Upload
ramona
View
28
Download
0
Tags:
Embed Size (px)
DESCRIPTION
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) - PowerPoint PPT Presentation
Citation preview
Telesupervised Adaptive Ocean Sensor Fleet Year 1 Interim Review
Feb. 23, 2007Carnegie Mellon University
NASA Goddard Space Flight FacilityNASA Wallops Flight Facility
Jet Propulsion Laboratory
2
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)
3
Telesupervised Adaptive Ocean Sensor Fleet (TAOSF)
Objective
Key Milestones
TRLin = 4
• 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
Approach• 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• Gregg Podnar / CMU• Jeffrey Hosler, John Moisan, Tiffany Moisan / GSFC• Alberto Elfes / JPL
PI: John Dolan, CMU
Co-I’s/Partners
Artist's conception of telesupervised sensor fleet investigating a Harmful Algal Bloom.
• 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 searchsimulation 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
4
TAOSF Program Synergy
ESTO Office
Inputs
4 PhD, MS, and BS students
ESTO Office
Collaborative Partner
Telesupervised Adaptive Ocean
Sensor Fleet Project
AIST Value Added Outputs
Tools and Technology Users
GSFC
OASIS Platforms
Adaptive Sensor Fleet / Instrument Remote Control
Multi-Robot Telesupervision
Architecture
Planetary Exploration
HAB Detection
5
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-platformtelepresence
Low-bandwidth, multi-platform telemetry
6
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)
7
TAOSF Architecture Design (1)
OASIS ASV
System (EST)
Platform Communicator
(GSFC)
Multi-Platform Simulation
Environment(GSFC)
Adaptive Sensor
Fleet(GSFC)
SystemSupervision Architecture
(CMU/JPL)
OASIS Driver API Instrument Remote Control MySQL HTTP
OASIS ASV
System (EST)
OASIS ASV
System (EST/WFF)
Connectivity of high-level components
CMU: Carnegie Mellon UniversityGSFC: Goddard Space Flight CenterWFF: Wallops Flight FacilityEST: Emergent Space TechnologiesJPL: Jet Propulsion Laboratory
8
GSFC: Multi-Platform Simulation Environment
EST: OASIS ASV System
OASISPlatform
PlatformGateway
Mission Operations Environment
Fleet Environment
OASISPlatform
NetworkServices
EngineeringInterface
Logging
PlatformDriver
Environmental Models
Platform BehaviorModels
SimulationManager
GSFC: Platform Communicator
MessageReceiver
MessageConverter
StateModel
OASIS Driver API Instrument Remote Control
Detailed view of platforms, simulator, and communicator
TAOSF Architecture Design (2)
9
GSFC: Adaptive Sensor Fleet System
GoalsDatabase
Comm.Client
FleetManager
ASFWeb GUI
Science/GoalAnalyzer
States/ModelsDatabase
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.
10
CMU/JPL: System Supervision Architecture
ASFClient
Science Data Analyzer
OCU Interface
DataStorage Handler
Data Storage
RobotController
OCU
External Science
Data
RemoteData
Display
RemoteData
Interface
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.
TAOSF Architecture Design (4)
11
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)
12
MOCU sending waypoints to and receiving engineering telemetry from ASF
Engineering telemetry
OASIS platformfollowing waypoint
trajectory
13
HAB Dataset Acquisition/Analysis
• 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
Chesapeake Bay
Temperature Salinity
MODIS sea surface temperature
14
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
15
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.
16
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.
17
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
18
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.
19
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.
20
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.
21
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.
22
• 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
OASIS at seaOASIS about to launch
OASIS Platform Development
23
Year 1 Schedule
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
3Q06 4Q06 1Q07 2Q07 3Q07 4Q07
Yr. 1 start date: Sept. 5, 2006 Yr. 1 end date: Sept. 4, 2007
24
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
25
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
26
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
27
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.
28
PROJECT FINANCIAL STATUSTelesupervised Adaptive Ocean Sensor Fleet
Cost Status
0
50
100
150
200
250
300
350
400
450
500
Co
st $
K
Cum Cost Plan 35 73 111 148 186 224 261 299 337 368 399 431 471
Cum Cost Actual 17 34 52 75 89
Variance -18 -39 -58 -73 -97
Sep-06 Oct-06 Nov-06 Dec-06 Jan-07 Feb-07 Mar-07 Apr-07 May-07 Jun-07 Jul-07 Aug-07 Sep-07
Notes: 1. Wallops has not charged the award yet, but will do so later in the year in lumpsum(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.
29
Educational Outreach
• Steve Stancliff– Ph.D. student,
Robotics– Carnegie
Mellon University
• Ellie Lin– 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
30
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