MOOS -IvP Lessons with COLREGs, Kayaks, UAVs, and...
Transcript of MOOS -IvP Lessons with COLREGs, Kayaks, UAVs, and...
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MOOS-IvP Lessons
SBIR Rights Notice (Mar 1994)
These SBIR data are furnished with SBIR rights under Contract No N00014-09-
C-0675. For a period of 4 years after acceptance of all items to be delivered under
this contract and SBIR extensions or follow-ons thereto, the Government agrees
to use these data for Government purposes only, and they shall not be disclosed
outside the Government (including disclosure for procurement purposes) during
such period without permission of the Contractor, except that, subject to the
foregoing use and disclosure prohibitions, such data may be disclosed for use by
support Contractors. After the aforesaid 4-year period the Government has a
royalty-free license to use, and to authorize others to use on its behalf, these
data for Government purposes, but is relieved of all disclosure prohibitions and
assumes no liability for unauthorized use of these data by third parties. This
Notice shall be affixed to any reproductions of these data, in whole or in part.
MOOS-IvP Lessons
with COLREGs, Kayaks, UAVs, and Windows
Alon Yaari SARA, Inc.
MOOS Development and Applications Working Group
Cambridge, MA, August 24-25, 2010
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Overview
• About SARA
• The SARA Boat Lab
– Current and future vessels
– Lessons Learned: Hardware and Logistics– Lessons Learned: Hardware and Logistics
• How we use MOOS
• General Implementation
• Custom MOOS apps
• Simulating UAVs
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SARA, Inc.“The special projects division of a Major Defense Contractor …
…Without the Major Defense Contractor”
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•• Top speedTop speed 5kts (1.5m/s)5kts (1.5m/s)
•• Battery lifeBattery life 2 2 -- 4hrs4hrs
•• SensorsSensors GPS, compassGPS, compass
•• Allows for payload and/or Allows for payload and/or
passengerspassengers
SARA Boat Lab Overview
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Separate drive Separate drive and PC powerand PC power
Steering sensorSteering sensor
High current High current
Boat Lab Lessons Learned
High current High current connectorsconnectors
Clean deckClean deck
Breakaway Breakaway antenna mountantenna mount
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Rejected Logistics
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Transportation / Logistics
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Boat Lab Next Steps
•• Oceanscience QOceanscience Q--BoatBoat
•• Commercial product for bathymetry and river Commercial product for bathymetry and river
flow measurementsflow measurements
•• Existing pilot through hobby remote controlExisting pilot through hobby remote control
•• Now running MOOSNow running MOOS•• Now running MOOSNow running MOOS
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Boat Lab Next Steps
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Deploying with MOOSSBIR RIGHTS
SBIR RIGHTS
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Deployment Strategy
SCENESCENE
DEPLOYDEPLOY(= T)(= T)
SCENESCENE
DEPLOYDEPLOY(= T)(= T)MVIEWER_xCLICKMVIEWER_xCLICKMVIEWER_xCLICKMVIEWER_xCLICK
User selects scene then DEPLOY User toggles behaviorsUser click
Avoid_HABxAvoid_HABx(T/F)(T/F)
Cross_HABxCross_HABx(T/F)(T/F)
HO_HABxHO_HABx (T/F)(T/F)
Avoid_HABxAvoid_HABx(T/F)(T/F)
Cross_HABxCross_HABx(T/F)(T/F)
HO_HABxHO_HABx (T/F)(T/F)
SBIR RIGHTS
UPDATE_GOHEREUPDATE_GOHEREUPDATE_GOHEREUPDATE_GOHERE
GOHERE_HABxGOHERE_HABxGOHERE_HABxGOHERE_HABx
TRACK_UPDATETRACK_UPDATE
DEPLOYDEPLOY(= T)(= T)
TRACK_UPDATETRACK_UPDATE
DEPLOYDEPLOY(= T)(= T)
TRACK_HABxTRACK_HABx
DEPLOYDEPLOY(= T)(= T)
TRACK_HABxTRACK_HABx
DEPLOYDEPLOY(= T)(= T)
Avoid Avoid (T/F)(T/F)
Cross Cross (T/F)(T/F)
HeadOnHeadOn (T/F)(T/F)
OvertakeOvertake(T/F)(T/F)
Avoid Avoid (T/F)(T/F)
Cross Cross (T/F)(T/F)
HeadOnHeadOn (T/F)(T/F)
OvertakeOvertake(T/F)(T/F)
iClickLoiter
pMOOSBridge pMOOSBridge
pMOOSBridge
iClickLoiter
HO_HABxHO_HABx (T/F)(T/F)
OT_HABxOT_HABx (T/F)(T/F)
HO_HABxHO_HABx (T/F)(T/F)
OT_HABxOT_HABx (T/F)(T/F)
SBIR RIGHTS
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Shore StationShore Station
VesselsVesselsSimulation Actual
Community: SIMHABx HABx
ServerHost: localhost 192.168.1.(10+x)
ServerPort: 9000 (9000 + x)
Applications: MOOSDB MOOSDB
Deploying with MOOSSBIR RIGHTS
Shore StationShore StationSimulation Actual
Community: SIMSHORE SHORE
ServerHost: localhost 192.168.11.2
ServerPort: 9000 9000
Applications: MOOSDB MOOSDB
pMOOSBridge pMOOSBridge
pMarineViewer pMarineViewer
iClickLoiter iClickLoiter
pSARAViewer pSARAViewer
Applications: MOOSDB MOOSDB
pMarinePID pMarinePID
pNodeReporter pNodeReporter
pHelmIvP pHelmIvP
pLogger pLogger
iMarineSim
iRoboteq iRoboteq
iOSWin iOSWin
iGarWin iGarWin
iClickLoiter iClickLoiter
pCompass
pRM
SBIR RIGHTS
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•• iRoboteqiRoboteq Steering, drive motor, indicator light,Steering, drive motor, indicator light,
reports battery, current, ereports battery, current, e--stop, etc.stop, etc.
•• iOSWiniOSWin Interface to OS5000 digital compassInterface to OS5000 digital compass
Custom MOOS Applications
•• iGarWiniGarWin Interface to Garmin 18x and 18xInterface to Garmin 18x and 18x--USBUSB
Garmin GPS18x-5hz
GPS18x-USB
OceanServer OS-5000
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Custom MOOS Applications
•• pMOOSLodgpMOOSLodg
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•• pCompasspCompass
•• LowLow--cost digital compass requires regular calibrationcost digital compass requires regular calibration
•• GPS only accurate above ~0.8m/sGPS only accurate above ~0.8m/s
•• Vehicle reduces velocity on turnsVehicle reduces velocity on turns
•• Without Without pCompasspCompass::
•• iGarWiniGarWin subscribed to COMPASS_HEADINGsubscribed to COMPASS_HEADING
Custom MOOS Applications
•• iGarWiniGarWin subscribed to COMPASS_HEADINGsubscribed to COMPASS_HEADING
•• iGarWiniGarWin published NAV_HEADING based on speedpublished NAV_HEADING based on speed
•• Problem:Problem: YoYo--yo heading responseyo heading response
•• pCompasspCompass provides:provides:
•• lowlow--pass filterpass filter
•• speedspeed--based weightingbased weighting
== smooth the sensor heading shiftsmooth the sensor heading shift
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•• pGEpGE
Custom MOOS ApplicationsSBIR RIGHTS
SBIR RIGHTS
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• Deconfliction in the TAO•• Air Traffic Control (ATC) DirectivesAir Traffic Control (ATC) Directives
•• Mission ObjectiveMission Objective
•• Collision AvoidanceCollision Avoidance
•• Rules of the RoadRules of the Road
UAV Simulation with MOOSSBIR RIGHTS
•• Rules of the RoadRules of the Road
•• Restricted AreasRestricted Areas
•• Terrain AvoidanceTerrain Avoidance
SBIR RIGHTS
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UAV Simulation with MOOSSBIR RIGHTS
SBIR RIGHTS
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UAV Simulation with MOOSSBIR RIGHTS
SBIR RIGHTS
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Acknowledgements•• Los Angeles County LifeguardsLos Angeles County Lifeguards
•• ONRONR
•• Mike BenjaminMike Benjamin
•• SARA Boat Lab volunteersSARA Boat Lab volunteers