Sensing and Acquisition (SA) Subsystem Overview

1. Sensing and Acquisition (SA)Subsystem Overview Michael Meisinger September 29, 2009

2. Outline Subsystem Architecture Overview Scope of Release 1 Selected Components Observatory Management and Resource Agents Data Acquisition Flow OOI CI Kick-Off Meeting Sept 9-11, 2009

3. Context within CI OOI CI Kick-Off Meeting Sept 9-11, 2009

4. Requirements High risk requirements OOI CI Kick-Off Meeting Sept 9-11, 2009

5. Scope of Release 1 • Instrument Direct Access • Raw, SSH/Telnet, Tunneling • Session management • User Interface for operators • Instrument Management Services • Monitor / Control / Notification • Interface/Instrument test and verification • Lifecycle services • Instrument and Data Process Repository • Metadata, ancillary information, behavior, config. • Catalog services • Data Acquisition Services • Common interfaces and acquisition pipeline • Raw data and metadata acquisition OOI CI Kick-Off Meeting Sept 9-11, 2009

6. Observatory Management and Resource Agents Managed Resource Model OOI CI Kick-Off Meeting Sept 9-11, 2009

7. Resource Agent • Basic functionality: control, monitor, capability, and contract OOI CI Kick-Off Meeting Sept 9-11, 2009

8. Functional Components OOI CI Kick-Off Meeting Sept 9-11, 2009

9. Functional Components OOI CI Kick-Off Meeting Sept 9-11, 2009

10. Dependencies on DM OOI CI Kick-Off Meeting Sept 9-11, 2009

11. Data Acquisition – Polling OOI CI Kick-Off Meeting Sept 9-11, 2009

12. Sample Scenario – Exec. Plan OOI CI Kick-Off Meeting Sept 9-11, 2009

13. Infrastructure as a Service (IaaS)

14. Vehicle Autonomy Architecture Backseat Driver Paradigm - ASTM F41 Three components of the overall vehicle architecture. • Control and Navigation (frontseat driver) Actuator control, inertial navigation, GPS, compass, DVL, dead-reckoning systems, vehicle safety. • Autonomy System as a Whole Sensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication. • Autonomous Decision-Making (backseat driver) Deciding vehicle heading, speed, and depth. Autonomy System as a Whole Autonomous Decision- Making Payload Computer MOOS IvP Helm Main Vehicle Computer Control and Navigation System • MOOS-IvP Backseat Driver Vehicles • BF21 (with towed VSA,HLA) • IVAR Ocean Server (w/ HLA) • SCOUT (MIT kayaks) • REMUS 100/600 (In progress, PLUS, UCCI) • OEX (NURC, w SLITA HLA) • FOLEGA (NURC, Univ. Pisa) • MOOS-IvP Mandated Programs • UCCI (ONR 07-11) • Distributed MCM • PLUS (ONR 08-12) • Undersea Surveillance, ASW, • ORION (NSF 08-12) • Ocean Observatory Infrastructure

15. module module MOOS Three components of the overall vehicle architecture. • Control and Navigation (frontseat driver) Actuator control, inertial navigation, GPS, compass, DVL, dead-reckoning systems, vehicle safety. • Autonomy System as a Whole Sensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication. • Autonomous Decision-Making (backseat driver) Deciding vehicle heading, speed, and depth. Autonomy System as a Whole Autonomous Decision- Making Payload Computer MOOS IvP Helm Main Vehicle Computer Control and Navigation System module The “glue” for the autonomy system as a whole. MOOS module module • Modules coordinated through a publish and subscribe interface. • Overall system is built incrementally. module module MOOS Core module Publish MOOSDB module module Subscribe module

16. Antelope

17. Event Manager = CI Platform Controller = CI Instrument Supervisor = CI Instrument Agent SIAM Concepts Node Node Manager Power Port Instrument Port Instrument Port PUCK Device Service Port Manager . . . Power Port Instrument Port Instrument Port PUCK Device Service • Data Sent to SSDS: • CI Observatory Data Ingest • CI Repositories<->Metadata

18. Technology Mapping • Instrument Agent Framework based on Infrastructure-as-a-Service (IaaS) implementation using OSGi Services Container • Design references: MBARI SSDS

19. Thanks ! OOI CI Kick-Off Meeting Sept 9-11, 2009

20. SA Components • Based on FDR slides • Observatory Management and Resource Agents • Could use a similar model to COI with Workers, Managers, Agents • Managed resource domain model http://www.oceanobservatories.org/spaces/display/CIDev/Managed+Resource+Model • Resource agent. From ObsMgt to agent and Magnet, FSM back up. Proxy agent: http://www.oceanobservatories.org/spaces/display/CIDev/MS+Iteration4 • Four services: Control, Monitor, Capability, Contract • Data Acquisition Flow • Diagram that is currently in DM. Provides tie for all other components OOI CI Kick-Off Meeting Sept 9-11, 2009

21. Sensing and Acquisition Objectives • Marine Observatory Facility • Observatory Management • Instrument Management & Instrument Activation Services • Marine Resource Scheduling for Power, Bandwidth, etc. • Instrument Resource Repository • Marine Infrastructure Interface • Instrument and Platform Agents • Instrument Direct Access • Data Acquisition and Processing • Raw Data Acquisition, Buffering, Metadata association and Persistence • Data Processing, QA/QC, Calibration & Validation • Data Product Generation, Publication & Persistence • Data Process Repository • Data Product Catalog & Repository OOI CI Kick-Off Meeting Sept 9-11, 2009

22. Scope of Release 1 • Marine Observatory Facility • Observatory Management • Instrument Management & Instrument Activation Services • Marine Resource Scheduling for Power, Bandwidth, etc. • Instrument Resource Repository • Marine Infrastructure Interface • Instrument and Platform Agents • Instrument Direct Access • Data Acquisition and Processing • Raw Data Acquisition, Buffering, Metadata association and Persistence • Data Processing, QA/QC, Calibration & Validation • Data Product Generation, Publication & Persistence • Data Process Repository • Data Product Catalog & Repository OOI CI Kick-Off Meeting Sept 9-11, 2009

23. Instrument Test Kit