MOOS -IvP Lessons with COLREGs, Kayaks, UAVs, and...
Transcript of MOOS -IvP Lessons with COLREGs, Kayaks, UAVs, and...
MOOS-IvP Lessons
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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
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
SARA, Inc.“The special projects division of a Major Defense Contractor …
…Without the Major Defense Contractor”
•• 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
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
Rejected Logistics
Transportation / Logistics
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
Boat Lab Next Steps
Deploying with MOOSSBIR RIGHTS
SBIR RIGHTS
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
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
•• 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
Custom MOOS Applications
•• pMOOSLodgpMOOSLodg
•• 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
•• pGEpGE
Custom MOOS ApplicationsSBIR RIGHTS
SBIR RIGHTS
• 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
UAV Simulation with MOOSSBIR RIGHTS
SBIR RIGHTS
UAV Simulation with MOOSSBIR RIGHTS
SBIR RIGHTS
Acknowledgements•• Los Angeles County LifeguardsLos Angeles County Lifeguards
•• ONRONR
•• Mike BenjaminMike Benjamin
•• SARA Boat Lab volunteersSARA Boat Lab volunteers