moos instrumentoceanai.mit.edu/moos-dawg10/material/25-brief-billin.pdfthe iwhoimicromodemmoos...
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The The iWhoiMicroModemiWhoiMicroModemMOOS InstrumentMOOS Instrument
Presenter: Dave Billin
Center For Intelligent Systems Research (CISR)
University of Idaho, Moscow Idaho
Presented at: MOOS-DAWG August 24-25, 2010
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Team MembersTeam Members
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WHOI Acoustic Micro-modem• Woods Hole Oceanographic Institution
iWhoiMicroModem• MOOS application for interfacing with
the WHOI Micro-modem
• Offers comprehensive access to modem functionality
iWhoiMicroModem
21.59 x 5.72 x 4.45 cm
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Background
• Platform for developing collaborative, autonomous behaviors
• Current research: forward area assessment of marine vessel magnetic field signature
University of Idaho AUV1 m
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Modem Use In AUV
• Acoustic Navigation gives position while submerged
• Formation control via 13-bit mini-packets
• Less frequent ASCII, binary data transfer
• TDM used for media access control
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MotivationMotivation
Existing WHOI softwaresupport in MOOS focuses on ASCII and binary data transfers
• Limited or no support for–Acoustic navigation–13-bit User Mini-packets–Protocols other than CCL, DCCL
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Prior Art
• iMicroModem • Matt Grund - WHOI• CCL data protocol
• Goby Underwater Autonomy Project• Toby Schneider (MIT, WHOI)• DCCL data protocol, media access
control
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Design Goals
1. Expose all required modem functionality
2. Provide high-level API to modem functions via MOOSDB
3. Decouple data Rx, Tx from protocols
4. Publish modem statistics, diagnostic messages, and GPS pass-through
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Design Approach
• Multiple threads– Rx: iterate()– Tx: worker thread
• Commands from MOOSDB are queued and prioritized
• Worker thread blocks on command or Rx via semaphore
MOOS MOOS messagesmessages
Serial DataSerial Data
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Subscribed Variables
iWhoiMicroModem_CMD• Single entry point for modem operations
• String of comma-separated 'param=value':– Command type– Comma-separated parameter list
• Optional 'Notify' parameter– Names MOOS variable to which command
result(s) will be published
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Modem Commands
• Data Write (ASCII/Binary)
• Data Read (ASCII/Binary)*
• Transmit (13-bit) user mini-packet
• Transmit PING (PSK, FM sweep, narrow-band)*
• Navigation PING (REMUS transponder)
• Modem hardware I/O line control*
• Auto-level receiver AGC*
• Measure noise level at receiver*
• Modem sleep*
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Published Variables
Published information includes:• Communication cycle init• Received ASCII, binary data• Received (13-bit) User mini-packets• Modem RTC time• Optional diagnostic and info messages• GPS NMEA sentence pass-through
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• Used with User Mini-packets for scalable multi-vehicle navigation
• Modem clock synchronizes to GPS • Modem Tx triggers on 1 Hz PPS• GPS reports published to MOOSDB
GPS Synchronization
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Mission File Parameters
Optional parameters:• Modem NVRAM settings• Modem command priorities• “Promiscuous“ receive mode for:
–ASCII, Binary data– (13-bit) User mini-packet
• Path to file containing vehicle ID (used as modem's acoustic ID)
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Results
Fully implemented and tested:• Modem configuration and command
queuing• Binary data and User mini-packets• Acoustic navigation PING and travel
times• GPS data pass-through• Modem info and diagnostic messages
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• Scheduled data Transmission• Support high rate Tx using co-
processor• '3rd-party' transfer requests• Multi-frame ASCII, binary data
with sequencing
Roadmap
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Conclusions
• Successful implementation of required modem functionality
• Extensible framework suitable for implementing remaining features
• Verified operation under Linux and Windows XP
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Acknowledgements
Office of Naval ResearchOffice of Naval Research
Magnetic Signature Assessment System Using Multiple Autonomous Underwater Vehicles (AUVs)
Phase I (N00014-08-1-0779)
Phase II (N00014-09-1-0711)
Phase III (N00014-10-1-0883)
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iWhoiMicroModemiWhoiMicroModem