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Sensing and Acquisition & MOOS

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

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Sensing and Acquisition & MOOS

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  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. 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. module module 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 Publish MOOSDB module module Subscribe module OOI CI R1 C2 Design Kick-off

  8. behavior 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 Objective function behavior behavior IvP Solver behavior behavior behavior Sensor Info OOI CI R1 C2 Design Kick-off

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

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

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