tems. These include an UXO underwater search vehicle; the AQS20 towed system, an automated docking and launch and recovery system, and several UUV and towed vehicles. He is partner on two patents, has several patents pending, and is currently the Vice President at VCT.

COMPANy HISTOryFounded in 1993 by Dr. Douglas Humphreys and Mr. Kenneth W. Watkinson, Vehicle Control Technologies, Inc. (VCT) is a valued member of vehicle design teams at Navy shipbuilders, weapon system prime contractors and Navy laboratories. The VCT team continues a com-mitment to excellence and service spanning more than 40 years – 30 years in the private industry (Titan Research & Technologies) and 10 in the Navy laboratory system. VCT is a small business with 22 employees, having start-ed as a transition of personnel and technology from the ARAP group of Titan Research and Technologies.

Hybrid

LARS with Smart Winch

Surface Craft

Contact1900 Campus Commons Dr. Ste. 300

Reston, Virginia 20191

Phone: 703·620·0703

Email: info@vctinc.com

Web: www.vctinc.com

Vehicle Control Technologies, Inc.