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Telesupervised Adaptive Ocean Sensor Fleet Year 1 Interim Review. Feb. 23, 2007 Carnegie Mellon University NASA Goddard Space Flight Facility NASA Wallops Flight Facility Jet Propulsion Laboratory. Outline. Project and system overview (slides 2-4) Technical status (slides 5-21)

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telesupervised adaptive ocean sensor fleet year 1 interim review

Telesupervised Adaptive Ocean Sensor Fleet Year 1 Interim Review

Feb. 23, 2007

Carnegie Mellon University

NASA Goddard Space Flight Facility

NASA Wallops Flight Facility

Jet Propulsion Laboratory

outline
Outline
  • Project and system overview (slides 2-4)
  • Technical status (slides 5-21)
  • Schedule, milestones, and work planned (slides 22-25)
  • Critical issues (slide 26)
  • Financial status (slide 27)
  • Educational outreach (slide 28)
  • Acronyms/glossary (slide 29)
telesupervised adaptive ocean sensor fleet taosf
Telesupervised Adaptive Ocean Sensor Fleet (TAOSF)

PI: John Dolan, CMU

Objective

  • Improved in-situ study of Harmful Algal Blooms (HAB), coastal pollutants, oil spills, and hurricane factors
  • Expanded data-gathering effectiveness and science return of existing NOAA OASIS (Ocean Atmosphere Sensor Integration System) surface vehicles
  • Establishment of sensor web capability combining ocean-deployed and space sensors
  • Manageable demands on scientists for tasking, control, and monitoring

Artist's conception of telesupervised sensor fleet investigating a Harmful Algal Bloom.

Approach

Key Milestones

  • Telesupervision of a networked fleet of NOAA surface autonomous vehicles (OASIS)
  • Adaptive repositioning of sensor assets based on environmental sensor inputs (e.g., concentration gradients)
  • Integration of complementary established and emergent technologies (System Supervision Architecture (SSA), Inference Grids, Adaptive Sensor Fleet (ASF), Instrument Remote Control (IRC), and OASIS)
  • Thorough, realistic, step-by-step testing in relevant environments
  • Interface Definition Document Feb 2007
  • Test components on one platform in water May 2007
  • Autonomous multi-platform mapping of dye Jul 2007
  • Science requirements for Inference Grid Feb 2008
  • Multi-platform concentration search simulation May 2008
  • HAB search in estuary for high concentration Jul 2008
  • Moving water test plan & identify location Feb 2009
  • Simulate test using in-situ and MODIS data May 2009
  • Use MODIS data to target and reassign fleet Jul 2009

Co-I’s/Partners

  • Gregg Podnar / CMU
  • Jeffrey Hosler, John Moisan, Tiffany Moisan / GSFC
  • Alberto Elfes / JPL

TRLin = 4

taosf program synergy
TAOSF Program Synergy

AIST Value Added

Outputs

Inputs

Tools and Technology Users

ESTO Office

ESTO Office

Telesupervised Adaptive Ocean Sensor Fleet Project

OASIS Platforms

Planetary Exploration

HAB Detection

4 PhD, MS, and BS students

Adaptive Sensor Fleet / Instrument Remote Control

GSFC

Multi-Robot Telesupervision Architecture

Collaborative Partner

oasis mapping of harmful algal blooms
OASIS Mapping of Harmful Algal Blooms
  • System Components
    • System Supervision Arch. (SSA)
    • Adaptive Sensor Fleet (ASF)
    • Instrument Remote Control (IRC)
    • Inference Grids (IG)
    • Marine platforms (OASIS)

High-level planning and monitoring

High-bandwidth, single-platform

telepresence

Low-bandwidth, multi-platform

telemetry

technical status
Technical Status
  • Near-complete TAOSF architecture design (slides 6-9)
  • Software architecture integration progress (SSA-ASF-IRC-OASIS) (slides 10-11)
  • Ongoing Harmful Algal Bloom (HAB) dataset acquisition and analysis (slide 12)
  • Initial design and testing of ground-truthing system (slides 13-20)
  • OASIS platform development and testing (slide 21)
slide7

TAOSF Architecture Design (1)

Connectivity of high-level components

OASIS

ASV

System

(EST)

OASIS

ASV

System

(EST)

OASIS

ASV

System

(EST/WFF)

Platform

Communicator

(GSFC)

Adaptive

Sensor

Fleet

(GSFC)

System

Supervision

Architecture

(CMU/JPL)

Multi-Platform

Simulation

Environment

(GSFC)

CMU: Carnegie Mellon University

GSFC: Goddard Space Flight Center

WFF: Wallops Flight Facility

EST: Emergent Space Technologies

JPL: Jet Propulsion Laboratory

MySQL

HTTP

Instrument Remote Control

OASIS Driver API

slide8

TAOSF Architecture Design (2)

Detailed view of platforms,

simulator, and communicator

EST: OASIS ASV System

Fleet Environment

Mission Operations Environment

Platform

Gateway

OASIS

Platform

Platform

Driver

GSFC: Platform Communicator

Engineering

Interface

Message

Converter

OASIS

Platform

Network

Services

Logging

State

Model

GSFC: Multi-Platform Simulation Environment

Message

Receiver

Simulation

Manager

Environmental

Models

Platform Behavior

Models

OASIS Driver API

Instrument Remote Control

slide9

TAOSF Architecture Design (3)

Fleet Manager

Sends position commands to boats based on plans developed in the Science/Goal Analyzer.

Communications Client

Provides bidirectional communications with the real or simulated platforms.

Science/Goal Analyzer

Plans efficient multi-platform coverage of designated regions based on hexagonal tesselation of the environment.

ASF Web GUI

Allows web-based specification of user goals via ASF. Can be bypassed by the SSA (see next slide) to insert automatically generated goals or user-generated goals at the SSA level.

GSFC: Adaptive Sensor Fleet System

Fleet

Manager

Comm.

Client

Goals

Database

Science/Goal

Analyzer

States/Models

Database

ASF

Web

GUI

slide10

TAOSF Architecture Design (4)

OCU

Operator Control Unit provided by SPAWAR Systems Center San Diego with modifications by CMU

Robot Controller

Provides tasking and monitoring of individual robots and groups. Based on existing CMU Robot Supervision Architecture.

Science Data Analyzer

Combines data from the robots and other sources (satellite imagery, buoys, etc.) to predict HAB locations.

Remote Data Interface / Display

Allows remotely-located scientists to review data both in real-time and as recorded playback.

CMU/JPL: System Supervision Architecture

OCU

Interface

OCU

ASF

Client

Robot

Controller

Science Data

Analyzer

External

Science

Data

Data

Storage

Handler

Data Storage

Remote

Data

Interface

Remote

Data

Display

software integration
Software Integration
  • Nov 2006: API for Adaptive Sensor Fleet (ASF)-OASIS communications developed
  • Dec 2006: Conducted dry test of ASF commands sent to and engineering telemetry received from OASIS
  • Feb 2006: Initial integration of System Supervision Architecture (SSA) with ASF and existing U.S. Navy OCU (MOCU1) preparatory to SSA-ASF-OASIS end-to-end software test

1MOCU ( Multi-Robot Operator Control Unit) is developed by SPAWAR Systems Center San Diego (SSC-SD)

mocu sending waypoints to and receiving engineering telemetry from asf
MOCU sending waypoints to and receiving engineering telemetry from ASF

OASIS platform

following waypoint

trajectory

Engineering

telemetry

hab dataset acquisition analysis
HAB Dataset Acquisition/Analysis

Chesapeake Bay

  • Based on ROMS model of the Chesapeake Bay, investigating correlation between surface temperature and salinity
  • Obtained chlorophyll A and sea surface temperature MODIS data for the Delmarva region
  • Obtained descriptions of five potential HAB regions of study in the Chesapeake and Coastal Bays from the Maryland Dept. of Natural Resources

Temperature

Salinity

MODIS sea surface temperature

ground truthing system
Ground-Truthing System
  • Purpose: confirm data from OASIS platforms
    • Platform positions and “bloom” concentration measures
  • Means: aerial sensor/communications package
      • Carried aloft by an aerostat tethered to a human-piloted research boat
      • Sensor package: GPS position, barometric altimeter, magnetic compass, video camera filtered to enhance rhodamine WT imaging
      • Use existing JPL software for mosaicing and object recognition
slide15

Ground-Truthing System

To confirm data from OASIS platforms:

• Aerial camera with sensors:

latitude, longitude, altitude & heading

• Image the bloom and the boats

Will use existing JPL software to geolocate boats and bloom.

slide16

Ground-Truthing System

Initial Test — 2006-Nov-14 at JPL

Simple initial test conducted with recording GPS and Digital Camcorder lifted on a tethered weather balloon.

1) GPS data was used to recover an aerial image of the test site from Google Earth (GE).

2) Camcorder images were overlaid on GE image.

slide17

Ground-Truthing System

Initial Test — 2006-Nov-14 at JPL

  • Mosaic of camcorder images (sharp) overlaid on Google Earth image (blurry)
  • Position reconstructed from recorded GPS track data
  • Heading recovered manually
slide18

Ground-Truthing System

Second Test — 2007-Feb-16 at JPL

• Avionics package:

• GPS

• Barometric altimeter

• Magnetic compass

• Serial data link

• Wide-angle monochrome camera

• Video transmitter

• Fins on package to limit rotation

1) GPS data was used to recover an aerial image of the test site from Google Earth (GE).

2) Camcorder images were overlaid on GE image.

slide19

Ground-Truthing System

Second Test — 2007-Feb-16 at JPL

Two frames from camera over parking lot test site annotated with GPS position, altitude above ground, and heading showing uncertainty.

These data recorded simultaneously from sensor package.

slide20

Ground-Truthing System

Second Test — 2007-Feb-16 at JPL

  • Test Image 1 overlaid on Google Earth image of parking lot
  • Test Image center within 3m of Google Earth GPS mark
  • Heading uncertainty includes Google Earth’s North. This will be improved with a more stable aerostat.
slide21

Ground-Truthing System

Second Test — 2007-Feb-16 at JPL

  • Test Image 2 overlaid on Google Earth image of parking lot
  • Test Image center within 2m of Google Earth GPS mark
  • Heading off by more than 30˚ from Google Earth’s North. This will be improved with a more stable aerostat.
slide22

OASIS Platform Development

OASIS about to launch

OASIS at sea

  • 15 Nov 06: First open-ocean deployment of OASIS-2
  • OASIS-2 has barometer, fluorometer, and temperature, humidity, and salinity sensors
  • OASIS-2 currently conducting long-term (2-3 day) operations testing
  • OASIS-1 being upgraded to OASIS-2 level
year 1 schedule
Year 1 Schedule

3Q06

4Q06

1Q07

2Q07

3Q07

4Q07

Software integration

Overall architecture design

Interface Definition Document

Subsystem integration

Adaptive sampling

HAB data acquisition

Initial algorithm development

Sensors

Ground-truthing system development

Science sensor placement

System testing

In-water subsystem test

In-water 1-platform test

In-water multi-platform test

Validate autonomous dye detection

Yr. 1 start date: Sept. 5, 2006

Yr. 1 end date: Sept. 4, 2007

year 1 milestones
Year 1 Milestones
  • Conduct initial ground-truthing tests (at JPL) Nov 2006
  • Complete/test ASF-OASIS interface Dec 2006
  • Conduct interim ground-truthing tests (at JPL) Feb 2007
  • Complete Interface Definition Document Feb 2007
  • Test fully integrated (SSA-ASF-OASIS) software Apr 2007
  • Test components on one platform in water May 2007
  • Autonomous single-platform mapping of dye Jun 2007
  • Autonomous multi-platform mapping of dye Jul 2007
key project milestones
Key Project Milestones
  • Interface Definition Document Feb 2007
  • Autonomous multi-platform mapping of dye Jul 2007
  • Multi-platform HAB search in estuary Jul 2008
  • Use MODIS data to target and reassign fleet Jul 2009
work planned
Work Planned
  • Finalize Year 1 TAOSF architecture design
  • Test end-to-end software integration first in simulation, then with one platform in the water: issue commands to and receive engineering and science telemetry from OASIS
  • Use ROMS data to investigate ability to infer detailed salinity and temperature characteristics from sparse samples
  • Stabilize, refine, and conduct additional testing of ground-truthing system
  • Follow up initial contacts at Feb 2007 San Diego meeting
    • Stephan Kolitz expressed interest in inserting the dynamic replanning component of the Earth Phenomena Observing System (EPOS) as a module in the TAOSF system
    • We may be able to use Internet tasking of the EO-1 satellite (POC Dan Mandl)
    • Confer with Robert Morris about inserting his planning work in TAOSF
critical issues
Critical Issues
  • The availability of the third OASIS platform for the July 2007 multi-platform test is dependent on the platform development schedule and NOAA funding of this parallel project.
  • The ability of the ground-truthing system to accurately detect rhodamine WT dye needs to be validated.
  • We have had difficulty obtaining good HAB or HAB-related datasets that would allow algorithm development and off-line testing of adaptive sampling.
slide28

PROJECT FINANCIAL STATUSTelesupervised Adaptive Ocean Sensor Fleet

Notes:

1. Wallops has not charged the award yet, but will do so later in the year in lump

sum(s) reflecting the planned average $10K/month spending rate.

2. GSFC began charging to the award in December 2006. Their planned average

spending is $8K/mo.

educational outreach
Educational Outreach
  • Ellie Lin
    • Ph.D. student, Robotics
    • Carnegie Mellon University
  • Steve Stancliff
    • Ph.D. student, Robotics
    • Carnegie Mellon University
  • Jeff Baker
    • B.S. student, Computer Science
    • Duquesne University
  • Sandra Mau
    • Master’s student, Robotics
    • Carnegie Mellon University
acronyms glossary
Acronyms/Glossary
  • API – Application Program Interface
  • ASF – Adaptive Sensor Fleet
  • CMU – Carnegie Mellon University
  • Delmarva – Delaware/Maryland/Virginia
  • EST – Emergent Space Technologies
  • GSFC – Goddard Space Flight Center
  • HAB – Harmful Algal Bloom
  • IG – Inference Grids
  • IRC – Instrument Remote Control
  • JPL – Jet Propulsion Laboratory
  • MOCU – Multi-Robot Operator Control Unit
  • MODIS – Moderate-Resolution Imaging Spectrometer
  • MySQL – My Structured Query Language, a popular database management system
  • NOAA – National Oceanic and Atmospheric Administration
  • OASIS – Ocean Atmosphere Sensor Integration System
  • Rhodamine WT – a non-toxic liquid red dye commonly used in water-tracing studies
  • ROMS – Regional Ocean Modeling System
  • SPAWAR – Space and Naval Warfare Systems
  • SSA – System Supervision Architecture
  • TAOSF – Telesupervised Adaptive Ocean Sensor Fleet
  • WFF – Wallops Flight Facility