Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.

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Presentation transcript:

Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering Joseph A. Curcio John J. Leonard Andrew Patrikalakis Massachusetts Institute of Technology

Motivation: n Low-cost reconfigurable platform for development and testing of cooperative autonomous algorithms n Off-the shelf components for extremely low cost n Flexible design enabling rapid addition of new sensors Core components: n GPS, R/C, RF Modem, b, MOOS operating system

Specifications: n HDPE Hull n LOA: 10’ n Beam: 30” n 12v 100AH n Max Spd: 5 KTS n Cruise Spd: 3 KTS n Duration: 8 Hr n GVW: ~200 LB

Configurations n Multi vehicle cooperative behavior. n Moving baseline navigation (using WHOI Modems). n Side Scan Sonar n Undersea Persistent Surveillance (UPS)

Goals: n Moving baseline navigation data acquisition using WHOI modems o Collaboration with Bluefin Robotics and WHOI o Sponsor: ONR AOFNC CNA/USS n Cooperative autonomy algorithm development o Adaptive sensor network providing an ultra-wideband aperture for cooperative tracking o Sponsors: ONR UPS, ASAP MURI, and GOATS AUVFest 2005 Deployment (Keyport, WA)

MIT Computer Science & Artificial Intelligence Laboratory NUWC Keyport Operations Site MIT Dept. of Mechanical Engineering

Autonomous Multiple Vehicle Operations

MIT Computer Science & Artificial Intelligence Laboratory MIT Dept. of Mechanical Engineering Autonomous Multiple Vehicle Operations

n Goal o Precision navigation for a heterogeneous team of vehicles performing rapid large-area search and survey o Search-Classify-Map and Reacquire-Identify in a single pass o Solution must be robust to time delays and bandwidth constraints Moving Baseline Navigation Bluefin (J. Vaganay) & MIT (J. Leonard)

MIT Computer Science & Artificial Intelligence Laboratory Moving Baseline Navigation Data Acquisition using WHOI microModems MIT Dept. of Mechanical Engineering

MIT Computer Science & Artificial Intelligence Laboratory Autonomous Sidescan Sonar Data Acquisition with low-cost Imagenex Sportscan Sonar Mission along side pier

MIT Computer Science & Artificial Intelligence Laboratory MLO image acquired with sidescan sonar Mission near Nekton practice target

MIT Computer Science & Artificial Intelligence Laboratory Autonomous Sidescan Sonar Data Acquisition Real-time display of sonar on shore MIT Dept. of Mechanical Engineering