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S urface C raft for O ceanographic and U ndersea T esting ( SCOUT )

S urface C raft for O ceanographic and U ndersea T esting ( SCOUT ). Joseph A. Curcio John J. Leonard Andrew Patrikalakis Massachusetts Institute of Technology. MIT Dept. of Mechanical Engineering. MIT C omputer S cience & A rtificial I ntelligence L aboratory. Motivation:

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S urface C raft for O ceanographic and U ndersea T esting ( SCOUT )

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  1. Surface Craft for Oceanographic and Undersea Testing (SCOUT) Joseph A. Curcio John J. Leonard Andrew Patrikalakis Massachusetts Institute of Technology MIT Dept. of Mechanical Engineering MITComputerScience &ArtificialIntelligenceLaboratory

  2. Motivation: • Low-cost reconfigurable platform for development and testing of cooperative autonomous algorithms • Off-the shelf components for extremely low cost • Flexible design enabling rapid addition of new sensors Core components: • GPS, R/C, RF Modem, 802.11b, MOOS operating system

  3. Specifications: • HDPE Hull • LOA: 10’ • Beam: 30” • 12v 100AH • Max Spd: 5 KTS • Cruise Spd: 3 KTS • Duration: 8 Hr • GVW: ~200 LB

  4. Configurations • Multi vehicle cooperative behavior. • Moving baseline navigation (using WHOI Modems). • Side Scan Sonar • Undersea Persistent Surveillance (UPS)

  5. AUVFest 2005 Deployment (Keyport, WA) Goals: • Moving baseline navigation data acquisition using WHOI modems • Collaboration with Bluefin Robotics and WHOI • Sponsor: ONR AOFNC CNA/USS • Cooperative autonomy algorithm development • Adaptive sensor network providing an ultra-wideband aperture for cooperative tracking • Sponsors: ONR UPS, ASAP MURI, and GOATS

  6. NUWC Keyport Operations Site MIT Dept. of Mechanical Engineering MITComputerScience &ArtificialIntelligenceLaboratory

  7. Autonomous Multiple Vehicle Operations

  8. Autonomous Multiple Vehicle Operations MIT Dept. of Mechanical Engineering MITComputerScience &ArtificialIntelligenceLaboratory

  9. Moving Baseline NavigationBluefin (J. Vaganay) & MIT (J. Leonard) • Goal • Precision navigation for a heterogeneous team of vehicles performing rapid large-area search and survey • Search-Classify-Map and Reacquire-Identify in a single pass • Solution must be robust to time delays and bandwidth constraints

  10. Moving Baseline Navigation Data Acquisition using WHOI microModems MIT Dept. of Mechanical Engineering MITComputerScience &ArtificialIntelligenceLaboratory

  11. Autonomous Sidescan Sonar Data Acquisitionwith low-cost Imagenex Sportscan Sonar Mission along side pier MITComputerScience &ArtificialIntelligenceLaboratory

  12. MLO image acquired with sidescan sonar Mission near Nekton practice target MITComputerScience &ArtificialIntelligenceLaboratory

  13. Autonomous Sidescan Sonar Data AcquisitionReal-time display of sonar on shore MIT Dept. of Mechanical Engineering MITComputerScience &ArtificialIntelligenceLaboratory

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