The Riptide µUUV

Dr. Dani Goldberg

MOOS-DAWG, Aug 2017

Who We Are

• Started in January 2015

• Principals• Jeffrey Smith – CEO – 20+ years Defense, 10+ years in UUVs

• John Vestri – COO/CFO – 8 years in ROVs

• Dr. Dani Goldberg – SW Principal – 20+ yrs in Autonomy, 10+ yrs in UUVs

• 20 Current Employees – multiple openings

• Currently working from Greentown Labs, Somerville, MA

• Permanent Facility in Plymouth – September 2017

mUUV OverviewMOOS-DAWG – July 30, 2015 – Riptide’s First Public Release

Vehicle Background

• May 2015 Riptide kicked off its initial prototype design which concluded with its first in-water trials September 2015 at the ONR Patuxent River Demo.

• Rapid development timeline was achieved by a smallintegrated team through extensive use of COTS and rapidprototyping techniques.

• Since the demonstration we reassessed the vehicledesign and made modifications required to support end-users and operators in preparation for initial productiondeliveries, including utilization of MOOS.

mUUV OverviewInitial Prototype Vehicle (2015)

• 4 7/8 inches in diameter

• 29” to 60” in length

• ~20 lbs

• 300 m rated

Current Generation

Vehicle Flexibility

Standard Vehicle Mini – w/ 900kHz Sonar

Standard Vehicle with flooded payload bay

Standard Vehicle with additional dry payload bay

Standard Vehicle with additional 900 kHz Sonar

Custom Vehicle w/ ACOMMs & 900 kHz Sonar

Very Low Logistics

Persistence

18W Hotel

2 knots @ 2.2W

9.5W Hotel

2 knots @ 2W

3.5W Hotel

2 knots @ 1.6W

Estimated

Prototype mUUV

Production Mk1 mUUV

Production Mk2 mUUV

• Riptide has driven hydrodynamic and power efficiency way up

• Riptide has partnered exclusively with L3-Open Water Power to field a breakthrough, highly energy dense power solution

• At 5 kWh, the mUUV has a range of >1500 nmi at 2.8 knots

Qualified Deep

200m Rating has increased to 300m standardAlternate Material Options exist to depths of up to 6000m

Swarming• Riptide is enabling swarming of UUVs by

• Providing capable, low-logistics vehicles at an affordable price

• Providing significant persistence

Basic Architecture

Nose: • Vehicle Sensors: Pressure, temp,

altitude, IMU• Main Computer• Power Distribution• OLED Display

Tail: • Propulsion: 350W external motor (3000m

rated)• Vehicle Control Actuators (fins)• Communications (WiFi standard)• Emergency Systems: Dropweight / LED

strobe• GPS

Midbody: • Power• Payload: Dry or flooded volumes

MOOS Architecture

UNCLASSIFIED//REL TO USA, NATO

MOOS

MOOSCommon Components

• pAntler• MOOSDB• pLogger• pMarinePID• pNav

iRiptideMicroUUV• Interface to

Riptide i2C bus• Most sensors and

actuators

Other Device Interfaces• Non-I2C devices• E.g., modems

VehicleHardware

Open Source and Architecture

• Some customers do not want to modify the vehicles (at least not immediately)

• Other customers view the vehicles as a starting point for their own development, research, etc.• We provide a good deal of information to support these

customers

• Source code is available to customers• MOOS, of course, but also Riptide-developed source

• Architecture diagrams provided to customers• Signal and power cabling diagrams

• Provide computer images, development environment, and updates of source code, documentation and executables

UNCLASSIFIED//REL TO USA, NATO

Customer Development

• Customers have made many modifications to the vehicles for their efforts, including:

• Adding multiple new actuators with HW/SW interfaces

• Adding payload computers running their own algorithms with interfaces to MOOS and hardware

• Modifying core vehicle software on the vehicles

• Developing their own battery packs

UNCLASSIFIED//REL TO USA, NATO

Riptide Development

• Leveraging open source software such as MOOS has also aided Riptide’s development efforts

• Utilized Goby/MOOS for communications

• Developed MOOS interfaces for IMU’s, the OLED display on the vehicle, camera, etc.

• Given sets of standard MOOS messages, we have swapped out different sensors with little ripple effect (demonstrating good modularity)

UNCLASSIFIED//REL TO USA, NATO

• Based on OpenCPN

• Add the notion of depth

• Translation to MOOS mission format

Mission Planner

mUUV Scalability

Standard mUUV~22 lbs / 300mDiameter – 4 7/8” (A)

Riptide is building a Family of Man-Portable UUVs

Standard 1MPUUV~62 lbs / 300mDiameter – 7.5”

Standard 2MPUUV~140 lbs / 600mDiameter – 9 3/8”

Riptide Proprietary Information

For further information, please contact: Dani Goldberg 857-930-4343 x102Dani@RiptideAS.com

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