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Objective: Test Acoustic Rapid Environmental Assessment mechanisms.
• Construct an adaptive AUV path control.
• Predict ocean in real-time.
• Optimize control parameters in real-time, s.t. minimize TL uncertainty.
FAF’05 Mission A1
Forward Backward
• Adaptive AUV path control --- yoyo control
Principle & MethodD
epth
(m
)
Range (km) (m/s) (m/s)
• Adaptive AUV path control --- yoyo control
Principle & MethodD
epth
(m
)
Range (km)
• Relative position to thermocline.
• Relative position to upper bound and lower bound and bottom.
dz
c thresholda with Compare
•
Control parameters:• n: number of sampling points to calculate
• d: threshold of
z
c
z
c
M I T
Data Assimilation
Smaller
Ensemble of HOPS/ESSE forecasts
Nowcasts at future time
Sample variance of
TL
Statistics & Acoustic
model
Virtual ExperimentPrincipal Estimate
Principle & Method
P.E. OAP.E. new
Yoyo 7
Yoyo 2Yoyo 1
……
TL uncertainty
associated with
Yoyo 1Err. new
SVP Generator
R 1
R m
..…
TL 1,1
TL 1,m
CTD noise
P.E. OAP.E. new
Yoyo 7
Yoyo 2Yoyo 1
……
TL uncertainty
associated with
Yoyo 1Err. new
SVP Generator
R 1
R m
..…
TL 1,1
TL 1,m
CTD noise
Implementation• Plan 7/13/2005~7/16/2005
ACOMM Bouy
LBL transponderPOOL
10 6’ E
42 35’ N2.5 km
2 k
mAlpha
Charlie
Echo Delta
Bravo
NC
M I
T
Implementation & Results• Plan for 7/17/2005~7/26/2005
Optimal: n=30, d=1000 for afternoon of Jul 26
Max range=2.1km, frequency=100Hz
Implementation & ResultsOptimal: points=30, threshold=1000 for morning
7/21/05
Max range=4.3km, frequency=100Hz
Implementation & ResultsOptimal: points=30, threshold=0.1 for afternoon
7/21/05
Max range=2.1km, frequency=500Hz
SummaryMajor Accomplishment:• Constructed an AUV yoyo control.• Coupled HOPS outputs, AREA simulator and optimization codes
together in a simple version.• Implemented ocean prediction and control parameters optimization
in real-time.
Future work:• Speed up cost function computation.• Improve optimization for nonlinear, nonseparable cost
function.• Stochastic optimization.
P.E. OAP.E. new
Yoyo 7
Yoyo 2Yoyo 1
……
TL uncertainty
associated with
Yoyo 1Err. new
SVP Generator
R 1
R m
..…
TL 1,1
TL 1,m
CTD noise
Principal Estimate
Rn OAP.E. new
Yoyo 7
Yoyo 2Yoyo 1
……
TL uncertainty
associated with
Yoyo 1Err. new
SVP Generator
R 1
R m
..…
TL 1,1
TL 1,m
CTD noise
+
+…
….
Forcast
Ensemble
OATLsumE varcostnoise CDT
OATLsumE varcostn21 RR,R noise, CDT
ith Yoyo pattern
CTD noise
Objective Analysis
Principle
Estimate
A priori error field
Correlation Lengths
New P.E. Error field
Sound Speed Generator
RAM
TL Uncertainty for ith yoyo
