Sensing and Acquisition & MOOS

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Presentation transcript:

Sensing and Acquisition & MOOS Arjuna Balasuriya Sensing and Acquisition Sub-System

Release 1: S&A Services Instrument Management Service Activate & manage instrument, start/stop the inst. agent Data Acquisition Service Collect data from physical instruments and converting them to a format understandable by the CI Repository Services Create, maintain, Instrument & Data Product registries Instrument Direct Access Service Allow user to communicate directly to the instrument 2

OOI CI R1 C2 Design Kick-off S&A Architecture OOI CI R1 C2 Design Kick-off

S&A: Architectural Overview – Release 1 Instrument Management Out of scope for release 1 Instrument Registry Out of scope for release 1 Instrument Agent Interface Data Product Registry Out of scope for release 1 Data Acquisition 4

Different MOOS Configurations OOI CI R1 C2 Design Kick-off

Vehicle Autonomy Architecture Backseat Driver Paradigm - ASTM F41 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 Whole Sensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication. Autonomous Decision-Making (backseat driver) Deciding vehicle heading, speed, and depth. Autonomy System as a Whole Autonomous Decision- Making Payload Computer MOOS IvP Helm Main Vehicle Computer Control and Navigation System OOI CI R1 C2 Design Kick-off

Vehicle Autonomy Architecture 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 Whole Sensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication. Autonomous Decision-Making (backseat driver) Deciding vehicle heading, speed, and depth. Autonomy System as a Whole Autonomous Decision- Making Payload Computer MOOS IvP Helm Main Vehicle Computer Control and Navigation System module MOOS The “glue” for the autonomy system as a whole. module module Modules coordinated through a publish and subscribe interface. Overall system is built incrementally. module module MOOS Core module module Publish MOOSDB module module module Subscribe module OOI CI R1 C2 Design Kick-off

OOI CI R1 C2 Design Kick-off Vehicle Autonomy Architecture 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 Whole Sensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication. Autonomous Decision-Making (backseat driver) Deciding vehicle heading, speed, and depth. Autonomy System as a Whole Autonomous Decision- Making Payload Computer MOOS IvP Helm Main Vehicle Computer Control and Navigation System IvP Helm The “glue” for the autonomous decision-making engine behavior behavior behavior Modules coordinated through logic (behavior algebra), objective functions and multi-objective optimization. Overall system is built incrementally. behavior behavior IvP Core behavior Objective function behavior IvP Solver behavior behavior behavior behavior Sensor Info OOI CI R1 C2 Design Kick-off

MOOS - pHelmIvP Integrated Sensing, Processing and Control iRTSon pSigProc Acoustic Samples Real-time Sonar Interface Signal Processing Control Vehicle Nav Status pHelmIvp Results Vehicle Nav, Data Adaptive, Behavior-based AUV Control MOOS DB Heading, Speed Depth Vehicle NAV Status Heading Speed Depth Data Commands BF21 MVC Main Vehicle Computer NMEA pHuxley CCL pAcommsHandler WHOI Micromodem MOOS-MVC Interface Acomms OOI CI R1 C2 Design Kick-off

OOI CI R1 C2 Design Kick-off Thanks! OOI CI R1 C2 Design Kick-off