Site
!!!!%color=#4444BB% '''Related Material:'''
* [[Path:/moos-dawg/material/01-tutorial-schneider.pdf | Tutorial material given at MOOS-DAWG 2010]]
!!!! %color=#7777BB% [[Talk.01-Newman|Prev-Talk]]%% | \
%color=#7777BB%[[Talk.02-YaariA|Next-Talk]]%% | \
%color=#7777BB%[[Talk.Listing|All-Talks]] | \
%color=#7777BB%[[Talk.ListingSorted|Talks-Sorted]]%%
!!! %color=#449944%Acoustic Networking in MOOS using pAcommsHandler%%
In this tutorial, we introduce several MOOS applications available in the public domain. Some applications are general-purpose, for MOOS users broadly. Some applications are specific to use with the IvP Helm.
* %color=#4444BB% pMarineViewer%% - A runtime GUI for handling multiple vehicles, with optional hooks to the IvP Helm.
* %color=#4444BB% uHelmScope%% - An IvP Helm specific tool for scoping on a live instance of the helm.
* %color=#4444BB% uTimerScript%% - A general purpose MOOS scripting mechanism.
* %color=#4444BB% Alog Toolbox%% - A general purpose set of tools for analyzing MOOS .alog files.
* %color=#4444BB% uXMS%% - A general purpose MOOS terminal-based scope.
* %color=#4444BB% pNodeReporter%% - A MOOS process for collecting and exporting platform (node) information.
* %color=#4444BB% pBasicContactMgr%% - A MOOS contact manager for use with the IvP Helm on multi-vehicle missions.
One of the major requirements for a succesful field deployment of autonomous vehicles is a
robust and reliable simulation testbed. However, equally critical is a configuration
management infrastructure which ensures a flawless and transparent transition of a succesfully
tested autonomy system to a vehicle in an actual field deployment.
The MIT Laboratory for
Autonomous Marine Sensing Systems (LAMSS) has developed a comprehensive simulation environment for hetrerogeneous networks with autonomous underwater vehicles, surface craft and gliders operating MOOS-IvP payload autonomy systems. The virtual environment allows for simulation at
different levels of fidelity of relevant undersea sensors, communication networking, and
platform dynamics. The MOOS-IvP tool set incorporates a set of utilities supporting a robust
configuration management infrastructure, which allows for easy modification of mission and
behavior parameters, while ensuring that mission configuration is successfully transitioned to
a vehicle in the field. Thus, the configuration management system ensures that the entire
autonomy system configuration is transitioned to an operational vehicle, with only the
interfaces to the outside world being completely or partially replaced by physics-based
simulations of the environment, the platform and sensor dynamics, and the communication
infrastructure.
The transparent transition is ensured by the simulators adhering to exactly
the same ICDs as thy actual sensor and communication systems. This in turn allows for an
incremental transition from simulation to operation, e.g. operating virtual sensing nodes
within an actual undersea communication network for safe testing of new adaptive and
collaborative maneuvers. This tutorial will describe the MIT-LAMSS simulation environment,
with its suite of environmental acoustic simulators, and it's use for designing and executing
an actual virtual experiment will be demonstrated in real time.
* pMarineViewer
* pMarineViewer
* uHelmScope
* uTimerScript
* Alog Toolbox
* uXMS
* pNodeReporter
* pBasicContactMgr
Tutorial Acomms
Site.TutorialAcomms History
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!!!! Wed Jul 20th, 1230pm-130pm, MIT Building 32 Room 141 (Stata Center)
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!!!! Wed Jul 20th, 1230pm-130pm, MIT Building 32 Room 124 (Stata Center)
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!!!! Wed Jul 20th, 1230pm-130pm, MIT Building 32 Room 141 (Stata Center)
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!!!!%color=#4444BB% '''Related Material:'''
* [[Path:/moos-dawg/material/01-tutorial-schneider.pdf | Tutorial material given at MOOS-DAWG 2010]]
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MIT, Mechanical Engineering, Dept. of Mechanical Engineering
to:
MIT, Dept. of Mechanical Engineering, Laboratory for Autonomous Marine Sensing Systems
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MIT, Mechanical Engineering and CSAIL
to:
MIT, Mechanical Engineering, Dept. of Mechanical Engineering
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!!!! Wed Aug 25th, 330pm-500, MIT Building 32 Room 144 (Stata Center)
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!!!! Wed Aug 25th, 1030am-1200 noon, MIT Building 32 Room 144 (Stata Center)
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%color=#7777BB%[[Talk.02-YaariA|Next-Talk]]%% | \
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%color=#7777BB%[[Talk.ListingSorted|Talks-Sorted]]%
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!! %color=#449944%Tutorial: Acoustic Networking in MOOS using pAcommsHandler%%
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!! %color=#449944%Acoustic Networking in MOOS using pAcommsHandler%%
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References
[1] T. Schneider and H. Schmidt, “A compact control language for autonomous underwater vehicles,” MIT, Tech. Rep. LAMS-09-03, 2010. [Online]. Available: http://gobysoft.com/resources/docs/comms stack.pdf
[1] T. Schneider and H. Schmidt, “A compact control language for autonomous underwater vehicles,” MIT, Tech. Rep. LAMS-09-03, 2010. [Online]. Available: http://gobysoft.com/resources/docs/comms
to:
!!!!References
[1] T. Schneider and H. Schmidt, “A compact control language for autonomous underwater vehicles,” MIT, Tech. Rep. LAMS-09-03, 2010. [Online]. Available: http://gobysoft.com/resources/docs/comms_stack.pdf
[1] T. Schneider and H. Schmidt, “A compact control language for autonomous underwater vehicles,” MIT, Tech. Rep. LAMS-09-03, 2010. [Online]. Available: http://gobysoft.com/resources/docs/comms_stack.pdf
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[3] T. Schneider and H. Schmidt, “The Dynamic Compact Control Language: A compact marshalling scheme for acoustic communications,” in Proceedings of the IEEE Oceans Conference 2010, Sydney, Australia, 2010. [Online]. Available: http://gobysoft.com/resources/dccl oceans10.pdf
to:
[3] T. Schneider and H. Schmidt, “The Dynamic Compact Control Language: A compact marshalling scheme for acoustic communications,” in Proceedings of the IEEE Oceans Conference 2010, Sydney, Australia, 2010. [Online]. Available: http://gobysoft.com/resources/dccl_oceans10.pdf
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References
[1] T. Schneider and H. Schmidt, “A compact control language for autonomous underwater vehicles,” MIT, Tech. Rep. LAMS-09-03, 2010. [Online]. Available: http://gobysoft.com/resources/docs/comms stack.pdf
[2] T. Schneider, “Goby underwater autonomy project.” [Online]. Available: https://launchpad.net/goby
[3] T. Schneider and H. Schmidt, “The Dynamic Compact Control Language: A compact marshalling scheme for acoustic communications,” in Proceedings of the IEEE Oceans Conference 2010, Sydney, Australia, 2010. [Online]. Available: http://gobysoft.com/resources/dccl oceans10.pdf
[1] T. Schneider and H. Schmidt, “A compact control language for autonomous underwater vehicles,” MIT, Tech. Rep. LAMS-09-03, 2010. [Online]. Available: http://gobysoft.com/resources/docs/comms stack.pdf
[2] T. Schneider, “Goby underwater autonomy project.” [Online]. Available: https://launchpad.net/goby
[3] T. Schneider and H. Schmidt, “The Dynamic Compact Control Language: A compact marshalling scheme for acoustic communications,” in Proceedings of the IEEE Oceans Conference 2010, Sydney, Australia, 2010. [Online]. Available: http://gobysoft.com/resources/dccl oceans10.pdf
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!!! %color=#449944%Tutorial: MOOS-IvP Autonomy Tools%%
!!!!Michael Benjamin
Naval Undersea Warfare Center, Division Newport, \\
!!!!
Naval Undersea Warfare Center, Division Newport,
to:
!!! %color=#449944%Acoustic Networking in MOOS using pAcommsHandler%%
!!!! Toby Schneider \\
!!!! Toby Schneider \\
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* %color=#4444BB% pMarineViewer%% - A runtime GUI for handling multiple vehicles, with optional hooks to the IvP Helm.
* %color=#4444BB% uHelmScope%% - An IvP Helm specific tool for scoping on a live instance of the helm.
* %color=#4444BB% uTimerScript%% - A general purpose MOOS scripting mechanism.
* %color=#4444BB% Alog Toolbox%% - A general purpose set of tools for analyzing MOOS .alog files.
* %color=#4444BB% uXMS%% - A general purpose MOOS terminal-based scope.
* %color=#4444BB% pNodeReporter%% - A MOOS process for collecting and exporting platform (node) information.
* %color=#4444BB% pBasicContactMgr%% - A MOOS contact manager for use with
to:
Acoustic waves are often the only practical carrier for sub-sea communica- tions due to the short propagation distances of light and radio waves in sea water. Using acoustics, however, has its limitations. Due to the realities of sound propagation, the acoustic channel is severely limited in throughput and typically has high latency. These constraints require special treatment at all levels of the network from hardware to the application layer.
In this tutorial we will focus on the application pAcommsHandler [1], which is the MOOS interface to a suite of C++ acoustic networking libraries called goby-acomms [2]. Currently, the hardware supported is the WHOI Micro- Modem. We will learn how to
* Define structures for compact short messages suitable for sending over the acoustic channel using the Dynamic Compact Control Language (DCCL) (which extends XML). DCCL is implemented in goby-acomms libdccl and discussed in [3].
* Configure message queues for different types of messages to dynamically assign priorities to messages based on the overall value and time-sensitivity of the data using goby-acomms libqueue.
* Deal with medium access control (MAC) in the underwater channel using goby-acomms libamac.
* Discuss issues pertaining to using the WHOI Micro-Modem and how we can to extend goby-acomms to work with other hardware.
At the end of the tutorial, you will be able to configure and use pAcommsHandler to communicate seamlessly amongst MOOS-based undersea vehicles and other acoustic modem equipped nodes.
In this tutorial we will focus on the application pAcommsHandler [1], which is the MOOS interface to a suite of C++ acoustic networking libraries called goby-acomms [2]. Currently, the hardware supported is the WHOI Micro- Modem. We will learn how to
* Define structures for compact short messages suitable for sending over the acoustic channel using the Dynamic Compact Control Language (DCCL) (which extends XML). DCCL is implemented in goby-acomms libdccl and discussed in [3].
* Configure message queues for different types of messages to dynamically assign priorities to messages based on the overall value and time-sensitivity of the data using goby-acomms libqueue.
* Deal with medium access control (MAC) in the underwater channel using goby-acomms libamac.
* Discuss issues pertaining to using the WHOI Micro-Modem and how we can to extend goby-acomms to work with other hardware.
At the end of the tutorial, you will be able to configure and use pAcommsHandler to communicate seamlessly amongst MOOS-based undersea vehicles and other acoustic modem equipped nodes.
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* %color=#4444BB% pBasicContactMgr%% - A MOOS contact manager for coordinating with the IvP Helm multi-vehicle missions.
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* %color=#4444BB% pBasicContactMgr%% - A MOOS contact manager for use with the IvP Helm on multi-vehicle missions.
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* %color=#4444BB% pBasicContactMgr%% - A manager for handling incoming contact reports and generating alerts.
to:
* %color=#4444BB% pBasicContactMgr%% - A MOOS contact manager for coordinating with the IvP Helm multi-vehicle missions.
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In this tutorial, we introduce several MOOS applications available in the public domain for facilitating the autonomy missions with the IvP Helm.
to:
In this tutorial, we introduce several MOOS applications available in the public domain. Some applications are general-purpose, for MOOS users broadly. Some applications are specific to use with the IvP Helm.
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* %color=#4444BB% uHelmScope%%
* %color=#4444BB% uTimerScript%%
* %color=#4444BB% Alog Toolbox%%
* %color=#4444BB% uXMS%%
* %color=#4444BB% pNodeReporter%%
* %color=#4444BB% pBasicContactMgr%
* %color=#4444BB% Alog Toolbox%%
* %color=#4444BB% uXMS%%
* %color=#4444BB% pNodeReporter%%
* %color=#4444BB% pBasicContactMgr
to:
* %color=#4444BB% uHelmScope%% - An IvP Helm specific tool for scoping on a live instance of the helm.
* %color=#4444BB% uTimerScript%% - A general purpose MOOS scripting mechanism.
* %color=#4444BB% Alog Toolbox%% - A general purpose set of tools for analyzing MOOS .alog files.
* %color=#4444BB% uXMS%% - A general purpose MOOS terminal-based scope.
* %color=#4444BB% pNodeReporter%% - A MOOS process for collecting and exporting platform (node) information.
* %color=#4444BB% pBasicContactMgr%% - A manager for handling incoming contact reports and generating alerts.
* %color=#4444BB% uTimerScript%% - A general purpose MOOS scripting mechanism.
* %color=#4444BB% Alog Toolbox%% - A general purpose set of tools for analyzing MOOS .alog files.
* %color=#4444BB% uXMS%% - A general purpose MOOS terminal-based scope.
* %color=#4444BB% pNodeReporter%% - A MOOS process for collecting and exporting platform (node) information.
* %color=#4444BB% pBasicContactMgr%% - A manager for handling incoming contact reports and generating alerts.
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robust and reliable simulation testbed. However, equally critical is a configuration
management infrastructure which ensures a flawless and transparent transition of a succesfully
tested autonomy system to a vehicle in an actual field deployment.
The MIT Laboratory for
Autonomous Marine Sensing Systems (LAMSS) has developed a comprehensive simulation environment for hetrerogeneous networks with autonomous underwater vehicles, surface craft and gliders operating MOOS-IvP payload autonomy systems. The virtual environment allows for simulation at
different levels of fidelity of relevant undersea sensors, communication networking, and
platform dynamics. The MOOS-IvP tool set incorporates a set of utilities supporting a robust
configuration management infrastructure, which allows for easy modification of mission and
behavior parameters, while ensuring that mission configuration is successfully transitioned to
a vehicle in the field. Thus, the configuration management system ensures that the entire
autonomy system configuration is transitioned to an operational vehicle, with only the
interfaces to the outside world being completely or partially replaced by physics-based
simulations of the environment, the platform and sensor dynamics, and the communication
infrastructure.
The transparent transition is ensured by the simulators adhering to exactly
the same ICDs as thy actual sensor and communication systems. This in turn allows for an
incremental transition from simulation to operation, e.g. operating virtual sensing nodes
within an actual undersea communication network for safe testing of new adaptive and
collaborative maneuvers. This tutorial will describe the MIT-LAMSS simulation environment,
with its suite of environmental acoustic simulators, and it's use for designing and executing
an actual virtual experiment will be demonstrated in real time.
to:
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!!!! Michael Benjamin \\
to:
!!!! Michael Benjamin
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* pMarineViewer - A runtime GUI for handling multiple vehicles, with optional hooks to the IvP Helm.
* uHelmScope
pBasicContactMgr
* uHelmScope
to:
* %color=#4444BB% pMarineViewer%% - A runtime GUI for handling multiple vehicles, with optional hooks to the IvP Helm.
* %color=#4444BB% uHelmScope%%
* %color=#4444BB% uTimerScript%%
* %color=#4444BB% Alog Toolbox%%
* %color=#4444BB% uXMS%%
* %color=#4444BB% pNodeReporter%%
* %color=#4444BB% pBasicContactMgr%%
* %color=#4444BB% uHelmScope%%
* %color=#4444BB% uTimerScript%%
* %color=#4444BB% Alog Toolbox%%
* %color=#4444BB% uXMS%%
* %color=#4444BB% pNodeReporter%%
* %color=#4444BB% pBasicContactMgr%%
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* pMarineViewer - A runtime GUI for monitoring multiple vehicles, with optional hooks to the IvP Helm.
to:
* pMarineViewer - A runtime GUI for handling multiple vehicles, with optional hooks to the IvP Helm.
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* pMarineViewer - A runtime GUI for monitoring multiple vehicles, with option hooks to the IvP Helm.
to:
* pMarineViewer - A runtime GUI for monitoring multiple vehicles, with optional hooks to the IvP Helm.
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to:
In this tutorial, we introduce several MOOS applications available in the public domain for facilitating the autonomy missions with the IvP Helm.
* pMarineViewer - A runtime GUI for monitoring multiple vehicles, with option hooks to the IvP Helm.
* pMarineViewer - A runtime GUI for monitoring multiple vehicles, with option hooks to the IvP Helm.
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Naval Undersea Warfare Center, Division Newport,
to:
Naval Undersea Warfare Center, Division Newport, \\
Changed lines 4-12 from:
!!! %color=#449944%Tutorial: MOOS-IvP Simulation Environment and Configuration Management%%
!!!!Prof. Henrik Schmidt \\
Laboratory for Autonomous Marine Sensing Systems
Massachusetts Institute of Technology
!!!! Wed Aug 25th, 130pm-230, MIT Building 32 Room 144 (Stata Center)
!!!!
Massachusetts Institute of Technology
to:
!!! %color=#449944%Tutorial: MOOS-IvP Autonomy Tools%%
!!!! Michael Benjamin \\
Naval Undersea Warfare Center, Division Newport,
MIT, Mechanical Engineering and CSAIL
!!!! Wed Aug 25th, 330pm-500, MIT Building 32 Room 144 (Stata Center)
!!!! Michael Benjamin \\
Naval Undersea Warfare Center, Division Newport,
MIT, Mechanical Engineering and CSAIL
!!!! Wed Aug 25th, 330pm-500, MIT Building 32 Room 144 (Stata Center)
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* pMarineViewer
* uHelmScope
* uTimerScript
* Alog Toolbox
* uXMS
* pNodeReporter
* pBasicContactMgr
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!!! Tutorial: MOOS-IvP Simulation Environment and Configuration Management
to:
!!! %color=#449944%Tutorial: MOOS-IvP Simulation Environment and Configuration Management%%
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!!!! Wed Aug 25th, 1330-1430, MIT 32-144
to:
!!!! Wed Aug 25th, 130pm-230, MIT Building 32 Room 144 (Stata Center)
Added lines 1-32:
!!! Tutorial: MOOS-IvP Simulation Environment and Configuration Management
!!!! Prof. Henrik Schmidt \\
Laboratory for Autonomous Marine Sensing Systems
Massachusetts Institute of Technology
''Abstract'': \\
One of the major requirements for a succesful field deployment of autonomous vehicles is a
robust and reliable simulation testbed. However, equally critical is a configuration
management infrastructure which ensures a flawless and transparent transition of a succesfully
tested autonomy system to a vehicle in an actual field deployment.
The MIT Laboratory for
Autonomous Marine Sensing Systems (LAMSS) has developed a comprehensive simulation environment for hetrerogeneous networks with autonomous underwater vehicles, surface craft and gliders operating MOOS-IvP payload autonomy systems. The virtual environment allows for simulation at
different levels of fidelity of relevant undersea sensors, communication networking, and
platform dynamics. The MOOS-IvP tool set incorporates a set of utilities supporting a robust
configuration management infrastructure, which allows for easy modification of mission and
behavior parameters, while ensuring that mission configuration is successfully transitioned to
a vehicle in the field. Thus, the configuration management system ensures that the entire
autonomy system configuration is transitioned to an operational vehicle, with only the
interfaces to the outside world being completely or partially replaced by physics-based
simulations of the environment, the platform and sensor dynamics, and the communication
infrastructure.
The transparent transition is ensured by the simulators adhering to exactly
the same ICDs as thy actual sensor and communication systems. This in turn allows for an
incremental transition from simulation to operation, e.g. operating virtual sensing nodes
within an actual undersea communication network for safe testing of new adaptive and
collaborative maneuvers. This tutorial will describe the MIT-LAMSS simulation environment,
with its suite of environmental acoustic simulators, and it's use for designing and executing
an actual virtual experiment will be demonstrated in real time.
!!!! Prof. Henrik Schmidt \\
Laboratory for Autonomous Marine Sensing Systems
Massachusetts Institute of Technology
''Abstract'': \\
One of the major requirements for a succesful field deployment of autonomous vehicles is a
robust and reliable simulation testbed. However, equally critical is a configuration
management infrastructure which ensures a flawless and transparent transition of a succesfully
tested autonomy system to a vehicle in an actual field deployment.
The MIT Laboratory for
Autonomous Marine Sensing Systems (LAMSS) has developed a comprehensive simulation environment for hetrerogeneous networks with autonomous underwater vehicles, surface craft and gliders operating MOOS-IvP payload autonomy systems. The virtual environment allows for simulation at
different levels of fidelity of relevant undersea sensors, communication networking, and
platform dynamics. The MOOS-IvP tool set incorporates a set of utilities supporting a robust
configuration management infrastructure, which allows for easy modification of mission and
behavior parameters, while ensuring that mission configuration is successfully transitioned to
a vehicle in the field. Thus, the configuration management system ensures that the entire
autonomy system configuration is transitioned to an operational vehicle, with only the
interfaces to the outside world being completely or partially replaced by physics-based
simulations of the environment, the platform and sensor dynamics, and the communication
infrastructure.
The transparent transition is ensured by the simulators adhering to exactly
the same ICDs as thy actual sensor and communication systems. This in turn allows for an
incremental transition from simulation to operation, e.g. operating virtual sensing nodes
within an actual undersea communication network for safe testing of new adaptive and
collaborative maneuvers. This tutorial will describe the MIT-LAMSS simulation environment,
with its suite of environmental acoustic simulators, and it's use for designing and executing
an actual virtual experiment will be demonstrated in real time.