WO2019035877A2 - System and method for detecting threats to maritime commercial assets, the environment and coastal industrial/commercial infrastructure - Google Patents

Abstract

The present disclosure is directed to a network of autonomous vessels that may be configured to detect and communicate information about threats to maritime commercial assets, the environment and coastal industrial/commercial infrastructure. In one embodiment, a network is disclosed that include a plurality of autonomous vessels, and at least one remote command and control center that is provided in communication with the plurality of autonomous vessels.

Description

SYSTEM AND METHOD FOR DETECTING THREATS TO MARITIME

COMMERCIAL ASSETS, THE ENVIRONMENT AND COASTAL INDUSTRIAL/COMMERCIAL INFRASTRUCTURE

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application No. 62/545,893, filed on August 15, 2017 and entitled "System and method for detecting threats to maritime commercial assets, the environment and coastal industrial/commercial infrastructure," the entirety of which is incorporated herein by reference for all purposes.

TECHNICAL FIELD

[0002] The present disclosure is directed to systems and methods for monitoring, detecting, reporting, and reacting to threats to maritime commercial assets, the environment and coastal industrial/commercial infrastructure.

BACKGROUND

[0003] Threats to the citizenry and economic stability of countries are present and increasing worldwide. A government's responsibility is to protect their people and critical economic assets. To date, the vast majority of national effort and spending has been focused on land and air-based homeland security. In cases, resources are devoted to protection of maritime assets.

[0004] Prior art systems for protection of maritime assets include satellite links and smart buoys. These systems may suffer from bandwidth and interference limitations. Thus, there is a need in the art for systems and methods that address threats to maritime commercial assets, the environment and coastal industrial/commercial infrastructure.

SUMMMARY

[0005] The present disclosure is directed to system and methods that provide autonomous maritime domain awareness networks for exposed coastal regions of the world to track and monitor threats without the cost or danger of putting manpower in harm's way. Some embodiments are directed to a scalable, surveillance network that includes autonomous, sustainably powered marine platforms with optical and sonic sensors that provide highly focused, continuous surveillance of specific ports, harbors or territorial waters. Some

embodiments are directed to a network of autonomous vessels that are interconnected through a mesh network.

[0006] In one embodiment, A threat detecting network for detecting abnormalities in a water boundary, comprising: a plurality of autonomous vessels positioned within or above water; and at least one land-based remote command and control center that is provided in communication with the plurality of autonomous vessels.

[0007] In another embodiment, a network of vessels for detecting threats, comprising: a plurality of autonomous vessels; a hub vessel in communication with the plurality of autonomous vessels; and a command and control center in communication with the hub vessel, wherein the hub vessel is configured to collect data from the plurality of autonomous vessels, organize the data, and transmit the organized data to the command and control center.

[0008] In one example, transmitting the organized data takes up less bandwidth than transmitting individual data from each of the plurality of autonomous vessels. In another example, tethered sonar buoys are in communication with the hub vessel and the command and control center.

[0009] In one example, the network includes a hydrophone string, where the hydrophone string collects sonar data under water and transmits the sonar data to the command and control center.

[0010] In yet another example, a method of assessing threats over a dispersed area is disclosed. The method include l e ei ving dala from a plurality of autonomous vessels, wherein the plurality of autonomous vessels are positioned throughout the dispersed area; analyzing the data to determine whether the data is related to a threat; compiling the data into a data package; and transmitting the data package to a hub vessel or a command and control center.

[0011] The method where analyzing the data comprises determining whether the data is definitively not related to a threat, wherein when the data is definitively not related to a threat, the data is discarded, and when the data is related to a threat or it is uncertain whether the data is related to a threat, the data is compiled into the data package for transmittal to the command and control center. In another instance, transmitting the data package to a hub vessel occurs within a mesh network. In yet another example, the method includes receiving data from a tethered sonar buoy; and incorporating the data into the data package.

[0012] In one example, the dispersed area is larger than the communication reach of at least one of the plurality of autonomous vessels.

BRIEF DESCRIPTION OF THE DRAWINGS

[0013] FIG. 1 is a block diagram of an unmanned surface surveillance vessel in accordance with the present disclosure;

[0014] FIGS. 2A-2D are illustrations of a catamaran unmanned surface surveillance vessel in accordance with the present disclosure;

[0015] FIGS. 3A-3B are illustration of a camera sensor that may be in connection with the catamaran of FIGS. 2A-2D;

[0016] FIG. 4 is a schematic diagram of a modular propulsion system that may be used in connection with the catamaran of FIGS. 2A-2D;

[0017] FIGS. 5A-5B are illustrations of an additional unmanned surface surveillance vessel in accordance with the present disclosure;

[0018] FIGS. 6A-6C are illustrations of a hybrid submarine unmanned surveillance vessel in accordance with the present disclosure;

[0019] FIG. 7 is a schematic illustration of a unmanned surface surveillance vessel performing operations in accordance with the present disclosure;

[0020] FIG. 8 is a schematic illustration of a network of unmanned surface surveillance vessels in accordance with the present disclosure;

[0021] FIGS. 9A-9C are schematic diagrams that illustrate sensor ranges for unmanned surface surveillance vessels and networks in accordance with the present disclosure;

[0022] FIG. 10 is an illustration of systems that may be used in connection with the catamaran of FIGS. 2A-2D;

[0023] FIG. 1 1 is an illustration of a robotics autonomous underwater vehicle in accordance with the present disclosure. [0024] FIG. 12 is an illustration of a network of unmanned surface surveillance vessels and one or more hub vessels; and

[0025] FIG. 13 is an illustration of a network of unmanned surface surveillance vessels and one or more hub vessels.

[0026] FIG. 14 shows an exemplary computer system that may be used with the systems or vessels of the present disclosure.

DETAILED DESCRIPTION

[0027] The present disclosure is directed to a network of autonomous vessels that may be configured to detect and communicate information about threats to maritime commercial assets, the environment and coastal industrial/commercial infrastructure. A network of autonomous vessels in accordance with the present disclosure may be configured for deployment in a bay, marina, inlet or other maritime area that contains one or more assets that could be the target of potential threats. The one or more assets could potentially be targeted by terrorists of other hostile actors. Examples of maritime assets that could be the target of potential threats include oil derricks and other natural resource extraction equipment, diesel plants, buoys, communication equipment, transportation vessels and equipment, fishing vessels and equipment and so on. The network of autonomous vessels may also be configured to monitor assets that are at or near water's edge. Examples of such assets includes docks, lighthouses, vessels in port and so on.

[0028] The network may include a number of different vessel types. For example, the network may include catamarans, speed boats, and hybrid submarines. Small size vessels may be chosen for advantages such as speed and maneuverability. In one implementation, a vessel may span 100 feet. One or more of the vessels may be configured to launch smaller crafts, such as submersibles and/or drone aircraft.

[0029] Catamarans or other vessel configurations in accordance with present embodiments may be configured for stability. Catamarans, for example, may have two pontoons that provide for stability in high seas or other turbulent water. Alternative surface vessels can have a monohull, multihulls with more than two hulls, or other known surface vessel configurations. Vessels in accordance with the present embodiments may include a central mast provided in a stabilizing configuration. A central mast may be retractable to provide added stabilization. Gimbals may be used to provide stabilization for various electronic components or other equipment that may be mounted on the central mast or elsewhere on the vessel.

[0030] In one respect, a central mast may be used to mount sails, wind turbines, or other energy or momentum generating components, and so on. In other respects, a central mast may be used to mount sensors and/or communication equipment, such as cellular arrays, antennas, radar, optical sensors, infrared devices and so on. Communication equipment may be mounted on a central mast so as to provide an unobstructed signal path in all directions from the vessel. For example, a camera may be mounted on a central mast to provide 360 degree, high definition pictures or video of the area surrounding the vessel. In another example, a cellular antenna mounted on a central mast may have a line of sight path to adjacent vessels or other

communication nodes with which the cellular antenna may communicate. Sensor and/or communication equipment mounted on a central mast may be stabilized using gimbals, gyroscopes, or other stabilizing devices. The height of the mast may be fixed or adjustable depending on the implementation.

[0031] Vessels in accordance with the present disclosure are generally configured to be autonomous such that they operate without a human crew. Vessels may have on-board power generation systems so as to provide for autonomous operation. On-board power generation systems may be used to power on-board propulsion and/or other systems. On-board power generation systems may include solar panels, wind turbines, and so on. Power generated from on-board power generation systems may be stored as potential energy in on-board batteries or other energy storage systems. In addition to rechargeable batteries, a vessel may additionally include other renewable or semi-renewable power systems such as hybrid power, light diesel, and so on. Propulsion systems such as propellers may be powered from either the power generation or energy storage systems. A vessel may additionally include a navigation system such as a magnetic compass or a global positioning system. Through these systems, a vessel may operate for extended periods of time without an on-board crew. While vessels may be configured for autonomous operations, some vessels may be configured to accommodate crewmembers that may be aboard for various reasons such as maintenance. [0032] The various vessels of the network of autonomous vessels may include sensor packages or listening devices that are configured for threat detection. A vessel may include a sensor package that includes various sensors that are configured to monitor areas nearby the vessel. For example, a sensor package may be configured to monitor underwater areas and/or water surface areas through one or more sonar arrays or systems. Examples of sonar systems that may be used include multi-beam arrays, side scan towed arrays, forward looking sonar, tethered sonar buoys, and so on. A sensor package may also be configured to monitor for airborne threats that may be present above the water's surface. For example, a vessel may sense airborne threats through one or more of Doppler radar, electro-optic, and/or infrared sensor systems. A sensor package may include different sensors that are optimized for sensing at different distances or ranges of distances. Thus, using multiple sensor types together may increase the total effectiveness of the system.

[0033] A network of autonomous vessels in accordance with the present disclosure may include a communication system that provides for transmission of data. The communication system may provide for transmission of data between vessels and/or communication from one or more vessels to a command and control center, such as a central hub or a land-based command center. The communication network may include one or more repeaters that are configured to increase a range of the network. More specifically, a repeater may be an intermediate network node that operates to receive signals and to pass the signals on towards their ultimate destination. In some cases, a given vessel may operate as a repeater. For example, a vessel acting as a repeater may receive another vessel's communication and pass that communication on towards its intended destination. Data may include diagnostic data about the system operations, environmental data (e.g., wind speeds and direction, air temperature inside and outside the vessel, surface water temperature), positioning of the vessel (e.g., coordinates, pitch and roll, position and heading, speed), and any data related to threats.

[0034] A vessel may use the communication system to communicate data about potential threats. Here, a network of autonomous vessels in accordance with the present disclosure may be in communication with a command and control center. The command and control center may be located on land or on another vessel remote from the autonomous vessels in the network. The command and control center may receive and process threat data from the various vessels.

Depending on the data received, the command and control center may take a particular action. In some instances, the data received from a vessel may indicate a possible threat, but may contain some uncertainties. Given the uncertainties, the command and control center may take control of a particular vessel and use it to acquire additional information. For example, the command and control center may focus a particular sensor in a direction that the threat is believed to be located. In another example, the command and control center may use a vessel to launch a drone that may be used to approach the threat area for a closer look. In other instances, the data received from a vessel is more definitive as to the potential threat. In this case, the command and control center may communicate with a local government for deployment of a military response, if needed.

[0035] A vessel may include one or more defensive or protective systems. A defensive or protective system in accordance with the present disclosure may be any system that is used to directly repel or otherwise counteract an aggressive action taken by a threatening actor.

Typically, a vessel will deploy a defensive system in self-defense in response to a threat that is directed to the vessel itself. In some cases, however, a vessel will deploy a defensive system in order to protect a neighboring vessel in the network of autonomous vessels or to protect a particular maritime asset. A vessel may, in some cases, be configured to deploy a defensive system based on determinations made by on-board systems. In other cases, a vessel is only configured to transmit data regarding the potential threat to a command and control center. The command and control center may then analyze the data and determine the magnitude of the threat. If needed, the command and control center may take control of the vessel under attack and deploy one or more of its on-board defensive systems. Examples of defensive or protective systems in accordance with the present disclosure include sonic systems such as a Long Range Acoustic Device (LRAD), electrical shock systems, ordinance or other anti-personal devices, and so on. In some cases, submersibles or drone aircraft may be used in the deployment of defensive system.

[0036] In order to make efficient use of limited bandwidth communication channels, a vessel may include an on-board data filtering system. Raw data that is initially received from the sensors may include a great deal of irrelevant data. For example, video cameras used to scan for images of potential threats may capture large amount of video that contains nothing but open water. This video may be easily identified as containing no identifiable threats and may be discarded by the filtering process. Other video captured by the video camera may include images of a moving object that could possibly be a threating actor, but could also be a benign object such a marine mammal. Accordingly, present embodiments may apply filters, analytics, and/or artificial intelligence in order to distinguish between the two possibilities. If a

determination can be made by on-board systems that the detected object is benign, then the video may be discarded at the vessel. If, however, such a determination cannot be made by on-board systems, then the video may be passed on to the command and control center for further examination and processing.

[0037] In addition to threat monitoring, the command and control center may also control vessel maintenance or other similar functions. For example, a vessel may contain on-board diagnostic systems that are configured to monitor the various systems that are included on the vessel, such as the sensor systems, the power systems, and so on. If the on-board diagnostic system determines that a failure has occurred or may occur at some point in the future, an alert and/or diagnostic information may be sent to the command and control center through the communication system. The command and control center may receive the diagnostic

information and take appropriate action. In some instances, the command and control center may initiate error mitigation procedures that may be implemented on-board the vessel such as through robotics. In other instances, the.command and control center may take control of the affected vessel and pilot it back to harbor for repairs.

[0038] A network of autonomous vessels in accordance with the present disclosure may employ redundancy in order to provide greater efficiency in one or more of the functions described herein. For example, embodiments may include redundant vessels interchangeable within the network. Thus, in the event of a failure or potential failure of a particular vessel, that vessel may be removed and quickly replaced with a redundant vessel that has the same or substantially similar functionality. By quickly replacing a failed or failing vessel with a redundant vessel in this manner, embodiments may mitigate the effects of system failure in a , particular vessel. In another example, some embodiments may include redundant command and control centers for greater safety or efficiency. Redundant command and control centers may be safer because intelligence is not concentrated in one area making that one area a high value target. Redundant command and control centers may be more efficient because they may be more responsive to localized threats and/or more flexible in functioning in the event of failure of system components. [0039] A network of autonomous vessels in accordance with the present disclosure may employ modular components in order to provide greater efficiency in one or more of the functions described herein. For example, a vessel may include removable modules that contain one or more system or sub systems that are employed on the vessel. In the event of a detected failure or potential failure of particular system or subsystem, the appropriate module may be wholly removed from the vessels and replaced with a new or otherwise functioning module. Examples of system or subsystems that may be incorporated within a modular unit include batteries or other energy storage units, motors, propulsion systems, generators, and so on.

Modular units in accordance with the present embodiments may be configured to easily slide outward from vessel compartments. This is in contrast to prior art configurations that typically required a crane to remove a failed or failing system from a vessel. Vessel compartments that house modular units in accordance with the present disclosure may be provided in convenient locations on the vessel such as the rear. With these features, repair times may be shortened while a vessel is in a harbor to address a system failure.

[0040] In some embodiments, the present disclosure relates to a system having a plurality of sensing devices, which may be autonomous craft or other devices, that monitor a particular area (e.g., water, land, or the like), for detection of abnormal activity that may correspond to a threat. In these embodiments, the multiple sensing, drone, or other assets, may communicate data directly to one or more command or central vessels, which may filter, extract, and/or combine the data to package it for transmission to a command center. In one example, there may be a many to one ratio of assets that communicate with one central or communication vessel and there may be a handful of communication vessels deployed. This arrangement allows the network to span farther and not be range limited by the transmission ranges of the assets themselves.

[0041] FIG. 1 is a block diagram that shows certain components and features that may be included in an unmanned surveillance vessel in accordance with the present disclosure. FIG. 1 includes an unmanned surveillance vessel that is generally identified by reference number 100. FIG. 1 additionally includes various component and features that may be incorporated in or otherwise associated with the vessel 100. The vessel 100 may be incorporated in a network of autonomous vessels in accordance with the present disclosure. Thus, the vessel 100 may be implemented as a catamaran, speed boat, and hybrid submarine, and so on. The vessel 100 may be a small size vessel chosen for advantages such as speed and maneuverability. In one implementation, the vessel 100 may span around 100 feet, although other suitable dimensions may be employed.

[0042] The vessel 100 may include sensor packages or listening devices that are configured for threat detection. A sensor package may include various sensors that are configured to monitor areas nearby the vessel. Examples of sensors or sensor packages that may be used in accordance with present embodiments include radar, sonar, mine detection, motion or ship detection, infrared, optical, map-type, visible, chemical, biological, nuclear, and so on. By way of example, FIG. 1 shows a vessel 100 that includes an airborne threat sensor package 104 that is configured to monitor for airborne threats that may be present above the water's surface. The airborne threat sensor package 104 may include radar 108, electro-optic 1 12, and/or infrared sensor systems 1 16.

[0043] The airborne sensor package 104 may be mounted on a monitoring mast 120. In one respect, the mounting mast 120 may be used to mount sails, wind turbines, or other energy or momentum generating components, and so on. In other respects, the mounting mast 120 may be used to mount sensors and/or communication equipment, such as cellular arrays, antennas, radar, and so on. By way of example, FIG. 1 shows mounting mast that includes the radar 108, the electro-optic 1 12, and the infrared sensor systems 1 16 of the airborne sensor package 104. The central mast 120 may be used to mount this sensor equipment so as to provide an unobstructed signal path in all directions from the vessel. For example, a camera associated with the electro- optic system 1 12 may be mounted on the monitoring mast 120 to provide preferably 360 degree, high definition pictures or video of the area surrounding the vessel 100. The monitoring mast 120 may be retractable and may include gimbals, gyroscopes, or other stabilizing devices that provide stabilization for the various components of the airborne sensor package 104. As described in greater detail below, the mounting mast 120 may also be used to mount a cellular antenna 144 so as to provide a line of sight path to adjacent vessels or other communication nodes with which the cellular antenna 144 may communicate.

[0044] The vessel 100 of FIG. 1 also includes a water-borne threat sensor package 124 that is configured to monitor for water-borne threats that may be present below the water's surface. The water-borne threat sensor package 124 may be configured to monitor underwater areas and/or water surface areas through one or more sonar arrays or systems. By way of example, the vessel of FIG. 1 shows a water-borne threat sensor package 124 that includes a multi-beam sonar 128, a towed sonar array 132, and other water-borne threat sensors 136. As another example, the system of FIGS. 12 and 13 show tethered sonar buoys 3 that may be remote from any

autonomous vessels or hub vessels 2. In this example, the tethered sonar buoy 3 can collect sonar data separate from the autonomous vessels or hub vessels 2 and transmit the collected data to the hub vessel 2.

[0045] The vessel 100 of FIG.1 may include a drone docking deck 140 that is used to launch a drone aircraft from the vessel 100. A drone may be launched from the drone docking deck 140 to accomplish various tasks in accordance with present embodiments. For example, a drone may be launched from the drone docking deck 140 to get a closer view of a sensed object, to send a message, to deliver ordinance, to patrol, to explore, to drop something, to move a short range sensor. An example of a short range sensor that may be moved by a drone is a chemical sensor. A drone may be launched from the drone docking deck 140 responsive to commands generated locally at the vessel or responsive to commands generated at a remote command and control center.

[0046] The vessel 100 of FIG. 1 may include a cellular antenna or other communication module 144 that provides for transmission of data. The communication module 144 may provide for transmission of data between vessels 100 and/or communication from one or more vessels to a command and control center. The command and control center (or certain aspects thereof) may be located on land or on a man-operated vessel. The communication module 144 may communicate with one or more repeaters that are configured to increase a range of the module 144. More specifically, a repeater may be an intermediate network node that operates to receive signals and to pass the signals on towards their ultimate destination. In some cases, a given vessel may operate as a repeater. For example, a vessel 100 acting as a repeater may receive another vessel's communication and pass that communication on towards its intended

destination.

[0047] The communication module 144 may be configured for transmission of large bandwidth, high resolution data. The communication module 144 is generally configured for inclusion in a mesh network. Thus, the communication module may be configured for point-to- point communication of data between terrestrial network nodes. The vessel 100 may communicate via cellular data, WiFi, or over any other communication network. Satellite communication is not included in some embodiments, but may be included as an option or as a backup. At sea, the communication module 144 typically has a range of about five miles. At distances of greater than five miles, interference may be encountered. Inclusion of the communication module 144 in a mesh network in accordance with the present disclosure may extend this distance through the use of data relaying as described herein. In some embodiments, data and/or messages are encrypted before being sent via the communication module 144.

[0048] The vessel 100 may include an on-board data filtering system in order to make efficient use of limited bandwidth communication channels that may be provided via the communication module 144. Raw data that is initially received from the sensors packages 104, 124 may include a great deal of irrelevant data. For example, video cameras used to scan for images of potential threats may capture large amount of video that contains nothing but open water. This video may be easily identified as containing no identifiable threats and may be discarded by the filtering process. Other video captured by the video camera may include images of a moving object that could possibly be a threating actor, but could also be a benign object such a marine mammal. Accordingly, present embodiments may apply filters, analytics, and/or artificial intelligence in order to distinguish between the two possibilities. If a

determination can be made by on-board systems that the detected object is benign, then the video may be discarded at the vessel. If, however, such a determination cannot be made by on-board systems, then the video may be passed on to the command and control center for further examination and processing.

[0049] One example of a noise filtering criteria is the size of the sense object. More specifically, an object that is within a certain size range or that is travelling within a certain speed range is regarded as a marine mammal and thus not a threat of the type being monitored. For example, an object measuring 85 feet in length and traveling at eight knots would be regarded as a marine mammal and the associated data discarded. Using this and other noise filtering criteria, approximately 95% of captured data typically can be discarded as irrelevant, thus avoiding transmission of the unwanted data.

[0050] The vessel 100 may include a command and control module 148 that is configured to communicate with a command and control center. In one respect, the command and control module may relay commands to the platform security module 180. The platform security module 180 may implement one or more defensive or protective systems for the vessel. A defensive or protective system in accordance with the present disclosure may be any system that is used to directly repel or otherwise counteract an aggressive action taken by a threatening actor.

Typically, a vessel will deploy a defensive system in self-defense in response to a threat that is directed to the vessel itself. In some cases, however, a vessel will deploy a defensive system in order to protect a neighboring vessel in the network of autonomous vessels or to protect a particular maritime asset. A vessel may, in some cases, be configured to deploy a defensive system based on determinations made by on-board systems. In other cases, a vessel is only configured to transmit data regarding the potential threat to a command and control center. The command and control center may then analyze the data and determine the magnitude of the threat. If needed, the command and control center may take control of the vessel under attack and deploy one or more of its on-board defensive systems. Examples of defensive or protective systems in accordance with the present disclosure include sonic systems such as a Long Range Acoustic Device (LRAD), electrical shock systems, ordinance or other anti-personal devices, and so on. In some cases, submersibles or drone aircraft may be used in the deployment of the defensive system.

[0051] The vessel 100 may be configured to be autonomous such that the vessel operates without a human crew. The vessel 100 may have on-board power generation systems 156 so as to provide for autonomous operation. On-board power generation systems 156 may be used to power on-board propulsion 172 and/or other systems. On-board power generation systems 156 may include solar panels 152, wind turbines, and so on. Power generated from on-board power generation systems 156 may be stored as potential energy in on-board batteries or other energy storage systems 160. In addition to rechargeable batteries, the vessel 100 may additionally include other renewable or semi-renewable power systems such as hybrid power, light diesel, and so on. Propulsion systems 172 such as propellers may be powered from either the power generation 156 or power storage systems 160. The vessel 100 may additionally include a navigation system 168 such as a magnetic compass, an anemometer, a boat speed indicator, or a global positioning system (GPS or DGPS). The GPS may also be part of a tracking system. The tracking system may alternatively comprise AIS, selective broadcast, or beacons. Through these systems, the vessel 100 may operate for extended periods of time without an on-board crew. [0052] The vessel 100 may include a platform stabilization system 176. The platform stabilization system 176 may include one or more gimbals that may be used to provide stabilization for various equipment used in the 100 vessel. Gimbals may be used to mount cameras, stabilize antenna, and/or generally help with adverse effects of wave or wind induced motion.

[0053] FIGS. 2A-2D are illustrations of a catamaran 200 unmanned surface surveillance vessel in accordance with the present disclosure. FIGS. 2A-2B are perspective views the port side of the catamaran 200. FIG. 2C is a perspective view of the aft portion of the catamaran 200. FIG. 2D is an enlarged perspective view of the aft portion of the catamaran 200. The catamaran of FIGS. 2A-2D includes a hull 204 having two pontoons 208. A mast 212 is coupled to the hull via a mast support structure 216. The mast 212 may be retractable. FIG. 2 A shows the mast 212 in an extended position. FIG. 2B shows the mast 200 in a retracted position. The mast structure 216 includes an access ladder 220 that in one embodiment is used for maintenance personal. As can be seen in FIG. 2D, the catamaran 200 may also include a perimeter walkway 248 and a plurality of removable modules 252, 256.

[0054] ^' The catamaran 200 of Fig. 2A-2D may be configured for stability. The two pontoons 208 provide for stability in high seas or other turbulent water. Gimbals may be used to provide stabilization for various equipment mounted on the catamaran 200. The mast 212 may provide a stabilizing configuration. The mast 212 may be retractable to provide added stabilization. In one respect, the mast 212 may be used to mount sails, wind turbines, or other energy or momentum generating components, and so on. In other respects, the mast 212 may be used to mount sensors and/or communication equipment, such as cellular arrays, antennas, radar, and so on. Sensor packages may be mounted on a central mast so as to provide an unobstructed signal path in all directions from the vessel 200. For example, a camera may be mounted on a central mast to provide 360 degree, high definition pictures or video of the area surrounding the vessel. In another example, communication equipment, such as a cellular antenna, may be mounted on the mast 212 and may have a line of sight path to adjacent vessels or other communication nodes with which the cellular antenna may communicate. By way of example, the mast 212 of FIG. 2 includes a camera sensor 224, a cellular antenna array 228, and a marine radar 232. Sensor and/or communication equipment mounted on the mast 212 may be stabilized using gimbals, gyroscopes, or other stabilizing devices. [0055] The mast 212 of FIG. 2 may provide a mounting for the camera sensor 224, the cellular antenna array 228, and the marine radar 232, as well for gimbals that stabilize one or more of these devices. The mast 212 may be configured to extend (FIG. 2 A) and retract (FIG. 2B) responsive to commands that are generated by components on-board the catamaran 200 or responsive to commands that are generated from a command and control center. Commands may be issued that change the position of the mast 212 based on weather conditions. For example, commands may be issued that raise the mast 212 in clear weather and that lower the mast 212 in stormy weather. Commands may also be issued that lower the mast 212 in rough seas in order to keep the catamaran 200 stable and to support the operation of the gimbals.

Commands may be issued to extend the mast 212 so as to extend the range of sensors or communication equipment in certain conditions. In stormy weather conditions or rough seas, retracting the mast lowers the center of gravity and in so doing provides a more stable configuration for the catamaran 200. However, sensor ranges may be reduced in this configuration. Stated another way, sensor range may be traded for stability.

[0056] The catamaran 200 may include additional features that may be mounted on or otherwise associated with the hull 204. For example, the hull 200 may be used to mount power generation components such as solar cells 236 and/or wind generators 240. The hull 204 may additionally include hatches 244 that provide ventilation for heat generating components that may be housed in the interior of the hull 204.

[0057] In some embodiments, a catamaran 200 may include one or more removable modules in order to provide greater efficiency in one or more of the functions described herein. For example, the catamaran 200 may include removable modules that contain one or more systems or sub systems that are employed on the vessel. In the event of a detected failure or potential failure of particular system or subsystem, the appropriate module may be wholly removed from the vessels and replaced with a new or otherwise functioning module. Examples of system or subsystems that may be implanted with a modular unit of the catamaran 200 include batteries or other energy storage units, motors, propulsion systems, generators, and so on. By way of example, FIG. 2D shows a catamaran 200 that includes a removable generator module 252 and a removable electronics and control pod 256. Modular units in accordance with the present embodiments may be configured to easily slide outward from vessel compartments. This is in contrast to prior art configurations that typically required a crane to remove a failed or failing system from a vessel. Vessel compartments that house modular units in accordance with the present disclosure may be provided in convenient locations on the vessel such as the rear. With these features, repair times may be shortened while a vessel is in a harbor to address a system failure.

[0058] FIGS. 3A-3B are illustrations of a camera sensor 300 that may be used in connection with the catamaran 200 of FIGS. 2A-2D. FIG. 3 A is a schematic illustration of the camera sensor 300 mounted on a mast 304 of an unmanned surface surveillance vessel 308. The mast 304 and unmanned surveillance vessel 308 may correspond to the mast 212 and catamaran 200 of FIGS. 2A-2D. FIG. 3B is an enlarged view of the camera sensor 300. As shown in FIG. 3B, the camera sensor 300 may include a laser range finder 312, a laser illuminator 316, a color imager 320, a low light imager 324, integrated electronics 328, a thermal imager 332, a color spotter 336, a continuous zoom IR, and a gimbal 340.

[0059] FIG. 4 is a schematic diagram of a modular power generation and propulsion system 400 that may be used in connection with the catamaran of FIGS. 2A-2D. The modular power generation and propulsion system 400 of FIG. 4 may correspond to one or more of the removable generator modules 252 of FIGS. 2A-2D.

[0060] FIGS. 5A-5B are illustrations of a boat 500 unmanned surface surveillance vessel in accordance with the present disclosure. FIG. 5A is a perspective view of a port side of the boat 500. FIG. 5C is a perspective view of the aft of the boat 500.

[0061] FIGS. 6A-6C are illustrations of a hybrid submarine 600 unmanned surveillance vessel in accordance with the present disclosure. FIG. 6A is a perspective view of the stern of the hybrid submarine 600. FIG. 6B is a perspective view of a starboard side of the hybrid submarine 600. FIG. 6C is an illustration of the hybrid submarine 600 performing operations in accordance with the present disclosure. The hybrid submarine 600 may also be referred to herein as a "semi-submarine" or a just a "submarine."

[0062] A hybrid submarine 600 unmanned surveillance vessel in accordance with the present disclosure may be configured to perform underwater surveillance to detect potential threats to maritime commercial assets, the environment and coastal industrial/commercial infrastructure. When submerged, the hybrid submarine 600 may provide stealth. The hybrid submarine 600 may have active ballast control and/or precision depth control. The hybrid submarine 600 may have a simple Launch & Recovery System (LARS). The hybrid submarine 600 may include a water-born threat sensor package as described above in connection with various catamaran vessel embodiments. For example, a hybrid submarine 600 may include a water-borne threat sensor package that is configured to monitor for water-borne threats that may be present below the water's surface. The water-borne threat sensor package may be configured to monitor underwater areas and/or water surface areas through one or more sonar arrays or systems. For example, a hybrid submarine 600 may include a water-borne threat sensor package that includes a multi-beam sonar, a sidescan sonar and/or other water-borne threat sensors. Threat sensors may also be located in an array on the seabed to detect threats. For example, as shown in FIGS. 12 and 13, the sensors may be hydrophones (e.g., to detect sound waves under water) that form a hydrophone string 4 just under the surface or along the seabed. The hydrophones may collect and transmit data to the tethered sonar buoys 3 for transmission to the hub vessel 2, or the hydrophones may transmit data directly to the hub vessel 2. Alternatively, the hydrophones may transmit data directly to the command and control center.

[0063] A hybrid submarine 600 in accordance with embodiments of the present disclosure may be configured to remain submerged for an extended period of time, operating

autonomously. The hybrid submarine 600 may return to the surface periodically to recharge and/or refuel an on-board power source. In some implementations, the hybrid submarine 600 may include one or more solar panels or collectors that may be deployed when the submarine 600 surfaces. The solar panels may be provided within an interior compartment that may enclose the solar panels when the submarine 600 is submerged. The interior compartment may be provided with external doors that open when the submarine 600 is on the surface, exposing the solar panels. With the submarine 600 on the surface, the solar panels may open into an expanded position where they be oriented towards the sun for collection of solar radiation.

[0064] The hybrid submarine 600 may remain on the surface with its solar panels exposed to the sun for as long as appropriate or as needed. Once the submarine's 600 battery or other power source is sufficiently charged, the solar panels may retract into the interior compartment and the submarine 600 may once again submerge beneath the surface. Alternatively, the submarine 600 may remain on the surface after its battery or other power source has been fully charged. In accordance with various embodiments, a hybrid submarine 600 may conduct surveillance operations on the surface or underwater depending on the expected location of potential threats or other relevant data.

[0065] A hybrid submarine 600 having on-board solar panels has the particular advantage of not having to return to the shore in order to recharge or refuel. While this feature provides for a greater amount of autonomy, alternative refueling arrangements may be used in accordance with the present embodiments. For instance, a submarine may include cabling that physically attaches to a charging supply that may be located on shore at a harbor or the like. The submarine 600 may dock with an unmanned surveillance vessel (FIG. 2) in order to recharge. A submarine also may use conventional fossil fuels as a power source. Fossil fuels may or may not be used in a hybrid engine depending on the implementation.

[0066] FIG. 6B provides an illustration of an example hybrid submarine 600 that includes components and features in accordance with the present disclosure. As shown in FIG. 6B, an example hybrid submarine 600 may have a sensor package 604 that includes components such as a communications antenna, anemometer, LED navigation, light, 360 degree camera, and so on. An example hybrid submarine 600 may also include a wind propulsion 608 component such as a sail or the like. An example hybrid submarine 600 may also include a retractable wingsail 612 for submerging. In some embodiments, a hybrid submarine 600 may include a dual composite wingsail 616 design for maneuverability and speed. A hybrid submarine may also include a payload area 620. The payload area 630 may be configured to house surveillance electronics or other components discussed herein. A hybrid submarine 600 may include a scalable design 624 for larger payload. A hybrid submarine may also include a bulb keel 628 that provides stability and counterforce for self-righting.

[0067] FIG. 7 is a schematic illustration of a unmanned surface surveillance vessel 700 performing operations in accordance with the present disclosure. The vessel 700 may include monitoring mast 704 that may be retractable in some embodiments. In one respect, the mounting mast 704 may be used to mount sails, wind turbines, or other energy or momentum generating components, and so on. In other respects, the mounting mast 704 may be used to mount sensors and/or communication equipment, such as cellular arrays, antennas, radar, and so on. The vessel 700 may include sensor packages or listening devices that are configured for threat detection. A sensor package may include various sensors that are configured to monitor areas nearby the vessel. Examples of sensors or sensor packages that may be used in accordance with present embodiments include radar, sonar, mine detection, motion detection, ship detect, infrared, optical, map-type, visible, chemical, biological, nuclear, and so on. By way of example, FIG. 7 shows a vessel 700 that includes an airborne threat sensor package that is configured to monitor for airborne threats that may be present above the water's surface. An airborne threat sensor package may include optical sensors 708, infrared sensors 712, and radar 716.

[0068] As shown in FIG. 7, the mounting mast 704 may be used to mount the optical sensors 708, infrared sensors 712, and radar 716 by way of example and not limitation. The monitoring mast 704 may be used to mount this sensor equipment so as to provide an unobstructed signal path in all directions from the vessel 700. For example, an optical sensor 708 in the form of a camera 708 may be mounted on the monitoring mast 704 to provide 360 degree, high definition pictures or video of the area surrounding the vessel 700. The monitoring mast 704 may be retractable and may include gimbals, gyroscopes, or other stabilizing devices that provide stabilization for the various components such as the optical sensors 708, infrared sensors 712, and radar 716. The mounting mast 704 may also be used to mount a cellular antenna so as to provide a line of sight path to adjacent vessels or other communication nodes with which the cellular antenna may communicate.

[0069] The vessel 700 of FIG. 7 may also include a water-borne threat sensor package that is configured to monitor for water-borne threats that may be present below the water's surface. The water-borne threat sensor package may be configured to monitor underwater areas and/or water surface areas through one or more sonar arrays or systems. By way of example, the vessel 700 of FIG. 7 shows a water-borne threat sensor package that includes an on-board sonar 720 and a towed sonar array 728. The on-board sonar 720 may be a multi-beam sonar. The towed sonar array 728 may be multi-beam and sidescan sonar. The towed sonar array may be attached to vessel 700 via a tether 732.

[0070] The vessel 700 may be configured to launch smaller crafts, such as submersibles 736 and/or drone aircraft 740. In this regard, the vessel 700 may include a drone docking deck that is used to launch a drone 740 aircraft from the vessel 100. The drone 740 may be launched from the drone docking deck to accomplish various tasks in accordance with present embodiments. For example, the drone 740 may be launched from the drone docking deck to get a closer view of a sensed object, to send a message, to deliver ordinance, to patrol, to explore, to drop something, to move a short range sensor. An example of a short range sensor that may be moved by the drone 740 is a chemical sensor. The drone 740 may be launched from the drone launching deck responsive to commands generated locally at the vessel or responsive to commands generated at a remote command and control center. The vessel 700 may additionally include a charging station or other mechanism for recharging auxiliary vessels such as submersibles 736 and/or drone aircraft 740.

[0071] FIG. 8 is a schematic illustration of a network 800 of unmanned surface surveillance vessels in accordance with the present disclosure. The network 800 may include a plurality of catamarans 804 unmanned surface surveillance vessels in accordance with the present disclosure. A catamaran 804 of FIG. 8 may correspond to the catamaran 200 of FIGS: 2A-2D. The network 800 may also include a plurality of boat 808 unmanned surface surveillance vessels in

accordance with the present disclosure. A boat 808 of FIG. 8 may correspond to a boat 500 of FIGS. 5A-5B. The network 800 may also include a plurality of hybrid submarine 812 unmanned surface surveillance vessels. An hybrid submarine 812 of FIG. 8 may correspond to the hybrid submarine 600 of FIGS. 6A-6C. The vessels 804, 808, and 812 may be configured to

communicate with each other and with one or more command and control centers 816. In some embodiments, the network 800, which includes the vessels 804, 808, and 812 and the one or more command and control centers 816, may be configured as a mesh network. A mesh network 800 in accordance with the present disclosure may be a decentralized network where vessels acting as network nodes may participate in data transmission for other network nodes. In this regard, data transmitted through the network 800 may not be directed by a centralized router, but rather may traverse the network by hoping between nodes such that each node participates in routing and directing the data toward its destination. A mesh network 800 in accordance with present embodiments may include components and features common to LTE networks.

[0072] The network 800 of FIG. 8 may be configured to detect and communicate information about threats to maritime commercial assets, the environment and coastal industrial/commercial infrastructure. The network 800, including vessels 804, 808, and 812, may be configured for deployment in a bay, marina, inlet or other maritime area that contains one or more assets that could be the target of potential threats. The one or more assets could potentially be targeted by terrorists of other hostile actors. Examples of maritime assets that could be the target of potential threats include oil derricks and other natural resource extraction equipment, diesel plants, buoys, communication equipment, transportation vessels and equipment, fishing vessels and equipment and so on. The network 800 may also be configured to monitor assets that are at or near water's edge. Examples of such assets includes docks, lighthouses, and so on.

[0073] The network 800 may be implemented with various vessel layout configurations. In some embodiments, the network 800 may be configured such that various vessels in the network are arranged in conformity with the bay or other body of water in which the network is deployed. In some embodiments, the vessels may be arranged along an elliptical or other curved path. The vessels may be configured to move based on their location within the network. The vessels may also be configured to deploy in formation. In some cases, one or more vessels may be moved to block a detected hole in the network. Each vessel may include its own software. A network 800 in accordance with present embodiments may include automatic vessel identifiers.

[0074] The network 800 may be configured for land control of one or more vessels 804, 808, 812 from one or more of the command and control centers 816. For example, a command and control center 816 may control a vessel to aim a camera in direction that is believed to contain a possible threat. Additionally, the command and control center 816 may control a vessel to launch a small craft, such as a submersible or a drone, and command the small craft to obtain sensor data, deliver ordinance, etc. In this or other contexts, the sensor on board a vessel 804, 808, 812 may be responding to a human operator who may be associated with the vessel. The human operator operates vessel sensors and takes appropriate action. In some cases, a human operator may be empowered to contact local governments to coordinate military responses in appropriate circumstances. The network 800 may be configured with redundant vessels 804, 808, and 812. The network 800 may implement as mesh protocol. The network 800 may include artificial intelligence and/or expert systems. The network 800 may be include systems for flagging alarms, filtering noise, diagnostics, information relaying, recording video, providing live video feeds, communicating telemetry, and so on.

[0075] In addition to threat monitoring, a command and control center 816 may also control vessel 804, 808, and 812 maintenance or other similar functions. For example, a vessel may contain on-board diagnostic systems that are configured to monitor the various systems that are included on the vessel, such as the sensor systems, the power systems, and so on. If the on-board diagnostic system determines that a failure has occurred or may occur at some point in the future, an alert and/or diagnostic information may be sent to the command and control center through the communication system. The command and control center 816 may receive the diagnostic information and take appropriate action. In some instances, the command and control center 816 may initiate error mitigation procedures that may be implemented on-board the vessel such as through robotics. In other instances, the command and control center 816 may take control of the affected vessel and pilot it back to harbor for repairs.

[0076] The network 800 may employ redundancy in order to provide greater efficiency in one or more of the functions described herein. For example, embodiments may include redundant vessels 804, 808, 812 that are interchangeable within the network 800. Thus, in the event of a failure or potential failure of a particular vessel, that vessel may be removed and quickly replaced with a redundant vessel that has the same or substantially similar functionality. By quickly replacing a failed or failing vessel with a redundant vessel in this manner,

embodiments may mitigate the effects of system failure in a particular vessel. In another example, some embodiments may include redundant command and control centers 816 for greater safety or efficiency. Redundant command and control centers 816 may be safer because intelligence is not concentrated in one area making that one area a high value target. Redundant command and control centers 816 may be more efficient because they may be more responsive to localized threats and/or more flexible in functioning in the event of failure of system

components.

[0077] Some network 800 embodiments provide for automatic reconfiguration of the autonomous fleet of surveillance vessels based on the environmental conditions. Under optimal conditions, the fleet may expand the coverage area to take advantage of better visibility, radar and communications ranges. When conditions become more challenging, the fleet may reconfigure closer together and nearer to shore. This may provide for denser coverage over a smaller area so as to overcome environmental interference such as may be produced in bad weather conditions.

[0078] FIGS. 9A-9C are schematic diagrams that illustrate sensor ranges for unmanned surface surveillance vessels and networks in accordance with the present disclosure. A sensor package may include different sensors that are optimized for sensing at different distances or ranges of distances. Thus, using multiple sensor types together may increase the total effectiveness of the system. The present disclosure is directed to system and methods that provide autonomous maritime domain awareness networks for exposed coastal regions of the world to track and monitor threats without the cost or danger of putting manpower in harm's way.

[0079] In an alternate embodiment, a plurality of autonomous vessels may communicate with a hub vessel, which communicates with a command and control center. In this manner, the autonomous vessels or assets indirectly communicate with the command and control center instead of directly transmitting data to the command and control center. FIGS. 12-13 illustrate a network of autonomous vessels with one or more hub vessels 2 or communication vessels. In this embodiment, the autonomous vessels transmit data to the hub vessel 2. The hub vessel 2 gathers and stores the data associated with each autonomous vessel. The data may include metadata detailing contextual information, such as which autonomous vessel provided the data, when the data was collected, and the like. The hub vessel 2 may correlate and compile the data into a single data package to forward to the command and control center. In this example, the assets may be considered to be detection or sensing vessels and the hub vessels may be considered link or hub vessels, where each of the detection vessels communicates its data to the hub vessel before transmission to a command center.

[0080] In one example, the hub vessel 2 may be capable of communicating over longer distances than the autonomous vessels. For example, the hub vessel 2 may transmit data over a 48 mile range, while the autonomous vessels may only reach within a 12 mile range. In one example, the vessels, including the autonomous vessels and the hub vessel 2, may be spaced 10- 20 miles apart or longer ranges depending on the type of transmission components used. By transmitting data via the hub vessel 2, the autonomous vessels may reach a command and control center that is outside their communication range. In one example, the network of vessels is a mesh network, such that the autonomous vessels may transmit data from vessel to vessel until the data reaches the hub vessel 2 for eventual transportation to the command and control center. In this manner, the hub vessel 2 may be out of communication range for one or more autonomous vessels, but within the communication range of at least one autonomous vessel. In another embodiment, multiple hub vessels 2 may transmit data among each other in the mesh network to eventually reach the final destination at the command and control center. In this manner, a hub vessel 2 may be out of direct communication range of the command and control center but still able to transmit data indirectly to the command and control center.

[0081] The hub vessel 2 may collect data from different autonomous vessels; however, it is contemplated that a plurality of the autonomous vessels are redundant to mitigate the effects of system failure in a particular vessel. The autonomous vessels may include above-water vessels, submarines, hybrid submarines, and the like. The autonomous vessels are configured to operate autonomously (e.g., without human interaction), to collect, store, and analyze data, to navigate, to respond to commands, and to move. In one example, as shown in Fig. 10, the autonomous vessel may be a catamaran. The catamaran may include a motor, a plug and play genset pod port, climate control and lighting, drone dome quad-copter cassette storage, a photovoltaic array port, an aerovironment six-pack switchblade plane launcher, a forward port hull mounted sonar array, a forward STBD hull mounted sonar array, platform stabilizers, fuel storage bladders, a fuel management system, a towed array interface winch and boom, an electronics and control pod, a variable pitch propeller, and a smaller ejection vessel (e.g., a Bluefin-21). In another example, as shown in Fig. 1 1 , the autonomous vessel may be a robotics autonomous underwater vehicle (AUV), such as those produced by BlueFin Robotics. In this example, the AUV may include a main electrics housing, an antenna, an energy system (e.g., one or more batteries), and payloads. The AUV may be configured for logistics support with a standard payload interface to enable a wide range of sensors and missions. The AUV is configured to scan for underwater threats. In yet another example, the autonomous vessel may have night navigation and detection capabilities. In an additional example, the autonomous vessel may be capable of collision and object avoidance. Other examples of autonomous vessels that may be used in the system include heavyweight deepwater survey vehicles, lightweight littoral survey vehicles, hovering autonomous underwater vehicles, and the like.

[0082] The autonomous vessels and the hub vessel 2 may include software and processing capabilities. For example, the vessels may include superior acoustic processing performance. In one example, a sonobuoy processor UYS-505 may be used that maximizes the detection of modern submerged threats. The hub vessel 2, via an on-board processor, may pre-process data collected from the autonomous vessels in order to optimize the use of bandwidth between the hub vessel 2 and the command and control center. [0083] Some embodiments are directed to a scalable, surveillance network that includes autonomous, sustainably powered marine platforms with optical and sonic sensors that provide highly focused, continuous surveillance of specific ports, harbors or territorial waters.

Embodiments deliver the capability to provide invaluable real-time data about territorial maritime activities for unprecedented coastal security. Embodiments provide a fully integrated high quality surface and below-the-surface acoustical and optical sensors cover the entire coastal surveillance area with infinite flexibility. Embodiments provide surveillance saturation for critical port and harbor protection. Embodiments provide identification, name and speed of all vessels with threat assessment. Embodiments provide for pinpointing questionable vessels' size, co-ordinates, speed and direction for tactical response. Embodiments provide for real time chain of command communications and instant data transfer to shore based facilities. Embodiments provide vectoring data for weapon targeting and interdiction vessels. Embodiments provide for surface and sub-surface surveillance of critical commercial and tourist cruise ports.

Embodiments provide early warning of threats to commercial choke points. Embodiments provide for monitoring environmental factors within and across port and harbor entrances and coastal waters. Embodiments provide confidence that effective surveillance of key coastal economic assets is in place against external threats will ensure the continued growth of critically important economic sectors. Embodiments provide for real time data and visual sea state condition reporting that will benefit offshore industrial enterprises, shipping, fishing fleets, recreational boaters and the military. Embodiments provide for tracking water temperature gradients by depth for fisheries. Embodiments provide for identifying intruding foreign fishing vessels. Embodiments provide for instant reporting on vessel pollution discharges including time, co-ordinates, drift, size and identification of vessels. Embodiments provide surveillance of ocean floor wellheads and conduct routine checks on pipelines for leaks and well head integrity.

[0084] Embodiments may include or provide unmanned surface vessels, near shore smaller vessels, offshore large hybrid power, stable platform vessels with tall spars for optimum optical distance surveillance into international waters, military grade optical, acoustic, metal detection sensors, options for chemical, biological, neurological, nuclear, explosive (CBRNE) sensors, command and control communication systems linked via wireless networks, persistent (up to 3 month) stay on station for offshore surveillance, rapid interface to disparate sensors and systems, combat information center (CIC) architecture for decision making in maritime environments, hybrid (wind and solar) powered for long term surface and sub-surface station keeping, short wave infrared (IR) imaging for laser spot imaging, automatic video-tracking and geo-tracking, autonomous, mobile, sea based, forward positioning and threat characterization surveillance.

[0085] Embodiments may include or provide constant and uninterrupted (24 hours a day, 7 days a week, 365 days a year) autonomous territorial waters surface surveillance; constant and uninterrupted autonomous territorial waters ocean floor surveillance; constant and uninterrupted autonomous port, port entrance and harbor surveillance; constant and uninterrupted autonomous off shore and near shore industrial power, petroleum, diesel plant surveillance; multi-platform autonomous surface assets; multi-platform autonomous sub-surface assets; autonornous navigation and target recognition; sea floor to NOE video surveillance coverage; early warning for maximum command decision latitude; extremely cost effective build and maintenance, repair, and operations (MRO); scalable packages; surface and sub-surface threat sensors; full range sensor arrays including electro-optic and infrared (EO/IR) optics, radar, sonar, mine detection and optical CBRNE packages; scalable architecture and command and control system; biologic differentiation from real threats; hybrid powered, autonomous surface vessels; full sensor arrays and video drones; high capacity video mesh microwave to shore; ability to hover on station for extended duration; maritime domain security; and comprehensive system coverage.

[0086] Any of the above mentioned vessels, buoys, components, command centers, or systems may include a computer system or other processing device 1400, as shown in Fig. 14. In one implementation, the processing device 1400 typically includes at least one processing unit 1402 and memory 1404. Depending upon the exact configuration and type of the processing device 1400, the memory 1404 may be volatile (e.g., RAM), non volatile (e.g., ROM and flash memory), or some combination of both. The most basic configuration of the processing device 1400 need include only the processing unit 1402 and the memory 1404 as indicated by the dashed line H06.

[0087] The processing device 1400 may further include additional devices for memory storage or retrieval. These devices may be removable storage devices 1408 or non removable storage devices 1410, for example, memory cards, magnetic disk drives, magnetic tape drives, and optical drives for memory storage and retrieval on magnetic and optical media. Storage media may include volatile and nonvolatile media, both removable and non removable, and may be provided in any of a number of configurations, for example, RAM, ROM, EEPROM, flash memory, CD-ROM, DVD, or other optical storage medium, magnetic cassettes, magnetic tape, magnetic disk, or other magnetic storage device, or any other memory technology or medium that can be used to store data and can be accessed by the processing unit 1402. Additional instructions, e.g., in the form of software, that interact with the base operating system to create a special purpose processing device 1400, in this implementation, instructions for detecting and assessing threats, determining response actions, releasing a drone, conducting diagnostics, deploying defense measures, and the like, may be stored in the memory 1404 or on the storage devices 1410 using any method or technology for storage of data, for example, computer readable instructions, data structures, and program modules.

[0088] The processing device 1400 may also have one or more communication interfaces 1412 that allow the processing device 1400 to communicate with other devices. The

communication interface 1412 may be connected with a network. The network may be a local area network (LAN), a wide area network (WAN), a telephony network, a cable network, an optical network, the Internet, a direct wired connection, a wireless network, e.g., radio frequency, infrared, microwave, or acoustic, or other networks enabling the transfer of data between devices. Data is generally transmitted to and from the communication interface 1412 over the network via a modulated data signal, e.g., a carrier wave or other transport medium. A modulated data signal is an electromagnetic signal with characteristics that can be set or changed in such a manner as to encode data within the signal.

[0089] The processing device 1400 may further have a variety of input devices 1414 and output devices 1416. Exemplary input devices 1414 may include a keyboard, a mouse, a tablet, and/or a touch screen device. Exemplary output devices 1416 may include a video display, audio speakers, and/or a printer. Such input devices 1414 and output devices 1416 may be integrated with the processing device 1400 or they may be connected to the processing device 1400 via wires or wirelessly, e.g., via IEEE 802.1 1 or Bluetooth protocol. These integrated or peripheral input and output devices are generally well known and are not further discussed herein. Other functions, for example, handling network communication transactions, may be performed by the operating system in the nonvolatile memory 1404 of the processing device 1400. [0090] The above specification, examples and data provide a complete description of the structure and use of exemplary embodiments of the invention as defined in the claims. Although various embodiments of the claimed invention have been described above with a certain degree of particularity, or with reference to one or more individual embodiments, those skilled in the art could make numerous alterations to the disclosed embodiments without departing from the spirit or scope of the claimed invention. Other embodiments are therefore contemplated. It is intended that all matter contained in the above description and shown in the accompanying drawings shall be interpreted as illustrative only of particular embodiments and not limiting. Changes in detail or structure may be made without departing from the basic elements of the invention as defined in the following claims.

[0091] The foregoing description has broad application. The discussion of any embodiment is meant only to be explanatory and is not intended to suggest that the scope of the disclosure, including the claims, is limited to these examples. In other words, while illustrative embodiments of the disclosure have been described in detail herein, the inventive concepts may be otherwise variously embodied and employed, and the appended claims are intended to be construed to include such variations, except as limited by the prior art.

Claims

CLAIMS: What is claimed is:

1. A threat detecting network for detecting abnormalities in a water boundary, comprising: a plurality of autonomous vessels positioned within or above water; and at least one remote command and control center in communication with the plurality of autonomous vessels.

2. The network of claim 1 , wherein plurality of autonomous vessels includes at least one catamaran.

3. The network of claim 1 , wherein plurality of autonomous vessels includes at least one hybrid submarine.

4. The network of claim 1 , wherein the plurality of autonomous vessels and the at least one remote command and control center communicate through a mesh network.

5. The network of claim 1 , wherein each autonomous vessel in the plurality of autonomous vessels comprises a sensor for detecting a threat and a communication device for transmitting data related to the threat to the command and control center.

6. The network of claim 1 , wherein each autonomous vessel in the plurality of autonomous vessels comprises a processing unit for determining whether collected data relates to a threat, wherein when the collected data clearly does not relate to a threat, the data is discarded.

7. A network of vessels for detecting threats, comprising: a plurality of autonomous vessels; a hub vessel in communication with the plurality of autonomous vessels; and a command and control center in communication with the hub vessel, wherein the hub vessel is configured to collect data from the plurality of autonomous vessels, organize the data, and transmit the organized data to the command and control center.

8. The network of claim 7, wherein transmitting the organized data takes up less bandwidth than transmitting individual data from each of the plurality of autonomous vessels.

9. The network of claim 7, further comprising one or more tethered sonar buoys in communication with the hub vessel and the command and control center.

10. The network of claim 7, further comprising a hydrophone string, wherein the hydrophone string collects sonar data under water and transmits the sonar data to the command and control center.

1 1. A method of assessing threats over a dispersed area, comprising: receiving data from a plurality of autonomous vessels, wherein the plurality of autonomous vessels are positioned throughout the dispersed area; analyzing the data to determine whether the data is related to a threat; compiling the data into a data package; and transmitting the data package to a hub vessel or a command and control center.

12. The method of claim 1 1, wherein analyzing the data comprises determining whether the data is definitively not related to a threat, wherein when the data is definitively not related to a threat, the data is discarded, and when the data is related to a threat or it is uncertain whether the data is related to a threat, the data is compiled into the data package for transmittal to the command and control center.

13. The method of claim 1 1 , wherein transmitting the data package to a hub vessel occurs within a mesh network.

14. The method of claim 1 1 , further comprising: receiving data from a tethered sonar buoy; and incorporating the data into the data package.

15. The method of claim 1 1 , wherein the dispersed area is larger than the

communication reach of at least one of the plurality of autonomous vessels.