Aerospace & Defense Technology - May 2022 - 31

Tech Briefs
Experimental Assessment of Entanglement for an Unmanned
Underwater Vehicle with an Open, Three-Bladed Propeller
The entanglement of unmanned underwater vehicles (UUV) propelled by open propellers while operating
in marine vegetation native to littoral environments can be a threat to mission accomplishment.
Naval Postgraduate School, Monterey, California
T
his research evaluates the entanglement
of an unmanned underwater
vehicle (UUV) operating in marine vegetation
common to littoral environments.
Entanglement was assessed for a traditional
UUV with an open, three-bladed
propeller transiting a vegetation field at a
constant heading and depth. Factors
such as the vegetation density, vegetation
placement and configuration, propeller
revolutions per minute (RPM), and
vehicle speed were varied to determine
their impact on vehicle entanglement.
Results provide insight to the mechanism
of entanglement and operating conditions
that result in a high or low likelihood
of entanglement. These results are
of particular interest to the Department
of Defense as the military's use of UUVs
in littoral environments becomes more
prevalent.
Experimental tests were conducted in a
tow tank located at the Naval Postgraduate
School. Synthetic eelgrass and synthetic
giant kelp plants anchored to a
plate located at the bottom of the tow
tank were used to simulate marine vegetation
common to the littorals. The UUV
tested in this work was an early variant of
the Remote Environmental Measurement
UnitS (REMUS) 100 manufactured
by Hydroid. The REMUS 100 was attached
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Electrical I/O via Pn6 also available
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Supported Protocols
Ethernet
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Custom
to a movable carriage located on top of
the tow tank using a vertical sting and
custom-made adapter. This configuration
allowed the REMUS 100 to self-propel
itself, and the attached movable carriage,
down the tank at a constant depth and
heading. Vehicle speed and direction of
travel (forward versus astern) was adjusted
by changing the propeller RPM of the
REMUS 100. A position sensor was used
to correlate propeller RPM to the vehicle's
steady state speed and to determine
the vehicle's speed as a function of position
(accelerating speed).
Three different entanglement tests
were conducted: a vegetation density
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Aerospace & Defense Technology, May 2022
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ADT Tech Briefs 0522_1.indd 31
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Aerospace & Defense Technology - May 2022

Table of Contents for the Digital Edition of Aerospace & Defense Technology - May 2022

Aerospace & Defense Technology - May 2022 - Intro
Aerospace & Defense Technology - May 2022 - Cov 4
Aerospace & Defense Technology - May 2022 - Cov 1
Aerospace & Defense Technology - May 2022 - Cov 2
Aerospace & Defense Technology - May 2022 - 1
Aerospace & Defense Technology - May 2022 - 2
Aerospace & Defense Technology - May 2022 - 3
Aerospace & Defense Technology - May 2022 - 4
Aerospace & Defense Technology - May 2022 - 5
Aerospace & Defense Technology - May 2022 - 6
Aerospace & Defense Technology - May 2022 - 7
Aerospace & Defense Technology - May 2022 - 8
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Aerospace & Defense Technology - May 2022 - 48
Aerospace & Defense Technology - May 2022 - Cov 3
Aerospace & Defense Technology - May 2022 - Cov 4
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https://www.nxtbook.com/smg/techbriefs/22ADT04
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https://www.nxtbook.com/smg/techbriefs/21ADT10
https://www.nxtbook.com/smg/techbriefs/21ADT09
https://www.nxtbook.com/smg/techbriefs/21ADT08
https://www.nxtbook.com/smg/techbriefs/21ADT06
https://www.nxtbook.com/smg/techbriefs/21ADT05
https://www.nxtbook.com/smg/techbriefs/21ADT04
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