ocean observatories initiative sensing and acquisition & moos arjuna balasuriya sensing and...
TRANSCRIPT
Ocean Observatories InitiativeOcean Observatories Initiative
Sensing and Acquisition&
MOOS
Arjuna BalasuriyaSensing and Acquisition Sub-System
Release 1: S&A Services
• Instrument Management ServiceActivate & manage instrument, start/stop the inst. agent
• Data Acquisition ServiceCollect data from physical instruments and converting them to a format understandable by the CI
• Repository ServicesCreate, maintain, Instrument & Data Product registries
• Instrument Direct Access ServiceAllow user to communicate directly to the instrument
2
S&A Architecture
OOI CI R1 C2 Design Kick-off
3
S&A: Architectural Overview – Release 1
Instrument Registry
Data Product Registry
Data Acquisition
Out of scope
for release 1
Out of scope
for release 1
Out of scope
for release 1
4
Inst
rum
ent
Age
nt I
nter
face
Instrument Management
Different MOOS Configurations
OOI CI R1 C2 Design Kick-off
5
Backseat Driver Paradigm - ASTM F41
Autonomy System asa Whole
Control and Navigation System
Three components of the overall vehicle architecture.
• Control and Navigation (frontseat driver)Actuator control, inertial navigation, GPS, compass, DVL, dead-reckoning systems, vehicle safety.
• Autonomy System as a WholeSensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication.
• Autonomous Decision-Making (backseat driver)Deciding vehicle heading, speed, and depth.
Autonomous Decision-Making
PayloadComputer
Main VehicleComputer
MOOSIvP Helm
Vehicle Autonomy Architecture
OOI CI R1 C2 Design Kick-off
Vehicle Autonomy Architecture
Autonomy System asa Whole
Control and Navigation System
Three components of the overall vehicle architecture.
• Control and Navigation (frontseat driver)Actuator control, inertial navigation, GPS, compass, DVL, dead-reckoning systems, vehicle safety.
• Autonomy System as a WholeSensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication.
• Autonomous Decision-Making (backseat driver)Deciding vehicle heading, speed, and depth.
Autonomous Decision-Making
PayloadComputer
Main VehicleComputer
MOOSIvP Helm
module
module
module
module
module
module
module
module
module
module
MOOSCore
MOOS• Modules coordinated through a publish and
subscribe interface. • Overall system is built incrementally.
The “glue” for the autonomy system as a whole.
module MOOSDBPublish
Subscribe
OOI CI R1 C2 Design Kick-off
Vehicle Autonomy Architecture
Autonomy System asa Whole
Control and Navigation System
Three components of the overall vehicle architecture.
• Control and Navigation (frontseat driver)Actuator control, inertial navigation, GPS, compass, DVL, dead-reckoning systems, vehicle safety.
• Autonomy System as a WholeSensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication.
• Autonomous Decision-Making (backseat driver)Deciding vehicle heading, speed, and depth.
Autonomous Decision-Making
PayloadComputer
Main VehicleComputer
MOOSIvP Helm
IvP Helm
• Modules coordinated through logic (behavior algebra), objective functions and multi-objective optimization.
• Overall system is built incrementally.
The “glue” for the autonomous decision-making enginebehavior
behavior
behavior
behavior
behavior
behavior
behavior
behavior
behavior
behavior
IvPCore
behavior IvP Solver
Objective function
Sensor Info
OOI CI R1 C2 Design Kick-off
MOOS - pHelmIvPIntegrated Sensing, Processing and Control
iRTSon
MOOS DB
Acoustic Samples
Status Control
Real-timeSonar Interface
pHelmIvp
Adaptive,Behavior-basedAUV Control
Vehicle Nav, Data
Data
Acomms
Commands
pAcommsHandlerMOOS-MVCInterface
pHuxley
HeadingSpeedDepth
Vehicle NAVStatus
Heading, SpeedDepth
WHOIMicromodem
BF21 MVCMain VehicleComputer
NMEA CCL
Vehicle Nav
Results
pSigProc
SignalProcessing
OOI CI R1 C2 Design Kick-off
Thanks!
OOI CI R1 C2 Design Kick-off