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A Conceptual Design of a Reliable Hard Docking System Docking of an Autonomous Underwater Vehicle to the New Generation A26 Submarine

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A Conceptual Design of a Reliable Hard Docking System Docking of an Autonomous Underwater Vehicle to the New Generation A26 Submarine DEGREE PROJECT IN INDUSTRIAL ENGINEERING AND MANAGEMENT, SECOND CYCLE, 30 CREDITS STOCKHOLM, SWEDEN 2021 A Conceptual Design of a Reliable Hard Docking System Docking of an autonomous underwater vehicle to the new generation A26 submarine ELIN EKSTRÖM ELLEN SEVERINSSON KTH ROYAL INSTITUTE OF TECHNOLOGY SCHOOL OF INDUSTRIAL ENGINEERING AND MANAGEMENT This page was left intentionally blank A Conceptual Design of a Reliable Hard Docking System Docking of an utonomous underwater vehicle to the new generation A26 submarine ELIN EKSTRÖM ELLEN SEVERINSSON Master of Science Thesis TRITA­ITM­EX 2021:379 KTH Industrial Engineering and Management Machine Design SE­100 44 STOCKHOLM This page was left intentionally blank Master of Science Thesis TRITA-ITM-EX 2019:379 A Conceptual Design of a Reliable Hard Docking System Elin Ekström Ellen Severinsson Godkänt Examinator Handledare 2021-06-15 Claes Tisell Roger Berg Uppdragsgivare Kontaktperson Swedish Defence Materiel Administration Matteo Perrone, Johan Wahren Abstract In year 2024 and 2025 the Royal Swedish Navy is expected to launch two new submarines with new possibilities to dock underwater vehicles. The submarines are part of the new Blekinge Class (A26) and will aid the Swedish Armed Forces and the Swedish Defense Materiel Administration (FMV) in their aim to develop and use more autonomous systems, to increase staff efficiency and to face the technological challenges of tomorrow. This thesis was carried out at FMV, with the purpose of investigating the physical requirements put on the new submarines, when docking an autonomous underwater vehicle. These requirements were identified through an analysis of qualitative and quantitative research. The analysis resulted in ten key insights, which led to thirteen requirements. The requirements were combined with project specific data of the AUV62 system and A26 submarine, to develop three conceptual designs of hard docking systems. The concepts were verified through analysis of material, stress and deflection, and geometric constraints. The concepts were evaluated based on how well they were fulfilling each requirement. A hammock-alike concept was shown to have most potential in being the most reliable hard docking system. The thesis ended with concluding that its purpose had been fulfilled, followed with recommendations for continued work. Keywords: Hard docking, AUV, submarine, A26, HMS Blekinge, HMS Skåne This page was left intentionally blank Examensarbete TRITA-ITM-EX 2019:379 En konceptuell design av ett pålitligt hårddockningssystem Elin Ekström Ellen Severinsson Godkänt Examinator Handledare 2021-06-15 Claes Tisell Roger Berg Uppdragsgivare Kontaktperson Försvarets materielverk Matteo Perrone, Johan Wahren Sammanfattning Under 2024 och 2025 förväntas Svenska Marinen sjösätta två nya ubåtar, med nya förmågor gällande dockning av undervattensfordon. Ubåtarna ingår i nya Blekingeklass (A26) och är en del av Försvarsmaktens och Försvarets Materielverks (FMV) målsättning om att utveckla och använda mer autonoma system, för att öka personaleffektivitet och för att kunna möta morgondagens tekniska utmaningar. Detta examensarbete utfördes på uppdrag av FMV, med syftet att undersöka vilka fysiska krav som ställs för att hårddocka ett autonomt undervattensfordon på de nya ubåtarna. Dessa krav identifierades genom analys av en kvalitativ och kvantitativ undersökning. Analysen uppdagade tio nyckelinsikter som gav upphov till tretton krav. Kraven kombinerades med projektspecifik data för AUV62-systemet och ubåt A26, för att utveckla tre konceptuella designförslag av hårddockningssystem. Koncepten verifierades genom analys gällande material, spänning och utböjning, samt geometriska begränsningar. Koncepten utvärderades baserat på hur väl de uppfyllde respektive krav. Ett hängmatteformat koncept visade sig ha störst potential för att bli ett pålitligt hårddockningssystem. Examensarbetet avslutades med att projektets syfte ansågs vara uppfyllt, följt av förslag på vidare arbete. Nyckelord: Hårddockning, AUV, ubåt, A26, HMS Blekinge, HMS Skåne This page was left intentionally blank Acknowledgements We would like to express our special thanks of gratitude to our supervisors at FMV, Matteo Perrone and Johan Wahren, and our supervisor at KTH, Roger Berg. Thank you, Matteo and Johan, for giving us the opportunity to do this wonderful project. We could not have had a better finale to our education at KTH. Thank you, Matteo, for being so engaged in our work. We appreciate that you have thought that our learning experience is more important than any result. The balance between feedback and freedom has been perfect. Thank you, Johan, for your understanding of our learning process and that you have given feedback to us the moment we needed it. Your enthusiasm and your help has been invaluable. Thank you, Roger, for all of the advice you have presented to us during this project. You have provided us with many great ideas, thoughts, and tips throughout our work and we are grateful that you have taken the time to work with us. We would also like to thank the people at Saab and the Royal Swedish Navy, who have taken their time to share their knowledge with us. Special thanks to Daniel, for telling us about life on a submarine and for your overall helpfulness. Thank you Leif and Magnus, for letting us come along on the submarine hunt. Thank you to our opponents, for helping us making this project better with your insightful comments. Finally, we would like to express thanks to our corridor buddies at Brinellvägen 85 for making the special situation of writing a thesis during the coronavirus less lonely. Elin Ekström and Ellen Severinsson Stockholm, June 15, 2021 This page was left intentionally blank Acronyms AUV Autonomous Underwater Vehicle CAD Computer Aided Design CFRP Carbon Fiber Reinforce Polymers DDS Dry Deck Shelter FM tree Function and Means Tree FMV Swedish Defence Materiel Administration FPL Flexible Payload Lock RSwN Royal Swedish Navy ROV Remotely Operated Vehicle SD Saab Dynamics SK Saab Kockums SOD Special Operations Divers SwAF Swedish Armed Forces UHMWPE Ultra­high­molecular­weight polyethylene UUV Unmanned Underwater Vehicle Contents 1 Introduction 1 1.1 Background . 1 1.2 Problem . 2 1.3 Purpose and Research Questions . 2 1.4 Stakeholders . 3 1.5 Delimitations . 3 2 Methodology 5 2.1 Quantitative Research . 5 2.2 Qualitative Research . 6 2.3 Analysis and Synthesis . 6 2.4 Concept Methods . 7 3 Theoretical Background 8 3.1 Project A26, Blekinge Class Submarine . 8 3.1.1 Flexible Payload Lock . 8 3.2 Unmanned Underwater Vehicles . 9 3.2.1 Autonomous Underwater Vehicle . 10 3.3 The Docking Process . 11 3.4 Underwater Environment . 13 3.4.1 Environment in Baltic Sea . 13 3.4.2 Submarine Effect on Currents . 14 3.4.3 Signatures . 16 3.5 Submarine Positioning States . 16 4 Existing hard docking systems 19 4.1 Docking on a moving submarine . 19 4.2 Docking on a still submarine . 20 4.3 Free­standing docking stations . 20 5 Human Factors 23 5.1 Life on a Submarine . 23 5.2 Human Involvement . 23 5.3 Opinion on New Systems . 24 CONTENTS 6 Analysis of Docking Scenarios 26 6.1 Scenario: Submarine States and AUV Docking Direction . 26 6.2 Scenario: What Is a Non­Functional Docking? . 27 6.3 Scenario: What is an Emergency? . 28 6.4 Scenario: AUV Operation of Communication Requirements . 29 7 Factors Characterising a Reliable Hard Docking System 32 7.1 Key Insights . 32 7.2 System Requirements . 36 7.3 Specific Project Data . 37 8 Concept Ideation and Continuous Evaluation 39 8.1 Wide Concept Ideation . 39 8.2 Systematic Concept Ideation . 40 8.2.1 Subsystem Docking Station . 41 8.2.2 Subsystem Moving Frame and Static Frame . 44 8.3 A First Evaluation . 45 8.3.1 Capturing Success­Rate . 45 8.3.2 System Complexity . 46 8.3.3 Results From First Evaluation . 47 9 Concept Refinement 49 9.1 Concept Brugd . 49 9.2 Concept Valhaj . 51 9.3 Concept Flundra . 52 9.4 Electric Actuators . 53 9.5 Loading the Docking Systems Through the Top Hatch . 54 9.6 Design for Safety . 55 9.6.1 Abort at Any Moment . 55 9.6.2 A Second Safety System . 56 9.6.3 Distancing System . 56 10 Concept Realisation 57 10.1 Material Analysis . 57 10.2 Stress and Deflection in the Linear Guide . 59 10.2.1 Forces Acting on System . 59 10.2.2 Stress and Deflection . 61 10.3 Analysis of Subsystem Relationships . 62 11 Final Concepts and Concept Evaluation 66 11.1 Concept Brugd . 66 11.2 Concept Valhaj . 67 11.3 Concept Flundra . 69 11.4 Concept Evaluation . 71 12 Results 73 13 Discussion 76 13.1 Scope . 76 13.2 Implementation of Methodology . 76 13.3 Results . 77 13.4 Outside Perspective . 78 13.5 Future Work . 79 14 Conclusions 80 14.1 Final Words . 80 References A Submarine States and AUV Docking Direction B Determination of the Importance Factor C Functions and Means Tree D Material Analysis E Solid Mechanics Calculations F Evaluation Analysis 1 Introduction In this section, the background of this thesis is presented together with problem, purpose, goal and deliverables, identified stakeholders and delimitations. 1.1 Background In the year of 2015, the Royal Swedish Navy ordered two new submarines from the Swedish Defence Materiel Administration (FMV). The submarines will be a part of the new generation Blekinge class, known as submarine A26, and are planned to be delivered in the year 2024 and 2025 respectively. (Hellström, 2017) At the front of the new A26 submarines, an opening with a diameter of circa 1.5 meter will be implemented, see Figure 1a. Through this opening, Unmanned Underwater Vehicles (UUVs) can exit and enter the submarine. When an UUV enters the opening, it must proceed through an open water­filled area called the forepeak before it arrives to a large tube called the Flexible Payload Lock (FPL). From the FPL, the UUV can be reached by the crew of the submarine through the torpedo room (FMV, 2020a).
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