Manufacturing Spec Sheet - AUVAC

Vehicle Control Technologies, Inc.
Proven Hydrodynamic Solutions
from Simulation to Fabrication
Contact
1900 Campus Commons Dr. Ste. 300
Reston, Virginia 20191
Phone: 703·620·0703
Email: info@vctinc.com
Web: www.vctinc.com

Technologies And products
www.vctinc.com
PTB
UUV
UDS
MISSION
Long 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 developing
a series of modular UUVs. Standardized electronic and mechanical components as well
as open-architecture core software make these modular vehicles exceptionally reliable and inexpensive
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 Vehicles
The 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

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VCT Family of
Underwater Vehicles
VCT has developed its line of underwater vehicles in a modular
fashion that allows them to be configured as a UUV,
glider or towed vehicle.
VCT E-1 PC-104 Stack
Contains 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
Standardizing key vehicle components across vehicle
Diameter and Functions enables rapid development
Powered Tow Body TM
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.
SYSTEM SPECS
Diameter: 12.75”
Length: 87”- 140”
Weight: 280 lbs
Depth: 1000ft
Max Speed:
UUV 12-14 Kts
PTB 7 Kts
Propulsion: 1.8 kW
IMU: HG-1700/3DM-GX1
Tracking: USBL
Depth and Altitude Sensors
Noise Spec: None
Locating System: Emergency Pinger
Lightweight integrated LARS with Universal Docking
System (UDS) for UUV, Glider and PTB launch and recovery.
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

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VCT Family of
Underwater Vehicles
xGlider TM
VCT has developed its line of underwater vehicles
in a modular fashion that allows them
to be configured as a UUV, glider or towed
vehicle. Because of VCT’s modular components,
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.
Vehicle Command & Control
& Autopilot Systems
Several advances in glider design expand the
CONOPS for glider use. The key advance include
removal of the wing and replacement
of the shifting roll and pitch masses with actuated
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.
UUV Glider
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 thorough
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 single,
seamless process. Our software development utilizes the latest compilers, configuration
management, issue tracking, and continuous integration software to produce robust and reliable
vehicle software.

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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 Console
The 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 console
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.).
Current R&D
Interests/Projects
VCT is currently developing the Towed Air Vehicle (TAV) system under an SBIR program.
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.
VCT’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 develop
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 rudder
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 Winch
A component of the PTB motion reduction approach is the Smart Winch. It provides additional motion
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.

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COMPANY HISTORY
Founded 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 commitment
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 started
as a transition of personnel and technology from the
ARAP group of Titan Research and Technologies.
LARS with Smart Winch
Hybrid
Surface Craft
MANAGEMENT TEAM
Dr. 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 newest
U.S. fleet submarines and control surface design concepts for the SSN 21 and the new Virginia
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 experimental
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. Tureaud
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 systems.
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.

Contact
1900 Campus Commons Dr. Ste. 300
Reston, Virginia 20191
Phone: 703·620·0703
Email: info@vctinc.com
Web: www.vctinc.com
Vehicle Control
Technologies, Inc.