1 Don Brutzman and Jeff Weekley Naval Postgraduate School (NPS) Center for Autonomous Underwater Vehicle (AUV) Research Modeling, Virtual Environments

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  • *Don Brutzman and Jeff Weekley

    Naval Postgraduate School (NPS)Center for Autonomous Underwater Vehicle (AUV) ResearchModeling, Virtual Environments & Simulation (MOVES) Institute23 August 2009NPS AUV Workbench:Rehearsal, Reality, Replay forUnmanned Vehicle Operations

  • *TopicsWhy modeling & simulation?AUV Workbench ComponentsSonar VisualizationTechnologies: X3D, XML, XMSFLooking aheadDemonstrations

  • theory = conceptual description of reality

    experiment = test theory in physical worldScientific method, 15th-20th centuries


    Scientific method, 15th-20th centuries




  • model = formal representation of reality

    simulation = behavior of model over timeScientific method, 1950-presentScientific method, 1950-present


    Scientific method, 1950-present




    implements a

    corresponds to an



  • model = formal representation of reality

    simulation = behavior of model over timeScientific method, 1950-presentScientific method, 1950-present


    Scientific method, 1950-present

    Modeling &Simulation




  • Virtual environments can connect all models and simulations togetherScientific method, emerging 21st centuryScientific method, emerging 21st century


    Scientific method, emerging 21st century




    Modeling &Simulation

    Virtual Environments linked together via networking interfaces, shared semantics

  • *AUV Workbench Project DescriptionOpen source, Java, XML, X3D graphicsMission planningRobot mission executionHydrodynamics responseSonar modeling3D visualizationCompressed radio frequency (RF) and acoustic communications

  • AUV Workbench poster

  • *Our 3 Rs: rehearsal, reality, replaySame needs and capabilities for each: mission, visualization, data support, etc.AUV workbench supports eachongoing work, starting to mainstream15 years of accumulated effortintegrating great variety of successful worknew work projects occurring regularlyCollaboration is welcome

  • *RehearsalMission planning and preparation

  • *Visualization, mission planning

  • Multiple vehicles supported

  • *RehearsalPrepare missions, either manually or automatically via other software toolsTest robot softwares ability to perform commandsTest again with physics in the loopHydrodynamics and control are critical, difficultSonar, environmental modelingRepeat until robust, with cautious respectSimulation is doomed to success G. Bekey

  • *Mission views: iconic, tree, XML, dialog box

    Each view is consistent with GIS, 2D, 3D views

  • *Supporting views: mission metadata, state

  • *2D planner: script missions

  • *2D planner: script missionsCan edit missions by adding or removing script commands

  • *2D planner: agenda missions

  • *OpenMap GIS displayOpenMap http://www.openmap.org Geographic Information System (GIS)Open source Java, bundledBuilding layers for areas of interestGeographic coordinates throughoutWill synchronize with mission definitions, X3D

  • *

  • *Secure sftp download of large GIS datasets

  • *Reality: real-time mission supportMonitor mission progressTask-level control using same mission vocabularyVisualize and supervise operationscaveat, again: work in progressIntegrate acoustic and RF communicationsChat for distributed collaboration among participants, both human and robotic

  • *Real-time mission data import/exportExportMission commands that are already rehearsedConvert to specific dialect particular to that robotImportMission telemetry recording detailed track dataData products: imagery, video, mission log, etc.

  • *Record mission metadata for archivesSupport operator keeping detailed notes, kept in context when conducting missionPrompt for full details as appropriateArchive notes for later review and followup

    Future workAutomatic tests to confirm configuration, controlAutomate pre-underway checklists

  • *Serial port communicationsConfigurable to different devices, ports

  • *JavaHelp support

  • *Thesis list

  • *Snapshot support

  • *Replay: post-mission supportAutomatic archiving of mission to serverBeing built into workbench simplify user tasksIntegration and compression of all relevant data into single compressed XML fileMetadata for missionMany pieces: ordered mission, commands, telemetry, coefficients, contacts, etc. etc.Autonomous Vehicle Control Language (AVCL) is Ph.D. work by CDR Duane Davis

  • Telemetry data replay

  • *Geographic track plot

  • *x y z versus t plot

  • *phi theta psi versus t plot

  • *Mission plots using gnuplot

  • *ELumens dome display supportwww.elumens.com

  • *Physical modelingControl algorithms and 6 degree-of-freedom (6DOF) hydrodynamics responseSonar propagation, attenuationCollision detectionDirect vehicle contact and sensor contactSeparate use of same X3D graphics modelsVisualization greatly aids understandingprovides good forcing function for integration

  • *Control algorithm coefficients

  • *6DOF dynamics coefficients

  • *Wave modelingTriple sinusoid Pierson Moskowitz equations provide good emulation of variable sea stateWell understood example modelMany other variations exist, could substituteReal-time modeling of underwater vehicle response when broachedSplit hull into sectionsCompute each one as linear approximationBuoyancy components add to overall response

  • *REMUS mission search, from above

  • *REMUS mission search, from behind

  • *Group development supportOpen standards throughoutOpen source Java for softwareAll data structured as XMLWebsite https://savage.nps.edu/AuvWorkbench XMSF BugtrackerEmail list with hypermail archiveOnline autoinstallers

  • *Website

  • *XMSF Bugtracker

  • *Mailing list support

  • *Environmental data inputsConstant vectors for ocean current, windNetCDF environmental data developed by NAVO/NRL Stennis supercomputer modelsFNMOC web-services query to live/projected meteorological sources using Joint Metoc Brokering LanguageWorked briefly but was a moving targetOther inputs welcome

  • *Goal Outcomes: sonar-vis projectSonar and battlespace visualizationLink aircraft, ship and HPCC computingSimilar interfaces, with/without connectivityTactical Supercomputing refrigerator boxSupport shared situational awarenessCandidate technologies for spiral developmentContinue to lead usw-xml working group for USN NAVSEA

  • Sonobuoy field visualization

  • *Integrating 2D/3D interfaces with Web Services

  • *sonar-vis Project DescriptionVisualize multipath 3D sonar propagationSituational awareness, sensitivity analysisMultiple models: path, transmission loss, PD ... Operator familiarization, training, experienceEnhance TDAs for at-sea operatorsReachback using Web services messaging, accessing both computational and data assetsOpen source open standards: Java, X3D, XML

  • *Sonar Visualization poster, I/ITSEC 2003

  • *XML web services for METOC data 1Query panel and plotted response

  • *XML web services for METOC data 2Monitoring initial query/response sequence

  • *XML web services for METOC data 3Server-side supercomputer response

  • *XML web services for METOC data 4

  • *Collision detection architecturePrinciple: single X3D scene database for 3D rendering and collision detectionBasic functionality implemented in Xj3D for U.S. Army Deformable Surfaces project Potential extension to X3D SpecificationOpen-source implementation & evaluationLarge-scene physics feasible in real time

  • *Collision detection architectureUnder development

  • *TechnologiesExtensible Markup Language (XML)Validatable data, binary compressionWeb Services for message exchangeEnhance current sonar-model enginesRecursive Ray Acoustics (RRA) sonar computationPC-IMAT/STAPLE/STDA(ASPECT) primary targetsEnvironmental data from FNMOC via Web servicesExtensible 3D (X3D) GraphicsOpen-standard open-source interactive visualization

  • *XML in 10 Points http://www.w3.org/XML/1999/XML-in-10-pointsXML is for structuring dataXML looks a bit like HTMLXML is text, but isn't meant to be readXML is verbose by designXML is a family of technologiesXML is new, but not that newXML leads HTML to XHTMLXML is modularXML is basis for RDF and the Semantic WebXML is license-free, platform-independent and well-supported400+ member companies & institutions in World Wide Web Consortium (W3C)already understand the business case

  • *Extensible Modeling & Simulation Framework (XMSF)Web services for all manner of M&SA composable set of standards, profiles, and recommended practices for web-based M&SFoundational precepts: Internet network technologies, Extensible Markup Language (XML)-based languages, and service-oriented architectures for simple messaging Enable a new generation of distributed M&S applications to emerge, develop, interoperate with tactical systemsMany easily repeatable exemplars using Web Services


  • *What is 3D?2D works for chart-oriented displays3D gives fly-thru freedom of viewpointView physically based propagation pathsView depth separationView bottom, surface interactionsView multiple overlapping sensorsAugment (


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