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

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assumes no liability for unauthorized use of these data by third parties. This

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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