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

2. 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

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

4. 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

5. Different MOOS Configurations
OOI CI R1 C2 Design Kick-off

6. 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

7. 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

8. 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

9. 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

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