AUV Workbench : Integrated 3D for Interoperable Mission Rehearsal, Reality and Replay

1. AUV Workbench: Integrated 3D forInteroperable Mission Rehearsal, Reality and Replay Jeffrey Weekley Naval Postgraduate School, Monterey, CA USA jdweekley@nps.navy.mil

2. Overview • Background • XML Basics • XML as a Common Ground for AUVs • XML-based Tools • The AUV Workbench • Related Efforts • Conclusion and Q&A

3. Background • Multiple System Proliferating • Data is ephemeral • XML is a Best Business Practice • Proprietary technologies vs. Open Standards

4. The key to interoperability is structured data interchange. XML is for structuring data XML looks a bit like HTML XML is text, but isn't meant to be read XML is verbose by design XML is a family of technologies XML Basics • XML is new, but not that new • XML leads HTML to XHTML • XML is modular • XML is the basis for RDF and the Semantic Web • XML is license-free, platform-independent and well-supported

5. XML as a Common Ground for AUVs N2 versus 2N

6. AUV Tactical Markup Language • Many AUVs and their systems share multiple characteristics • In XML terms, these are called ‘Elements and Attributes’ • Elements and Attributes not well defined for AUVs

7. XML Schema for AUVs • Schemas describe the structure and constraining the contents of XML • Applications read and understand Schemas • Schemas greatly enhance the power of XML – Garbage in / Garbage Out No More!

8. An Example of AUV Tactical Markup Language • <?xml version="1.0" encoding="UTF-8" ?> • - <!-- edited with XMLSPY v5 rel. 2 U (http://www.xmlspy.com) by Barbara Van • Leuvan (Naval Postgraduate School) --> • - <!--This schema describes the AUV mission scripting. Refer to the mission.script.Help file for adescription of the commands. --> • - <xs:schema xmlns:xs=http://www.w3.org/2001/XMLSchemaelementFormDefault="qualified" attributeFormDefault="unqualified"> • -<xs:annotation> • <xs:documentation>Start of defining data types</xs:documentation> • </xs:annotation> • - <xs:simpleType name="absoluteHeadingType"> • - <xs:annotation> • <xs:documentation>Defines valid absolute heading values</xs:documentation> • </xs:annotation> • - <xs:restriction base="xs:decimal"> • <xs:minInclusive value="0" /> • <xs:maxInclusive value="359.9" /> • </xs:restriction> • </xs:simpleType> Value for Attribute

9. XFSP • XML documents are verbose by design • Their transmission in noisy environments is impractical • XFSP is a general approach to binary serialization of XML well-suited for use with AUVs • Suitable for message streams and large document transmission (even imagery)

10. A Simple Address Book Example <name> <first>John</first> <last>Doe</last> </name> <11> <21>John<30> <31>Doe<40> <20>

11. Sample Compression Rates

12. Forward Error Correction (FEC) with Hamming Codes • Forward Error Correction (FEC) increases the ability of a receiving station to correct a transmission error • It allows a receiver-side error detection and correction without retransmission • The serialization of XML makes implementing Hamming Codes for AUVs much more feasible

13. The AUV Workbench

14. Sample Mission Script <?xml version="1.0" encoding="utf-8"?> <auv-mission vehicle="aries"> <mission> <position x="12" y="80" depth="5"/> <propeller rpm="700"/> <thrusters/> <standoff range="0.75"/> <waypoint x="110" y="80" depth="15"/> <hover/> <heading value="90"/> <wait time="10"/> <waypoint x="110" y="95"/> <hover/> <heading value="180"/> <wait absolute="false" time="10"/> <waypoint x="20" y="95" depth="5"/> <hover/> <heading value="270"/> <wait time="10"/> <hover x="12" y="80" depth="5"/> <heading value="0"/> <wait time="10"/> <propeller rpm="0"/> <thrusters on="false"/> </mission> </auv-mission> position 12 80 5 speed 700 thrusters-on standoff-distance .75 waypoint 110 80 15 hover course 90 wait 10 waypoint 110 95 15 hover course 180 wait 10 waypoint 20 95 5 hover course 270 wait 10 hover 12 80 5 course 0 wait 10 speed 0 thrusters-off

15. 2D & 3D Mission Planner

16. Network Support for Distributed Simulations • DIS is an IEEE Protocol • Works over standard TCP/IP (The Web) • Since DIS is an IEEE standard, anyone can have the standard and write an implementation.

17. Server-Side Support • Information sent and received from a web server • Centralized data allows for • Data Control • Analysis and Experimentation • Multiple AUV and sytems data integration

18. Web-based Mission Replay

19. AUV Mission Replay in 3D

20. XML-based Tactical Chat (XTC) • Chat has emerged as an important method for tactical communications, but… • Commercial Chat clients not entirely appropriate for military environments • Proprietary formats are inscrutable • Commercial Chat clients do not conform to NMCI (DoN)

21. XML-based Tactical Chat • Both data transmitted and protocols of XML-based Tactical Chat can be examined • Images, sounds, text and video are possible • Open standards – free to use, NMCI conformant • Cross platform

22. Extensible Modeling and Simulation Framework (XMSF) • Composable set of standards, profiles and recommended practices for web-based modeling & simulation (M&S) • XMSF must enable simulations to interact directly and scalably over a highly distributed network • Not be constrained by proprietary technology or legally encumbering patents

23. Conclusion • Interoperability through open-standards • Loosely coupled data • Web-technologies • Exemplars and Proof-of-concepts

24. Questions & Answers When open source and open standards, combine with best e-business practices, every effort then becomes related, synergies are created and tasks that once seem daunting, become achievable. For more information: http://web.nps.navy.mil/~brutzman