3. Specifications.pdf

REQUIREMENT SPECIFICATIONS

PURPOSE: The purpose of this acquisition package is to procure a single, consolidated optical payload module that provides laser scanning technology with harmonized high-speed, high-resolution stills imaging and LED lighting for use on Remus 600 autonomous underwater vehicle (AUV) for conducting Large Area Imaging (LAI) surveys for discerning seafloor topographic, geologic, and biological characteristics. The use of a consolidated optical payload will allow NOAA to utilize an AUV to inspect and survey underwater environments with the resolution necessary to make informed decisions from the data that is collected. Furthermore, precise 3D models and images will provide evaluators with digital models which can be distributed amongst various organizations as required to verify their research outcomes.

SCOPE OR MISSION: This payload shall be integrated into Woods Hole Oceanographic Institution (WHOI) Remus 600 autonomous underwater vehicle (AUV) for deployment on a July 2022 mission. This payload shall also be interoperable so that it can be installed into similar Remus 600 AUV’s with minimal changes to the baseline vehicle configuration.

TECHNICAL SPECIFICATIONS: The consolidated optical Remus 600 payload module shall provide laser scanning technology with harmonized high-speed, high-resolution stills imaging. Laser scanners shall be well suited for producing high resolution underwater 3D point clouds with millimeter resolution up to 7 meters range dependent on water clarity constraints. The camera and lighting components shall be optimized to capture high resolution still images of subsea targets and other underwater features from moving platforms.

An acceptable underwater laser scanner system shall perform laser line triangulation using a single laser line projector operating at over 85Hz, collecting at least 2464 survey points along a single laser line. The stills camera and LED panel shall operate in conjunction with the laser scanning component, and acquire color imagery at a minimum of 4 FPS. Laser scanning, imaging, and LED panel triggering shall be controlled from one control unit within the module. Image enhancement algorithms and 3D laser profiles shall be processed in real-time offering usable datasets as soon as the survey is complete. Laser pulse returns and camera images shall be synchronized to a central GNSS time source. The imaging module shall be configured in such a way as to allow stand-alone image acquisition on an independent platform.

MEASUREMENT AND PAYMENT: The cost measurement for the underwater laser scanner & stills imaging module shall include the following:

• Single laser line scanning system

• 12MP color camera

• LED panel

• interfacing power/communication cables

• data acquisition and visualization software

• shipping box, and vehicle interface

The sensors must come mounted in a neutrally buoyant, wet payload frame suitable for mounting and interfacing with the REMUS 600. The wet module payload shall be neutrally buoyant in standard sea-water, have the ability to adjust ballast +/- 5lbs, and shall allow for the passing of additional wet cables thru the section in a fore-aft channel.

OPTICAL PAYLOAD DESIGN

The laser scanning and stills imaging module shall be a self-contained device to produce high precision three-dimensional point cloud data and stills images. The module shall be completely pre-calibrated, and shall only require a patch test to the AUV’s navigational origin.

Components and configuration of each system shall conform to the following requirements:

Measurement Method System shall extract multiple points along a laser light sheet rather than a single point from a laser beam.

System shall leverage only one laser projector, with a dedicated optical receiver and shall have no moving parts.

Laser System minimum specifications

• Minimum Scan Range: 1.5m

• Maximum Scan Range: 7m

• Points per line: 2464

• Laser coverage: 50 degrees in water

• Profile Rate:

• Laser only: 85 Hz (single laser projector)

• Stills Only: 2 Hz (with onboard data processing)

• Laser + Stills: 50 Hz Laser + 2 Hz Stills

• Ambient Light Filter

• Data Acquisition: Real-time processing, API

Imaging System minimum specifications

• Sensor: color, CMOS 1.1”, Global Shutter, 12-bit

• Lens: 12MP

• Resolution: 4112 x 3008

• Range: 7m

• Field of View: Horizontal: 60° | Vertical: 46°

• Frame Rates: 2 Hz (real-time image processing); 4 Hz (Raw images only)

• Light Configuration: 32 LEDs, individually oriented

• LED Mount: Hydrodynamic externally mounted, conformed to diameter of vehicle body

• Light Output: 500,000 Lm

• Processing: Real-time, image enhancement, Color correction

Module Specifications • Size & Weight: 12” diameter, designed for Remus 600, neutrally Buoyant

• Data Storage: 2 TB Solid State Drive

• Data Download: Ethernet

• Communication: Ethernet, Vehicle Connection, External Bulkhead

• Control: WiFi Accessible Windows GUI or Mission Planning Integration with API

• 1,000m depth rating

Electrical specifications • Laser power: 18-72 VDC

• Laser wavelength: 450 nm

Software specifications • Data acquisition software for MS Windows OS included with the system

• Data output format: .xyz (.CSV) LAS publishing, RAW or TIFF (12-bit)

ADDITIONAL REQUIREMENTS:

1. Manufacturer shall provide documentation of module performance accuracy results from bench and wet acceptance tests to the Government Point of Contact.

2. A minimum of 1-year warranty for all components and technical support shall be provided.

3. All software for operating and controlling the module components shall be included with a minimum of one-year maintenance provided

4. All software for correcting and post-processing data from the camera and laser components shall be included with a minimum of one-year maintenance provided.

5. On-site training on the use and maintenance of the module and data post-processing procedures shall be provided.

DELIVERY: The contractor shall provide delivery of the laser camera module no later than May 1, 2022.

All equipment shall be delivered between 8:00am and 3:30pm EST Monday-Friday to the following address:

NOAA/NCCOS Beaufort Laboratory Attention: Chris Taylor 101 Pivers Island Rd.

Beaufort NC 28516

TECHNICAL GOVERNMENT POINTS OF CONTACT:

Chris Taylor Email: Chris.Taylor@noaa.gov

Tim Battista Email: Tim.Battista@noaa.gov mailto:Chris.Taylor@noaa.gov mailto:Tim.Battista@noaa.gov