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Objective: Test Acoustic Rapid Environmental Assessment mechanisms.

FAF’05 Mission A1. Objective: Test Acoustic Rapid Environmental Assessment mechanisms. Construct an adaptive AUV path control. Predict ocean in real-time. Optimize control parameters in real-time, s.t. minimize TL uncertainty. Principle & Method. Forward. Backward.

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Objective: Test Acoustic Rapid Environmental Assessment mechanisms.

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  1. FAF’05 Mission A1 • Objective:Test Acoustic Rapid Environmental Assessment mechanisms. • Construct an adaptive AUV path control. • Predict ocean in real-time. • Optimize control parameters in real-time, s.t. minimize TL uncertainty.

  2. Principle & Method Forward Backward • Adaptive AUV path control --- yoyo control Depth (m) Range (km) (m/s) (m/s)

  3. Principle & Method • Adaptive AUV path control --- yoyo control • Relative position to thermocline. • Relative position to upper bound and lower bound and bottom. Depth (m) • Control parameters: • n: number of sampling points to calculate • d: threshold of Range (km)

  4. Virtual Experiment M I T Nowcasts at future time Statistics & Acoustic model Smaller Data Assimilation Sample variance of TL Principal Estimate Ensemble of HOPS/ESSE forecasts

  5. Principle & Method CTD noise CTD noise Yoyo 7 Yoyo 7 TL uncertainty associated with Yoyo 1 TL uncertainty associated with Yoyo 1 R 1 R 1 TL 1,1 TL 1,1 …… …… P.E.new P.E.new ..… ..… P.E. P.E. OA OA SVP Generator SVP Generator Yoyo 2 Yoyo 2 Err.new Err.new Yoyo 1 Yoyo 1 R m R m TL 1,m TL 1,m

  6. Implementation Bravo Charlie ACOMM Bouy M I T LBL transponder Alpha 2 km POOL NC Echo Delta 42 35’ N 2.5 km 10 6’ E • Plan 7/13/2005~7/16/2005

  7. Implementation & Results • Plan for 7/17/2005~7/26/2005 • Optimal: n=30, d=1000 for afternoon of Jul 26 Max range=2.1km, frequency=100Hz

  8. Implementation & Results Optimal: points=30, threshold=1000 for morning 7/21/05 Max range=4.3km, frequency=100Hz

  9. Implementation & Results Optimal: points=30, threshold=0.1 for afternoon 7/21/05 Max range=2.1km, frequency=500Hz

  10. Major Accomplishment: Constructed an AUV yoyo control. Coupled HOPS outputs, AREA simulator and optimization codes together in a simple version. Implemented ocean prediction and control parameters optimization in real-time. Future work: Speed up cost function computation. Improve optimization for nonlinear, nonseparable cost function. Stochastic optimization. Summary

  11. Forcast Ensemble CTD noise CTD noise ++ ……. Yoyo 7 Yoyo 7 TL uncertainty associated with Yoyo 1 TL uncertainty associated with Yoyo 1 R 1 R 1 TL 1,1 TL 1,1 …… …… P.E.new P.E.new ..… ..… Rn P.E. OA OA SVP Generator SVP Generator Yoyo 2 Yoyo 2 Err.new Err.new Yoyo 1 Yoyo 1 R m R m TL 1,m TL 1,m Principal Estimate

  12. Correlation Lengths A priori error field Error field New P.E. CTD noise ith Yoyo pattern Objective Analysis Sound Speed Generator Principle Estimate RAM TL Uncertainty for ith yoyo

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