LEAP Task Order 1 - SoW - RUCOOL



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Littoral Expeditionary Autonomous PowerBuoy

Vessel Detection System (LEAP) Program

Task Order 1 Statement of Work

Prepared for:

Navy Keyport XXX

Submitted by:

Ocean Power Technologies

1590 Reed Road

Pennington, NJ 08534

Phone: +1 609 730 0400

Fax: +1 609 730 0404

Table of Contents

1 INTRODUCTION 1

1.1 Background 1

1.2 Program Overview 2

1.3 Scope 3

2 LEAP VESSEL DETECTION SYSTEM DESCRIPTION 4

2.1 LEAP VDS Architecture 4

2.2 Key Subsystems 5

2.2.1 PowerBuoy Platform 5

2.2.1.1 PowerBuoy 6

2.2.1.2 Deployment and Mooring 9

2.2.2 HF Radar Transmitter 10

2.2.3 HF Radar Receiver and Vessel Detection Signal Processing 11

2.2.4 TIS Network Interface Processor 12

2.2.5 Tactically Integrated Sensors System 12

2.3 System Requirements 12

2.3.1 System Functional Requirements 12

2.3.2 Subsystem Requirements 12

2.3.3 Environmental Requirements 12

2.3.3.1 At-Sea Subsystem Environmental Requirements 12

2.3.3.2 Onshore Subsystem Environmental Requirements 12

3 STATEMENT OF WORK 13

3.1 Task 1: LEAP VDS Requirements Analysis and Definition 13

3.2 Task 2: Systems Engineering 13

3.3 Task 3: Design LEAP VDS Subsystems 13

3.3.1 Design PowerBuoy Platform 13

3.3.2 Configure HF Radar System 14

3.3.3 Design Vessel Detection Processor 14

3.3.4 Design TIS Network Interface Processor 14

3.3.5 Configure Tactically Integrated Sensors (TIS) System 14

3.4 Task 4: Build and Test Prototype Subsystems 14

3.4.1 Build and Test PowerBuoy Platform 14

3.4.2 Build and Test HF Radar System 14

3.4.3 Build and Test Vessel Detection Processor 15

3.4.4 Configure and Test TIS Network Interface Processor 15

3.4.5 Configure and Test TIS System 15

3.5 Task 5: Preliminary Subsystem Testing 15

3.6 Task 6: VDS System Integration 15

3.7 Task 7: At-Sea System Deployment 16

3.8 Task 8: At-Sea Test Support 16

3.9 Task 9: Test Data Reduction and Analysis 16

3.10 Task 10: At-Sea System Recovery 16

3.11 Task 13: Real-Time System Transition Studies 17

3.12 Task 12: Follow-on Work 17

3.13 Task 13: Program Management 17

4 DELIVERABLES 18

4.1 Deliverable Equipment 18

4.2 Software 18

4.3 Training 18

4.4 Documentation 18

5 SCHEDULE 19

6 SUBCONTRACTORS 19

7 TRAVEL 19

8 COSTS 19

Figure Index

Figure 1: LEAP Maritime Surveillance System Concept 1

Figure 2: OPT PowerBuoy and CODAR Single Pole 13 MHz Radar 2

Figure 3: LEAP Vessel Detection System Architecture 4

Figure 4: LEAP At-Sea Functional Block Diagram 5

Figure 5: OPT’s “Generation 3” Autonomous PowerBuoy 6

Figure 6: LEAP VDS WEC Power Subsystem Block Diagram 8

Figure 7: LEAP At-Sea VDS WEC and Mooring Concept 10

Figure 8: Buoy Electronics Block Diagram 10

Figure 9: Radar Receiver and Signal Processing 11

Table Index

Table 1. Autonomous PowerBuoy Characteristics 7

Table 2: LEAP VDS Estimated Power Budget 9

Table 3: LEAP VDS WEC Estimated Power Output 9

Table 4: Deliverable Documentation 18

INTRODUCTION

1 Background

The Littoral Expeditionary PowerBuoy (LEAP) System is established to enhance the Navy’s Anti-Terrorism/Force Protection (ATFP) by providing persistent afloat and port maritime surveillance in the near coast, harbors, piers and littorals worldwide. Waterborne threats, both domestic and overseas, that include boats, swimmers, mini-subs, autonomous vehicles, and highly lethal submerged mines form a substantial window of vulnerability for naval and civilian assets. A viable system for protecting critical infrastructure and military assets from surprise maritime terrorist attacks must include a system that detects and locates surface and subsurface threats. There is a need for persistent and dependable, long-term operation of a surveillance network to provide operational surface vessel tracking capabilities to prevent attacks from small, high-speed vessels. This effort is intended to provide capabilities that bring persistent power at sea to provide power to forward deployed sensors and communications equipment that can detect, track and communicate target information in sufficient time in order to provide decision making capability and operational execution against such threats.

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Figure 1: LEAP Maritime Surveillance System Concept

2 Program Overview

The LEAP Program objective is to leverage a combination of existing technologies which includes a wave energy conversion buoy, sensors and communications systems to improve force protection by combining their features and capabilities into a single system. The systems integration will be achieved through the use of the Joint Force Protection Advanced Security Systems (JFPASS) Joint Technology Demonstration (JCTD), a System of Systems (SoS) that uses an open interface based on the Security Equipment Interface Working Group (SEIWG) Interface Control Document ICD-0100 for integrating with sub-systems and to create a flexible and net-centric architecture that can be distributed across multiple nodes and present a unified Common Operating Picture (COP) to the operators.

The LEAP Program is based on the PowerBuoy® wave energy conversion system, which is an enabling technology for providing power to remote, at-sea sensors and communications technologies. The operational experience and user inputs gained from an initial ocean demonstration in Phase I of the program will indicate those features to be implemented to increase the capability in the near term and provide the cornerstone for further technological enhancements.

Figure 2: OPT PowerBuoy and CODAR Single Pole 13 MHz Radar

3 Scope

The work to be performed under this Task Order is designed to provide a proof-of-concept demonstration and an extended (3-month) at-sea test of the proposed LEAP Vessel Detection System.

The OPT team will design and develop a prototype LEAP-based vessel detection system based on:

• OPT’s Wave Energy Conversion (WEC) technology, which provides an at-sea buoy platform for an HF radar transmitter

• Standard COTS HF radar equipment from CODAR at shore station installations, where the radar receivers are located

• Existing Rutgers Coastal Ocean Observatory Laboratory (COOL) facility

• New radar signal processing and vessel detection algorithms developed by Rutgers Institute Of Marine And Coastal Sciences and CODAR

• Non-real-time interfacing to the Navy’s Tactically Integrated Sensors (TIS) system, which provides a Common Operating Picture to the user.

An extended (3 month) at-sea test of the system under real-world conditions will be conducted and the performance of the Vessel Detection System will be assessed for a range of threat profiles and ambient conditions.

Detailed requirements and performance objectives will be developed at the start of the program. The results will be used to assess system performance in a real-world scenario and to develop plans for further development and deployment of the system.

LEAP VESSEL DETECTION SYSTEM DESCRIPTION

1 LEAP VDS Architecture

The LEAP VDS architecture is shown in Figure 3. It uses a bistatic HF radar system with an at-sea transmitter mounted on a LEAP platform, two (or more) land-based receivers, and the existing Coastal Observatory Observing Station (COOL) operated by Rutgers Institute Of Marine And Coastal Sciences. Custom radar signal processing and vessel detection algorithms use data fusion methods to derive vessel detection and location information. This data is reformatted using standard tactical interface formats and transmitted to the Navy’s TIS (Tactically Integrated Sensors) system, where it is integrated with other TIS sensor inputs to provide a Common Operating Picture of the littoral environment.

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Figure 3: LEAP Vessel Detection System Architecture

Each key subsystem is described further below.

2 Key Subsystems

1 PowerBuoy Platform

A functional block diagram of the at-sea LEAP VDS system is shown in Figure 4. The LEAP VDS WEC buoy provides:

• a stable platform for the radar transmit antenna

• continuous electric power to the HF radar transmitter equipment

• a telemetry and control interface with shore-based controllers.

The Buoy Controller serves as the telemetry and control gateway between the shore-based operators, the WEC subsystems, and the radar transmitter. The Radar Controller receives commands from shore via the Buoy Controller and controls the state and power output of the HF Radar Transmitter. The WEC Controller controls the various WEC subsystems in an autonomous fashion, with periodic control parameter updates from shore. The WEC Controller also relays WEC subsystem telemetry to shore via the Buoy Controller.

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Figure 4: LEAP At-Sea Functional Block Diagram

The Wave Energy Conversion (WEC) subsystem Power Take Off (PTO) converts wave-induced buoy motion into electrical energy, which is conditioned and stored in rechargeable batteries to provide power to all onboard subsystems. Power conversion is optimized by the WEC controller using optimal feedback control algorithms.

The Radar Controller provides control and monitoring functions for the HF Radar transmitter subsystem. The Buoy Controller provides external GPS and communications interfaces using custom wireless and/or commercial Iridium satellite channels.

1 PowerBuoy

For the LEAP system, the OPT team proposes the use of a modified version of its “Generation 3” Autonomous PowerBuoy, as shown in Figure 5. The LEAP VDS WEC power requirements are well within the range of capability of the Generation 3 APB. Also the LEAP VDS WEC buoy mooring requirements are significantly less challenging than those for previous applications of the Gen 3 APB buoy. Specifically, the riser does not require an optical fiber and the gravity anchor may “hop” during extreme sea conditions. The Generation 3 APB design is therefore a good fit for the LEAP VDS application.

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Figure 5: OPT’s “Generation 3” Autonomous PowerBuoy

The APB is a semi-submerged floating buoy, consisting of a spar, surrounded by a moving toroidal float, and moored with a single point anchor system. Table 1 specifies key APB design and performance parameters.

|Feature |Dimensions |

|Overall Height (deployed) |29.5 |feet |9.0 |meters |

|Overall Height (stowed) |18.5 |feet |5.6 |meters |

|Height above Waterline |5.4 |feet |1.7 |meters |

|Draft |24.1 |feet |7.4 |meters |

|Float Diameter |5.0 |feet |1.5 |meters |

|Weight (w/o payload) |4720.0 |lbs. |2140.0 |kg. |

Table 1. Autonomous PowerBuoy Characteristics

The APB includes a Spar, Float, Power Take-off (PTO) Subsystem, Power Conversion Subsystem and Mooring:

• Spar - The Spar is an upright floating, long cylindrical component with enough mass and length to provide a stable system platform. The upper portion of the Spar houses the Power Take-off subsystem and all Power Conversion subsystem equipment. The middle portion of the Spar consists of a truss structure that serves to suspend a mass element, the lower spar, to a depth that limits heave motion. The lower portion of the Spar supports a round, horizontal “heave plate” that acts to limit the heave motion of the Spar.

• Float - A toroidal, buoyant Float element moves linearly up and down around the Spar, rising and falling with wave action. Linear bearings guide the Float motion and accommodate lateral force loads transmitted through the Float. The Float supports a truss that is connected to the PTO Subsystem through the top of the Spar. The relative motion against the spar provides the driving force.

• PTO Subsystem - The Power Take-off subsystem uses a ball screw and permanent magnet generator to convert linear force and motion to electric current and voltage.

• Power Conversion Subsystem - The output of the generator is regulated by an active rectifier or “drive” that continuously varies the torque of the generator to optimize the performance of the PTO and buoy under control of the buoy’s embedded processor.

• Mooring System - The PowerBuoy is moored in place using a compliant, catenary-type mooring system (see Section 2.2.1.2 for details).

The APB is designed to operate and survive in a wide range of dynamic sea state environments. It harvests wave energy in extremely low sea conditions (Sea State 1), tunes for optimal energy harvesting in moderate seas, and naturally detunes in high sea conditions (Sea State 5 and above) for survival.

A functional block diagram of the PowerBuoy power system is shown in Figure 6. A three-phase ac four-quadrant power converter controls the torque of the generator in a way that continuously tunes the impedance of the PTO and ultimately the PowerBuoy itself, for optimum wave energy extraction. It also converts the generator’s widely varying ac power to high-voltage dc power. Super capacitors connected to the high voltage dc bus integrate the wave-to-wave variations in power. Some of the high voltage dc bus power is fed to a bank of lithium-ion batteries via a dc-dc converter. The batteries support the long-term energy needs of the buoy. Super capacitor power is also supplied to the Active Source’s power amplifiers. Energy management software controls the generator controller, battery chargers, and Active Source duty cycle to maintain the high-voltage dc bus in a 250 to 325 V range.

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Figure 6: LEAP VDS WEC Power Subsystem Block Diagram

Tables 2 and 3 show the LEAP VDS estimated power budget and generated power output.

|Load Power Budget |

|Component |5-24V Bus Power |48V Bus Power (W) |300V Bus |

| |(W) | |Power (W) |

|Radar Transmitter @ 100% Duty Cycle | | |80 |

|Radar Controller | |10 | |

|Radio |5 | | |

|Buoy Controller and Electronics |20 | |5 |

|SUBTOTAL |25 |10 |85 |

|5-24V Load Power on 300V Bus (includes dc/dc losses) | | |33 |

|48V Load Power on 300V Bus (includes dc/dc losses) | | |12 |

|TOTAL | | |130 |

Table 2: LEAP VDS Estimated Power Budget

|Buoy Power Capability |

|Sea State |Hs (m) |Tp (sec) |Buoy Power (W) |

|1 |0.3 |3.1 |220 |

|2 |0.9 |3.9 |315 |

|3 |1.4 |4.6 |405 |

|4 |2.1 |5.4 |500 |

|5 |3.7 |6.8 |550 |

|For both production and prototype systems, the transmitter duty cycle or amplitude can be adjusted to match buoy power output. |

Table 3: LEAP VDS WEC Estimated Power Output

2 Deployment and Mooring

The LEAP VDS WEC buoy will be designed to be deployable by ships of opportunity or tow-out from shore. The buoy, anchor and mooring lines will be designed to incorporate proven deployment techniques. The approach envisioned is a scheme in which the buoy is deployed first followed by release (dump) of the anchor and mooring lines. In the case of a ship deployment, the LEAP VDS system would be staged on the back deck. The buoy would then be rolled down a ramp or set in the water by crane. Once the buoy is in the water, the anchor would be dumped into the ocean. The mooring lines would be paid out off the vessel back deck deploying the subsurface float and other mooring components.

The PowerBuoy is moored in place using a compliant mooring system as shown in Figure 7. A sub-surface tether connects the mid spar truss to an Auxiliary Surface Buoy (ASB), and the ASB supports the catenary mooring line that connects to anchors on the sea-bed. The ASB provides buoyancy to the mooring lines and helps prevent the PowerBuoy from being pulled under the water. Wave action and current keep the buoy and transducer away from the mooring components, as OPT has verified using OrcaFlex modeling and simulation and wave tank testing.

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Figure 7: LEAP At-Sea VDS WEC and Mooring Concept

2 HF Radar Transmitter

Figure 8 shows the at-sea HF radar transmitter subsystem.

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Figure 8: Buoy Electronics Block Diagram

3 HF Radar Receiver and Vessel Detection Signal Processing

Figure 9 shows the HF radar receiver and the signal processing chain for the vessel detection algorithms. Note that, in the proposed Phase 1 system, the vessel detection algorithms are performed offline using post-processing of recorded data files from the radar receiver. It is anticipated that the Phase 2 system will provide a real-time interface to the TNIS and TIS systems, and preliminary work will be performed during Phase 1 to investigate the technical trade-offs in transition to a real-time system.

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Figure 9: Radar Receiver and Signal Processing

4 TIS Network Interface Processor

• SEIWG ICD-0100 message processing

• TIS network protocol/interface processing

5 Tactically Integrated Sensors System

• Sensor integration

• Common Operating Picture (COP) user interface

3 System Requirements

1 System Functional Requirements

The LEAP Vessel Detection System is designed to:

• Detect small surface vessels within its coverage area

• Provide vessel detection reports to the Navy’s Tactically Integrated Sensors (TIS) system using standard communications protocols and message formats

• Meet applicable environmental requirements

• Support extended deployment lifetimes and 24/7 operation

• Be scalable to large coverage areas.

2 Subsystem Requirements

Detailed requirements for each major LEAP VDS subsystem will be developed under Task 1, Requirements Analysis and Definition. Subsystem requirements will be documented in deliverable reports (SRS, ICD etc.).

3 Environmental Requirements

Environmental requirements will be defined separately for at-sea and onshore subsystems.

1 At-Sea Subsystem Environmental Requirements

2 Onshore Subsystem Environmental Requirements

STATEMENT OF WORK

1 Task 1: LEAP VDS Requirements Analysis and Definition

• Define detailed system requirements

• Vessel detection parameters and probabilities

• Detailed environmental requirements

• Shore station infrastructure

• Deployment and recovery infrastructure

• Communications network infrastructure

• Extended lifetime and deployment area considerations

• Integration with TIS and other Navy/CG systems

• Define detailed program objectives and test requirements

• Deployment area and test period (3 months)

• Develop detailed test plans

• Define post-processing data analysis and management methods

• Establish performance objectives

2 Task 2: Systems Engineering

• Interface definitions

• Subsystem functional requirements

• HW/SW tradeoffs

• COTS vs. custom

• Applicability of existing equipment/facilities (OPT buoy gear, COOL)

• Real-time system and transition requirements

• Requirements documents

3 Task 3: Design LEAP VDS Subsystems

The OPT team will investigate technical trade-offs, conduct laboratory investigations and develop detailed hardware/software designs for each subsystem, as follows. Design documents will be developed in standard and contractor formats.

1 Design PowerBuoy Platform

• Define detailed functional requirements

• Define payload/radar controller interfaces

• Define external communications interfaces

• Design buoy controller HW/SW

• Design WEC HW/SW

• Design power conversion/control and battery HW

• Buoy mechanical design

• PTO design

• Mooring design

• Deployment and recovery planning

2 Configure HF Radar System

• Procure COTS SeaSonde Remote Unit SSRS-100 (2). This consists of radar transmitter, receiver and radar signal processor.

• Procure and install COTS SeaSonde Central Site Management/ Data Combining station SSDP-100 (1)

• Identify potential locations for radar systems

• Procure and install COTS SeaSonde Multi-Static Data Processing Software Package SSDA-ES100 (2)

• Procure COTS SeaSonde Bistatic Transmitter Package SSBT-100-0012 (1)

3 Design Vessel Detection Processor

• Define and optimize threshold levels for vessel detection

• Define and optimize association algorithms for input into Data fusion engines

• Define and optimize integration times for vessel detection

4 Design TIS Network Interface Processor

• Define host and network requirements

• Define LEAP VDS interface

• Define TIS protocol and network interfaces

• Evaluate GFI SW used in TSQ-108 and CG systems

• Design SEIWG ICD-0100 message processing SW

• Design TIS network protocol/interface processing SW

5 Configure Tactically Integrated Sensors (TIS) System

• Configure TIS system for LEAP testing using COTS HW and GFI SW

4 Task 4: Build and Test Prototype Subsystems

1 Build and Test PowerBuoy Platform

• Subsystem fabrication and procurement

• Preliminary subsystem integration

• Laboratory testing

2 Build and Test HF Radar System

• Install and calibrate HF radar systems

• Configure and integrate SeaSonde bistatic transmitter electronics with OPT Buoy

3 Build and Test Vessel Detection Processor

• Test and analyze performance of vessel detection processor

• Examine environmental conditions (sea state, radio interference,external noise) impacting performance of VDS

• Work toward development of real time VDS at radar systems

4 Configure and Test TIS Network Interface Processor

• Configure standard Wintel host and network interfaces

• Develop and test LEAP VDS interface

• Develop and test TIS protocol and network interfaces

• Integrate GFI SW as needed

• Develop and test SEIWG ICD-0100 message processing SW

• Develop and test TIS network protocol/interface processing SW

• Software integration and standalone testing

5 Configure and Test TIS System

• Procure COTS HW (Wintel, Sun server for CJMTK)

• Install GFI TIS SW

• Preliminary SW testing and familiarization

5 Task 5: Preliminary Subsystem Testing

• PowerBuoy at-sea test

• Radar/VDS integration testing

• VDS/TNIS integration testing

• TNIS/TIS integration testing

• VDS/TNIS/TIS integration testing

6 Task 6: VDS System Integration

• Buoy platform/payload radar XMTR integration

• Buoy communications verification

• Buoy mechanical engineering integration testing

• Installation/integration of radar RCVR and VDS at COOL shore sites

• VDS/TNIS/TIS network communications verification

• At-sea test (boat-based)

7 Task 7: At-Sea System Deployment

• Special fixtures and equipment

• Pre-deployment environmental and final acceptance testing (FAT)

• Transportation to harbor/staging area (buoy and mooring system)

• Final pierside testing

• Mooring system deployment

• Buoy deployment and mooring

• Final at-sea testing

• Logistics support

• Conduct safety and environmental assessments

8 Task 8: At-Sea Test Support

• VDS data collection, reduction and archiving

• Monitoring of synchronous independently-sourced wave condition data

• VDS performance monitoring in ambient sea states and normal shipping traffic

• Controlled testing of VDS system with simulated threats

• Remote monitoring and optimization of buoy performance

• Contingency response and corrective maintenance of all subsystems as needed

• Logistics support for 3 month at-sea test

• Conduct safety and environmental assessments

9 Task 9: Test Data Reduction and Analysis

• Correlation of VDS results with known shipping traffic

• Correlation of VDS results with known ambient wave climate

• VDS performance analysis including detection and false alarm probabilities and dependence on ambient wave/wind climates

• Analyze PowerBuoy performance and identify optimization methods

• Identify and resolve anomalies

• Other TBD?

10 Task 10: At-Sea System Recovery

• Develop/procure special fixtures and equipment as required

• Procure transportation and handling equipment as required

• Provide general pierside support

• Conduct post-mission assessment of PowerBuoy structure and functionality

• Safety and environmental considerations

11 Task 13: Real-Time System Transition Studies

• Develop real-time vessel detection system architecture

• Investigate technical trade-offs in conversion from offline to real-time signal processing and vessel detection algorithms

• Plan phased implementation of real-time system

12 Task 12: Follow-on Work

• Develop recommendations for follow-on work

• Identify key performance drivers and operational improvements

• Identify production transition issues and risk mitigation strategies

13 Task 13: Program Management

The contractor shall designate a project manager who shall be responsible for the control and coordination of all work performed on this delivery order. The contractor shall provide the project manager's name, in writing, to the PCO within 7 days after issuance of delivery order. The contractor PM shall establish and maintain a program plan, schedules, budgets, work assignments/allocations, and delivery plans.

DELIVERABLES

1 Deliverable Equipment

• NONE?

2 Software

• NONE?

3 Training

• NONE?

4 Documentation

Nominal documentation deliverables are shown in Table 4. These deliverables will be revised as necessary to be consistent with the process development methodology used in the proposed program, currently TBD.

|B001 |System Requirements Specification | |

|B002 |System Design Specification | |

|B003 |Subsystem Requirements Specification |One per subsystem |

|B004 |Subsystem Design Specification |One per subsystem |

|B005 |Interface Control Description |One per interface (external &|

| | |internal) |

|B006 |Subsystem Integration Test Plan | |

|B007 |System Test Plan | |

|B008 |System Test Results | |

|B009 |Program Status Report |bimonthly |

|B010 |Final Technical Report for Phase I | |

.

Table 4: Deliverable Documentation

SCHEDULE

• TBD

• Period of performance?

SUBCONTRACTORS

• Rutgers

• Mikros

TRAVEL

• TBD

COSTS

• TBD

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Flotation

Lower Spar Telescoping Section

Payload Enclosure

Float

Antenna

Deployed Configuration

Stowed, Transport Configuration

On Deck Configuration

Wave action and current push buoy away from subsurface float

Truss

“Lazy-S” Riser with Floats and Sinkers

Gravity Anchor

Upper Spar

Synthetic Rope Tether

PowerBuoy

Subsurface Float

RF Reflective Cover

Battery Enclosure

Heave Plate

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