**3. System design of a large diameter MCM UUV unit**

Current status of unmanned system technology and participation of unmanned vehicle fleets to naval operations can transform the concepts of future navy MCM tactics, weapons, and man machine interoperability in the field. In the near future, MCM vessels with C4I capability and MIW data base that act a main control center for a variety of unmanned vehicles in the enemy territory and doing a MCM operations without the presence of men in the mine field [9].

## **3.1. Large diameter UUV [16]**

The conventional smaller diameter unmanned vehicle system has major operational difficul‐ ties in sensor system and vehicle endurance that give limited search, launch and recovery operations. If we can design larger unmanned vehicle, we will have more payload and energy storage for longer endurance. They can be a force multiplier for increasing the operational capability of submarines and surface ships [7].

The options for hull shape and various subsystem configuration of vehicle define the set of vehicle design options which are evaluated by the design requirements. Some important design options are the fineness ratio and block coefficient, which dictate the basic packaging spaces and sizing of all other vehicle subsystems [12].

#### **3.2. Main control center configurations**

The autonomy of the system and the spectrum of operations are fundamental characteristics on MCM operations. The main platform has mission management blocks that automatically perform various MCM operational procedures such as contact of mines, obstacles from multiple sensor data sources and management of neutralization process, environmental data and bottom mapping [17]. For the mission accomplishment, organic MCM platforms, and operation with various sensors must undergo guidance of system management command, which is from rigorous analysis, experimentation, modeling and simulation on board [18]. The missions of MCM fleet operation is divided into five segments; launch, transit, execution of mission, return transit and recovery, each defined by key mission, and environmental parameters such as range, speed, ocean current and salinity and various MCM mission-related execution orders [12].

Advanced technologies applied for MCM main mission management system include situa‐ tional reactive mission control suits, smart sensor system of systems, dynamic intelligent mine classification processors with MCM data bases. Vehicle management system controls precise intelligent undersea navigation, intelligent sensor systems and obstacle avoidance measures. Application of up to date AI technologies to the vehicle's functionality and mission effective‐ ness of MCM UUV system are implemented with expert system blocks, AI pattern classifica‐ tion and efficient power management systems in our works [12]. The MCM UUV unit provides autonomy of vehicle systems through incorporation with platform-independent autonomous controller that supports high degree of autonomy, highly precise low-power navigation and machine vision in support of automatic classification [26]. Mission management function block diagram of MCM UUV is given in **Figure 5**.

**Figure 4.** Concept of MCM UUV system operations.

138 Autonomous Vehicle

**3.1. Large diameter UUV [16]**

capability of submarines and surface ships [7].

**3.2. Main control center configurations**

spaces and sizing of all other vehicle subsystems [12].

**3. System design of a large diameter MCM UUV unit**

Current status of unmanned system technology and participation of unmanned vehicle fleets to naval operations can transform the concepts of future navy MCM tactics, weapons, and man machine interoperability in the field. In the near future, MCM vessels with C4I capability and MIW data base that act a main control center for a variety of unmanned vehicles in the enemy territory and doing a MCM operations without the presence of men in the mine field [9].

The conventional smaller diameter unmanned vehicle system has major operational difficul‐ ties in sensor system and vehicle endurance that give limited search, launch and recovery operations. If we can design larger unmanned vehicle, we will have more payload and energy storage for longer endurance. They can be a force multiplier for increasing the operational

The options for hull shape and various subsystem configuration of vehicle define the set of vehicle design options which are evaluated by the design requirements. Some important design options are the fineness ratio and block coefficient, which dictate the basic packaging

The autonomy of the system and the spectrum of operations are fundamental characteristics on MCM operations. The main platform has mission management blocks that automatically

**Figure 5.** Function diagram of AI mission management system.

A capability of directing all aspects of the multifaceted MIW campaign plan is needed to bring the various MCM capabilities together, providing unity of effort in defeating the mine threat.

## **3.3. Neutralization weapon**

There are several state-of-the-art weapon systems to dispose or detonate mines effectively, and economically such as the use of a laser gun, acquire gun and small charge delivery devices. Furthermore, the confidence for job completion requires the capability of accurate battle damage assessment (BDA). Underwater motion projectile is multipurpose in formed cavity water, due to its density, has a profound impact upon the terminal velocity of the implant at the target. A suitable weapon technology applied to MCM UUV is a lightweight composite 30 mm launcher that would implant a round filled with either high explosives (HE) for an explosive hard-kill or reactive material for a soft kill burn [3].

Similar technology was developed to counter roadside improvised explosive devices using 50 caliber weapons. A 30 mm implant would be usefully larger and could integrate a compliant fusing device, utilizing a detonator enables digital fusing, and affords either timed or control‐ led detonation, including detonation by an acoustically transmitted command. A 30 mm launcher provides sufficient terminal velocity to penetrate 5/10 inch cold rolled steel from a range of 30 feet [13, 26].

The currently achieved standoff range of 30 feet which the UUV should shot detonate the mine is not sufficient to ensure safety of MCM UUVs. Shooting from longer ranges requires significant basic research, and development, both in material strengths, and in achieving precise sonar fire-control accuracies before truly safe standoff ranges are achievable.

## **3.4. Energy and power managing section**

Considering the operational combat field endurance limit of more than 50 days of MCM UUV and the current status of the battery systems technology, the combination of diesel internal combustion engine (ICE) and effective battery systems could become reality. The high specific power generation of the internal combustion system gives effective operation of the vehicle and can provide a stable recharge power source of the battery system. Integration of a small diesel engine connected to the battery systems, and modification of the UUV hull structure for the snorkeling operation could give better alternatives for both recharging and propulsion of the MCM UUV in the meantime [25].

A diesel submarine is a very good example of hybrid power supplying and sharing systems. The two or more sets of diesel engines in most diesel submarines can run propellers or can run generators that recharge a huge battery bank, or work in combination mode; one engine driving a propeller and others driving a generator. The submarines should run the diesel engines, they must surface or cruise just below the surface of water using snorkeling, and once the batteries are fully charged, the submarine can dive to underwater operations [8]. These diesel battery hybrid power systems are controlled by vehicle management computers and a main AI expert mission management system. Combined power generation, and the control system structure are given in **Figure 6**.

**Figure 6.** Power management system of MCM UUV.
