Underwater threat objects (i.e. naval mines, Improvised Explosive Devices (IEDs)) from prior military engagements remain in global waters and are hazardous for passenger, commercial, and military vessels. The purpose of the work effort is to develop a concept for a non-intrusive device for attaching specialized Explosive Ordnance Disposal (EOD) tools to underwater threat objects that can neutralize these threats. The solution developed must be effective on various surface materials and attachable on target objects that are on the seabed and in the water column with current speeds up to 14 m/s. To address these operational requirements, Zero-G Horizons Technologies, LLC. (ZGHT) aims to develop and deliver the Gecko-gripper for EOD with Cavitation Cleaning Operation (GECCO) system. GECCO is a system that can be integrated with existing Remotely Operated Vehicles (ROVs) or EOD Underwater Response Vehicles (URVs), which includes Teledyne SeaBotix vLBV300, SRS Fusion, and VideoRay Defender, that enables rapid attachment of EOD tools or other payloads on a submerged target surface, such as underwater threat object (UTO). In most cases, the surface of a submerged target surface will be covered in biofouling, prevents firm adhesion to the surface. Also, the geometry and roughness of the surface will be flat, curved, smooth, or irregular. To deal with these problems, GECCO will remove the biofouling growth or other sediments on the target area using our controlled cavitation technology (CCT) and an underwater vacuuming mechanism. CCT can effectively remove biofouling on various surface materials and scale to a larger area with a shorter removal time. The ZGHT-developed vacuuming mechanism also supplements CCT-cleaning to clean loose biofouling and debris. The soft-robotics technology is employed for the gripper so that it can maintain grip by conforming to the target surface geometry. Moreover, it can be customizable and scalable for new designs. Biomimetic mechanisms that imitate the suction cups of an octopus, or a squid, were very effective. Preliminary results show that the suction-cup-inspired mechanism is a promising mechanism for the GECCO system. The added advantage is easy removal of the attached device by relieving the pressure without residuals. The objective of the Phase II effort is develop and integrate the biofouling cleaning and payload attaching subsystems into a full GECCO system. Supporting subsystems will encompass power supply, vehicle-ROV integration, and GECCO transport. Once implemented, the completed GECCO system will be validated through testing and evaluation in laboratory and field environments. Laboratory-based testing will entail experimental replication of wave action, pressure environments, and current velocities that are anticipated during operational deployment. The validated GECCO system will enable operators to reliably and efficiently neutralize underwater threat objects and ensure the safety of our global waters.
