1. 1 Autosub Mission Control and Mission Programming Dr. Miles Pebody Ocean Engineering Division Southampton Oceanography Centre M.Pebody@soc.soton.ac.uk

2. 2 Overview l The Mission Control Node l Mission Script Programming l Other Mission Specific Configuration l Mission management tools l Other Utilities

3. 3 Mission Control Node: Network Interface Mission Control Lonworks Node Motor Rudder - Pos Ctrl Sternplane - Depth/Alt Ctrl Depth GPS/Navigation EmergencyAbort Operator Commands Mission script download

4. 4 Mission Control Node: Software Structure Start Stop Abort Surface Got GPS Fix Got Position Got Depth Dived Surfaced Timeout Event Handlers External Internal Mission Line Execution Mission Script Download Control Modes and Demands

5. 5 Mission Control: Download Mission Script l Events trigger the execution of the next mission line l Up to 820 mission lines l Each line specifies an event and all modes and demands

6. 6 Stop flag Stop/start vehicle Mission Control: Mission Line Format FieldMode/Command Depth Event Timer Index Heading Motor Mission line number Stop, Surface, Abort, Timeout, Got GPS fix, Got Position, Got Depth, Surfaced, Dived Optional timeout value for next event next event Mode: Direct stern-plane, depth, altitude Demand: Degrees / metres Mode: Direct rudder, Heading, Position. Demand: Degrees / N.E. or Lat Long vector Mode: Torque, Power Demand: Amps, Watts

7. 7 Mission Script Programming

8. 8 l When(event),,,; structures define mission lines. l Constant data values may be specified. l Macros with arguments may be defined. l Auxiliary files may be included with constant data and macro definitions. l Comprehensive programming guide provided in mission script compiler help facility. Comprehensive programming guide provided in mission script compiler help facility. Comprehensive programming guide provided in mission script compiler help facility.

9. 9 The When() Event Structure when( Event) Timer ( ), Timer ( demand), Rudder mode ( ), Rudder mode ( demand), Stern-Plane mode ( ), Stern-Plane mode ( demand), Motor mode ( ); Motor mode ( demand); l White space characters include: Carriage return, space, tab. l The when(event) statement provides the basic building block of the Autosub mission script. l Each when structure compiles into a downloadable mission line.

10. 10 The When() Event Structure // When satisfactory GPS fix has been acquired dive and track follow: // Set timeout to 500 seconds. WHEN( GotGPSfix)// When GPS fix acquired ……… Timer( 500),// Set timeout of 500 seconds. Depth( 10),// Set depth mode to 10 metres. MotorPower( 400), // Set motor mode to Power 400 Watts. PositionP( N:56:27.5, W:5:29.4); // Set position mode and demand // Next line, when reached end of the track …… WHEN( GotPosition)// When Got there (OR timeout) …etc… …etc…

11. 11 When Events OnSurface The Autosub has surfaced. EventDescription GotDepth Start TimeOut Dived GotPosition GotGPSFix The Autosub has dived. Indicates that the mission is to start. This event must appear as the first event in all mission scripts and nowhere else. The previous mission line timer setting has expired. The Autosub has reached the depth specified in the previous mission line. The Autosub has reached the waypoint specified in the previous mission line. A GPS fix has been received. Events are logically ORed with the TimeOut event.

12. 12 Mission Script Structure // Define constants at top of file eg. constant_1 = some value constant_2 = another value // Mission script starts with “start_mission” statement start_mission when( Start)// The first event MUST BE “Start” mode( demand) mode( demand); …etc… //The last when event is followed by “end_mission”. end_mission

13. 13 Mission Script Macro Definitions // Define an event level macro start_macro MacroName( argument_list) when( event) mode( demand), mode( demand); when( event) mode( demand), mode( demand);...etc... A_Macro_Call( another_argument_list)// Macros may be nested end_macro

14. 14 Mission Script Macro Definitions // Define a sub-event level macro start_macro MacroName( argument_list) mode( demand), mode( demand); end_macro

15. 15 Modes And Demands: Motor l Polarity of demand value gives motor thrust direction Current (Torque) ControlCurrent (Torque) Control Syntax:MotorCurrent( +/-Amps)// Value +/-0-max current Power ControlPower Control Syntax:MotorPower( +/-Watts)// Value +/-0-max power

16. 16 Modes And Demands: Stern-Plane Altitude ControlAltitude Control Syntax:Altitude( 0-500m) Depth ControlDepth Control Syntax:Depth( -10 - 6000m) Reverse Dive ControlReverse Dive Control Syntax: ReverseDive(-10 - 6000m) Direct Actuator Angle ControlDirect Actuator Angle Control Syntax:SPlaneAngle( +/-20 degrees)

17. 17 Modes And Demands: Rudder Heading ControlHeading Control Syntax:Heading( 0-360 degrees) Reverse Heading ControlReverse Heading Control Syntax:RevHeading(0-360 degrees) Position ControlPosition Control Syntax: PositionP( Latitude, Longitude) Syntax: PositionC( X metres, Y metres, Origin Lat, Origin Lon) Track Follow ControlTrack Follow Control Syntax:TrackP( Latitude, Longitude) Syntax:TrackC ( X metres, Y metres, Origin Lat, Origin Lon)

18. 18 Other Mission Specific Configuration l Other Autosub configuration is specified in a “Configuration Script” - a file separate to the mission script. l Examples include: Emergency abort parameters:Emergency abort parameters: l Total mission time l Maximum dive time l Maximum dive depth Depth control parameters:Depth control parameters: l Max depth l Minimum altitude l Max/Min vehicle pitch angles

19. 19 Configuration Script l Script in the format of a M.S. Windows INI File. Comments appear in lines starting with ‘;’ ;// Each Autosub node may have a section, if required. [EMERGENCY ABORT] ; Mission config Mission time: hours, mins nc_mission_confg = 7,0 ; Dive config: max depth, dive time: hours, mins nc_dive_confg = 525,3,00 [DEPTH CONTROL] ; +/- 20 degrees. nci_pitchLimits = 0.2095,-0.2095 nci_max_depth = 420 nci_min_altitude = 15

20. 20 Mission Programming : Mission Preparation Mission Script Editor ConfigurationEditor Control parameters Sensor parameters Safety limits EAS timers + limits MissionCompilerWarnings Go!Stop MissionCommander + Monitor History File RadioModem Down-loader Mission Simulation

21. 21 Mission management tools

22. 22 Mission Utilities: Mission Compiler

23. 23 Mission Utilities: Mission Downloader

24. 24 Mission Utilities: Autosub Nanny A tool for automatic checking of Autosub node and systems status.

25. 25 Mission Utilities: Excel Spread Sheet Status Display

26. 26 Mission Utilities: Mission Commander Radio telemetry Status monitoring. Commands to stop/start mission. Update navigation. Maintains log and history file of mission times and comms.

27. 27 Other Utilities

28. 28 Other Utilities: Lonworks Interface Configuration

29. 29 Other Utilities: Special Tools For Specific Tasks - Compass Calibration

30. 30 Other Utilities: Lonworks Network Variable Browser

31. 31 Future Developments l There is considerable scope for integrating mission planning, simulation, specification and monitoring into one graphical package based on an electronic chart format. l Pre-mission systems checks and procedures may be made more robust and automated further with the use of a knowledge base and a “Mission Wizard” interfaced directly to the Autosub via Lonworks.

32. 32 The End Dr. Miles Pebody Ocean Engineering Division Southampton Oceanography Centre M.Pebody@soc.soton.ac.uk

33. 33

34. 34 Pre-Mission Planning l Mission Requirements l Mission Navigation l Control Modes l Autosub Safety Issues l The Mission End - Recovery

35. 35 Mission Requirements l Instruments/sensors l Data sampling l Area of operation l Vehicle critical factors Power availabilityPower availability Depth ratingsDepth ratings

36. 36 Mission Navigation Example: track of 110 km mission off Fort Lauderdale. Coast, Florida. l Waypoint selection l Co-ordinate System Cartesian (X/Y metre offset)Cartesian (X/Y metre offset) Polar (latitude/longitude)Polar (latitude/longitude) l Navigation Mode Selection Heading onlyHeading only Heading to positionHeading to position Follow track between two positionsFollow track between two positions

37. 37 Control Modes: Depth/Altitude Control Depth control Altitude control - terrain following

38. 38 Autosub Safety Issues In water obstaclesIn water obstacles Terrain - vehicle pitch controlTerrain - vehicle pitch control Surfacing zonesSurfacing zones Mission depth and altitude limitsMission depth and altitude limits Emergency abort timeoutsEmergency abort timeouts

39. 39 Mission Preparation and Initiation

40. 40 Mission Preparation and Initiation l Mission Script l Configuration Script l Mission Script Checking l Pre-Launch Tasks l Post-Launch / Pre-Start Tasks