Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial...
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![Page 1: Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.](https://reader035.fdocuments.in/reader035/viewer/2022062620/551af8f4550346f70d8b519b/html5/thumbnails/1.jpg)
Surface Craft for Oceanographic and Undersea Testing (SCOUT)
MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering
Joseph A. Curcio
John J. Leonard
Andrew Patrikalakis
Massachusetts Institute of Technology
![Page 2: Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.](https://reader035.fdocuments.in/reader035/viewer/2022062620/551af8f4550346f70d8b519b/html5/thumbnails/2.jpg)
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
![Page 3: Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.](https://reader035.fdocuments.in/reader035/viewer/2022062620/551af8f4550346f70d8b519b/html5/thumbnails/3.jpg)
Specifications: HDPE Hull LOA: 10’ Beam: 30” 12v 100AH
Max Spd: 5 KTS Cruise Spd: 3 KTS Duration: 8 Hr GVW: ~200 LB
![Page 4: Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.](https://reader035.fdocuments.in/reader035/viewer/2022062620/551af8f4550346f70d8b519b/html5/thumbnails/4.jpg)
Configurations Multi vehicle cooperative behavior. Moving baseline navigation (using WHOI Modems). Side Scan Sonar Undersea Persistent Surveillance (UPS)
![Page 5: Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.](https://reader035.fdocuments.in/reader035/viewer/2022062620/551af8f4550346f70d8b519b/html5/thumbnails/5.jpg)
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
AUVFest 2005 Deployment (Keyport, WA)
![Page 6: Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.](https://reader035.fdocuments.in/reader035/viewer/2022062620/551af8f4550346f70d8b519b/html5/thumbnails/6.jpg)
MIT Computer Science & Artificial Intelligence Laboratory
NUWC Keyport Operations Site
MIT Dept. of Mechanical Engineering
![Page 7: Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.](https://reader035.fdocuments.in/reader035/viewer/2022062620/551af8f4550346f70d8b519b/html5/thumbnails/7.jpg)
Autonomous Multiple Vehicle Operations
![Page 8: Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.](https://reader035.fdocuments.in/reader035/viewer/2022062620/551af8f4550346f70d8b519b/html5/thumbnails/8.jpg)
MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering
Autonomous Multiple Vehicle Operations
![Page 9: Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.](https://reader035.fdocuments.in/reader035/viewer/2022062620/551af8f4550346f70d8b519b/html5/thumbnails/9.jpg)
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
Moving Baseline NavigationBluefin (J. Vaganay) & MIT (J. Leonard)
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MIT Computer Science & Artificial Intelligence Laboratory
Moving Baseline Navigation Data Acquisition using WHOI microModems
MIT Dept. of Mechanical Engineering
![Page 11: Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.](https://reader035.fdocuments.in/reader035/viewer/2022062620/551af8f4550346f70d8b519b/html5/thumbnails/11.jpg)
MIT Computer Science & Artificial Intelligence Laboratory
Autonomous Sidescan Sonar Data Acquisitionwith low-cost Imagenex Sportscan Sonar
Mission along side pier
![Page 12: Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.](https://reader035.fdocuments.in/reader035/viewer/2022062620/551af8f4550346f70d8b519b/html5/thumbnails/12.jpg)
MIT Computer Science & Artificial Intelligence Laboratory
MLO image acquired with sidescan sonar
Mission near Nekton practice target
![Page 13: Surface Craft for Oceanographic and Undersea Testing (SCOUT) MIT Computer Science & Artificial Intelligence LaboratoryMIT Dept. of Mechanical Engineering.](https://reader035.fdocuments.in/reader035/viewer/2022062620/551af8f4550346f70d8b519b/html5/thumbnails/13.jpg)
MIT Computer Science & Artificial Intelligence Laboratory
Autonomous Sidescan Sonar Data AcquisitionReal-time display of sonar on shore
MIT Dept. of Mechanical Engineering