MOOS-DAWG'15

|| %center%%width=220px% Path:/moos-dawg15/pics/robotx_green_rounded_250w.png ||The MIT WAM-V vessel was built for the 2014 International RobotX competition ([[http://oceanai.mit.edu/robotx | robotx.mit.edu]]) with the students providing the systems for power, propulsion, navigation and software for sensor processing and autonomy. After the competition MIT Sea Grant took ownership of the vessel using many of the same components and software, but also augmented with winch-deployable sensors to be the next generation vessel in Sea Grant's Reef Explorer program. The vessel is now known as the Remote Explorer (REx IV). The Remote Explorer program will not only be a way to expand ocean science to the classroom, but also to provide a platform for real-time data collection for the greater scientific community. [[Path:/media/WAMV-MOOS-DAWG'15/album | %color=#ff7f00% PHOTOS]]||

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* The Datamaran Autonomous Sailboat

|| %center%%width=220px% Path:/moos-dawg15/pics/datamaran.png ||The Datamaran is a new deep water instrumentation platform offering fully autonomous operation over mission durations measured in months.  It is primarily wind  propelled, and is power positive. It is the world's first self-righting catamaran. Unique deployment and payload configuration options set the Datamaran apart from other ASVs.  ||

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* The New Bluefin SandShark UUV

* The WAM-V USV [[<<]] Now the Sea Grant Rex IV vehicle [[<<]] Formally the MIT RobotX vehicle

|| %center%%width=220px% Path:/moos-dawg15/pics/robotx_green_rounded_250w.png ||The MIT WAM-V vessel was built for the 2014 International RobotX competition ([[http://oceanai.mit.edu/robotx | robotx.mit.edu]]) with the students providing the systems for power, propulsion, navigation and software for sensor processing and autonomy. After the competition MIT Sea Grant took ownership of the vessel using many of the same components and software, but also augmented with winch-deployable sensors to be the next generation vessel in Sea Grant's Reef Explorer program. The vessel is now known as the Remote Explorer (REx IV). The Remote Explorer program will not only be a way to expand ocean science to the classroom, but also to provide a platform for real-time data collection for the greater scientific community. ||

|| %center%%width=220px% Path:/moos-dawg15/pics/sandshark_charles.png ||The Bluefin SandShark is a small, open-platform, autonomous underwater vehicle (AUV) designed for scientists and developers. SandShark combines a standardized low-cost tail with core vehicle systems, a large modular payload area, and an open development platform. This combination provides a flexible subsea "reference design" to support rapid technology development. SandShark is built on open source software and allows end users to modify or replace all aspects of the vehicle's software stack. Features like quick-connect fins for tool-less field replacement and modular body components make SandShark fast and easy to modify. SandShark's payload bay makes up over half the vehicle - it is the ideal test platform for small subsea sensors and autonomy scenarios. ||

|| %center%%width=220px% Path:/moos-dawg15/pics/robotx_green_rounded_250w.png ||The MIT WAM-V vessel was built for the 2014 International RobotX competition (robotx.mit.edu) with the students providing the systems for power, propulsion, navigation and software for sensor processing and autonomy. After the competition MIT Sea Grant took ownership of the vessel using many of the same components and software, but also augmented with winch-deployable sensors to be the next generation vessel in Sea Grant's Reef Explorer program. The vessel is now known as the Remote Explorer (REx IV). The Remote Explorer program will not only be a way to expand ocean science to the classroom, but also to provide a platform for real-time data collection for the greater scientific community. ||

|| %center%%width=220px% Path:/moos-dawg15/pics/robotx_green_rounded_250w.png ||The MIT WAM-V vessel was built for the 2014 International RobotX competition with the students providing the systems for power, propulsion, navigation and software for sensor processing and autonomy. After the competition MIT Sea Grant took ownership of the vessel using many of the same components and software, but also augmented with winch-deployable sensors to be the next generation vessel in Sea Grant's Reef Explorer program. The vessel is now known as the Remote Explorer (REx IV). The Remote Explorer program will not only be a way to expand ocean science to the classroom, but also to provide a platform for real-time data collection for the greater scientific community. ||

* The WAM-V Unmanned Surface Vessel [[<<]] Now the Sea Grant Rex IV vehicle [[<<]] Formally the MIT RobotX vehicle

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|| %center%%width=220px% Path:/moos-dawg15/pics/hauv.png ||The Bluefin SandShark is a small, open-platform, autonomous underwater vehicle (AUV) designed for scientists and developers. SandShark combines a standardized low-cost tail with core vehicle systems, a large modular payload area, and an open development platform. This combination provides a flexible subsea "reference design" to support rapid technology development. SandShark is built on open source software and allows end users to modify or replace all aspects of the vehicle's software stack. Features like quick-connect fins for tool-less field replacement and modular body components make SandShark fast and easy to modify. SandShark's payload bay makes up over half the vehicle - it is the ideal test platform for small subsea sensors and autonomy scenarios. ||

||||The kayak hull is the WaveSport Fuse 35, a kids whitewater kayak, 1.8m (5.9 ft) long.  The small size of this kayak allows it to fit in the back of a SUV and be easily lifted in and out of the water by two people.  The kayaks weigh roughly 40 kg (88 lbs).  The whitewater hull design is less efficient for transit, but is highly maneuverable and seaworthy for its size.  The modified kayak hull has one hole for the thruster shaft and two 80/20 rails running lengthwise in the front of the vehicle to provide a stiff mounting platform.  Maximum speed when towing a modem is roughly 1.6 m/s (3 kts), and over 2 m/s (4 kts) is possible when not towing a modem.||||

!! MOOS-DAWG'15 Demo Day: [[<<]] [[Path:/../autonomylab | Battelle Marine Autonomy Bay]] at the MIT Sailing Pavilion [[<<]] 8:30am-11:30am  July 23rd (second day of the workshop). Food (Bertuccis) served at 11am.

!! MOOS-DAWG'15 Demo Day: [[<<]] [[Path:/../autonomylab | Battelle Marine Autonomy Bay]] at the MIT Sailing Pavilion [[<<]] 8:30am-12 noon July 23rd (second day of the workshop)

There will be at least 4 groups providing informal demonstrations of their marine robotics technologies.

|| border=1

||||The kayak hull is the WaveSport Fuse 35, a kids whitewater kayak, 1.8m (5.9 ft) long.  The small size of this kayak allows it to fit in the back of a SUV and be easily lifted in and out of the water by two people.  The kayaks weigh roughly 40 kg (88 lbs).  The whitewater hull design is less efficient for transit, but is highly maneuverable and seaworthy for its size.  The modified kayak hull has one hole for the thruster shaft and two 80/20 rails running lengthwise in the front of the vehicle to provide a stiff mounting platform.  Maximum speed when towing a modem is roughly 1.6 m/s (3 kts), and over 2 m/s (4 kts) is possible when not towing a modem.||

|| || The kayak hull is the WaveSport Fuse 35, a kids whitewater kayak, 1.8m (5.9 ft) long.  The small size of this kayak allows it to fit in the back of a SUV and be easily lifted in and out of the water by two people.  The kayaks weigh roughly 40 kg (88 lbs).  The whitewater hull design is less efficient for transit, but is highly maneuverable and seaworthy for its size.  The modified kayak hull has one hole for the thruster shaft and two 80/20 rails running lengthwise in the front of the vehicle to provide a stiff mounting platform.  Maximum speed when towing a modem is roughly 1.6 m/s (3 kts), and over 2 m/s (4 kts) is possible when not towing a modem.||

|| ||
The kayak hull is the WaveSport Fuse 35, a kids whitewater kayak, 1.8m (5.9 ft) long.  The small size of this kayak allows it to fit in the back of a SUV and be easily lifted in and out of the water by two people.  The kayaks weigh roughly 40 kg (88 lbs).  The whitewater hull design is less efficient for transit, but is highly maneuverable and seaworthy for its size.  The modified kayak hull has one hole for the thruster shaft and two 80/20 rails running lengthwise in the front of the vehicle to provide a stiff mounting platform.  Maximum speed when towing a modem is roughly 1.6 m/s (3 kts), and over 2 m/s (4 kts) is possible when not towing a modem.||

||||
The kayak hull is the WaveSport Fuse 35, a kids whitewater kayak, 1.8m (5.9 ft) long.  The small size of this kayak allows it to fit in the back of a SUV and be easily lifted in and out of the water by two people.  The kayaks weigh roughly 40 kg (88 lbs).  The whitewater hull design is less efficient for transit, but is highly maneuverable and seaworthy for its size.  The modified kayak hull has one hole for the thruster shaft and two 80/20 rails running lengthwise in the front of the vehicle to provide a stiff mounting platform.  Maximum speed when towing a modem is roughly 1.6 m/s (3 kts), and over 2 m/s (4 kts) is possible when not towing a modem.||

|| %center%%width=220px% Path:/moos-dawg15/pics/hover_usv.png ||The HoverGroup Autonomous Kayaks primarily serve as a testbed for multi-vehicle control using acoustic communication.  Our experimental setup includes several kayaks, a portable networking base station and MicroModem, and a permanent shore setup at the MIT Sailing Pavilion.  We also operate the Bluefin/MIT HAUV and a REMUS 100.  The main payload of the kayaks is a WHOI MicroModem, towed a few meters deep.  GPS and RF communication are available on the surface, allowing for easy navigation and real-time monitoring of experiments, while the towed modem enables experiments in the underwater acoustic environment.  Other scientific sensors can be added; we have previously operated with temperature and turbidity sensors.||

The kayak hull is the WaveSport Fuse 35, a kids whitewater kayak, 1.8m (5.9 ft) long.  The small size of this kayak allows it to fit in the back of a SUV and be easily lifted in and out of the water by two people.  The kayaks weigh roughly 40 kg (88 lbs).  The whitewater hull design is less efficient for transit, but is highly maneuverable and seaworthy for its size.  The modified kayak hull has one hole for the thruster shaft and two 80/20 rails running lengthwise in the front of the vehicle to provide a stiff mounting platform.  Maximum speed when towing a modem is roughly 1.6 m/s (3 kts), and over 2 m/s (4 kts) is possible when not towing a modem.

|| %center%%width=220px% Path:/moos-dawg15/pics/hover_usv.png ||The HoverGroup Autonomous Kayaks primarily serve as a testbed for multi-vehicle control using acoustic communication.  Our experimental setup includes several kayaks, a portable networking base station and MicroModem, and a permanent shore setup at the MIT Sailing Pavilion.  We also operate the Bluefin/MIT HAUV and a REMUS 100.  The main payload of the kayaks is a WHOI MicroModem, towed a few meters deep.  GPS and RF communication are available on the surface, allowing for easy navigation and real-time monitoring of experiments, while the towed modem enables experiments in the underwater acoustic environment.  Other scientific sensors can be added; we have previously operated with temperature and turbidity sensors.||

|| %center%%width=220px% Path:/moos-dawg15/pics/m200_priti.png ||The HoverGroup Autonomous Kayaks primarily serve as a testbed for multi-vehicle control using acoustic communication.  Our experimental setup includes several kayaks, a portable networking base station and MicroModem, and a permanent shore setup at the MIT Sailing Pavilion.  We also operate the Bluefin/MIT HAUV and a REMUS 100.  The main payload of the kayaks is a WHOI MicroModem, towed a few meters deep.  GPS and RF communication are available on the surface, allowing for easy navigation and real-time monitoring of experiments, while the towed modem enables experiments in the underwater acoustic environment.  Other scientific sensors can be added; we have previously operated with temperature and turbidity sensors.||

The Demo Day is presented in the "workshop spirit", where work ranging from in-progress to more advanced are encouraged.

|| %center%%width=220px% Path:/moos-dawg15/pics/datamaran.png ||The Datamaran is a new deep water instrumentation platform offering fully autonomous operation over mission durations measured in months.  It is primarily wind  propelled, and is power positive. It is the worlds first self-righting catamaran. Unique deployment and payload configuration options set the Datamaran apart from other ASVs.  ||

! The Kingfisher M200 USV and Swappable Payload autonomy Module

!! MOOS-DAWG'15 Demo Day: [[<<]] [[Path:/../autonomylab | Battelle Marine Autonomy Bay]] at the MIT Sailing Pavilion [[<<]] 8-12 noon July 23rd (second day of the workshop)

|| %center%%width=220px% Path:/moos-dawg15/pics/sandshark.png ||The Bluefin SandShark is a small, open-platform, autonomous underwater vehicle (AUV) designed for scientists and developers. SandShark combines a standardized low-cost tail with core vehicle systems, a large modular payload area, and an open development platform. This combination provides a flexible subsea "reference design" to support rapid technology development. SandShark is built on open source software and allows end users to modify or replace all aspects of the vehicle's software stack. Features like quick-connect fins for tool-less field replacement and modular body components make SandShark fast and easy to modify. SandShark's payload bay makes up over half the vehicle - it is the ideal test platform for small subsea sensors and autonomy scenarios. ||

!! MOOS-DAWG'15 Demo Day: [[<<]] [[Path:/../autonomybay | Battelle Marine Autonomy Bay]] at the MIT Sailing Pavilion [[<<]] 8-12 noon July 23rd (second day of the workshop)

!! MOOS-DAWG'15 Demo Day: [[<<]] [[http://battelle.org/our-work/national-security/maritime-technologies | Battelle]] Marine Autonomy Bay at the MIT Sailing Pavilion [[<<]] 8-12 noon July 23rd (second day of the workshop)

!! MOOS-DAWG'15 Demo Day: [[<<]] 8-12 noon July 23rd (second day of the workshop)

|| %center%%width=220px% Path:/moos-dawg15/pics/m200_priti.png ||The Clearpath Robotics Kingfisher M200 is the primary research and education vehicle used at MIT. Several of these vehicles will be deployed during Demo Day to demonstrate their operation and connection to the shoreside command and control software. We will also demonstrate the stand-alone payload autonomy module running the autonomy system from within the M200 payload compartment via an interface from MOOS to the Clearpath front-seat ROS based system.||

|| %center%%width=220px% Path:/moos-dawg15/pics/m200_priti.png ||The MIT WAM-V vessel was built for the 2014 International RobotX competition with the students providing the systems for power, propulsion, navigation and software for sensor processing and autonomy. After the competition MIT Sea Grant took ownership of the vessel using many of the same components and software, but also augmented with winch-deployable sensors to be the next generation vessel in Sea Grant's Reef Explorer program. The vessel is now known as the Remote Explorer (REx IV). The Remote Explorer program will not only be a way to expand ocean science to the classroom, but also to provide a platform for real-time data collection for the greater scientific community. ||

%center%%width=220px% Path:/moos-dawg15/pics/pavilion.png

|| * The Datamaran Autonomous Sailboat

* The Kingfisher M200 USVs ||%center%%width=220px% Path:/moos-dawg15/pics/pavilion.png||

* The Kingfisher M200 USVs || %center%%width=220px% Path:/moos-dawg15/pics/pavilion.png ||

|| %center%%width=220px% Path:/moos-dawg15/pics/datamaran.png || The Datamaran is a new deep water instrumentation platform offering fully autonomous operation over mission durations measured in months.  It is primarily wind  propelled, and is power positive. It is the worlds first self-righting catamaran. Unique deployment and payload configuration options set the Datamaran apart from other ASVs.  ||

|| %center%%width=220px% Path:/moos-dawg15/pics/datamaran.png || * The Datamaran is a new deep water instrumentation platform offering fully autonomous operation over mission durations measured in months.  * It is primarily wind  propelled, and is power positive. It is the worlds first self-righting catamaran. Unique deployment and payload configuration options set the Datamaran apart from other ASVs.  ||

|| %center%%width=220px% Path:/moos-dawg15/pics/datamaran.png ||The Datamaran is a new deep water instrumentation platform offering fully autonomous operation over mission durations measured in months.  It is primarily wind  propelled, and is power positive. It is the worlds first self-righting catamaran. Unique deployment and payload configuration options set the Datamaran apart from other ASVs.  ||

* The Datamaran Autonomous Sailboat

* The Kingfisher M200 USVs

* The WAM-V Unmanned Surface Vessel [[<<]] (Now the Sea Grant Rex vehicle, and formally the MIT RobotX vehicle)

! The Kingfisher M200 USV and Swappable Payload autonomy Module

|| %center%%width=220px% Path:/moos-dawg15/pics/robotx_green_rounded_250w.png ||The Bluefin SandShark is a small, open-platform, autonomous underwater vehicle (AUV) designed for scientists and developers. SandShark combines a standardized low-cost tail with core vehicle systems, a large modular payload area, and an open development platform. This combination provides a flexible subsea "reference design" to support rapid technology development. SandShark is built on open source software and allows end users to modify or replace all aspects of the vehicle's software stack. Features like quick-connect fins for tool-less field replacement and modular body components make SandShark fast and easy to modify. SandShark's payload bay makes up over half the vehicle - it is the ideal test platform for small subsea sensors and autonomy scenarios. ||


! The Kingfisher M200 USV and Swappable Payload autonomy Module

|| %center%%width=220px% Path:/moos-dawg15/pics/sandshark.png ||The Bluefin SandShark is a small, open-platform, autonomous underwater vehicle (AUV) designed for scientists and developers. SandShark combines a standardized low-cost tail with core vehicle systems, a large modular payload area, and an open development platform. This combination provides a flexible subsea "reference design" to support rapid technology development. SandShark is built on open source software and allows end users to modify or replace all aspects of the vehicle's software stack. Features like quick-connect fins for tool-less field replacement and modular body components make SandShark fast and easy to modify. SandShark's payload bay makes up over half the vehicle - it is the ideal test platform for small subsea sensors and autonomy scenarios. ||

|| %center%%width=200px% Path:/moos-dawg15/pics/sandshark.png ||The Bluefin SandShark is a small, open-platform, autonomous underwater vehicle (AUV) designed for scientists and developers. SandShark combines a standardized low-cost tail with core vehicle systems, a large modular payload area, and an open development platform. This combination provides a flexible subsea "reference design" to support rapid technology development. SandShark is built on open source software and allows end users to modify or replace all aspects of the vehicle's software stack. Features like quick-connect fins for tool-less field replacement and modular body components make SandShark fast and easy to modify. SandShark's payload bay makes up over half the vehicle - it is the ideal test platform for small subsea sensors and autonomy scenarios. ||

|| %center%%width=200px% Path:/moos-dawg15/pics/datamaran.png ||The Datamaran is a new deep water instrumentation platform offering fully autonomous operation over mission durations measured in months.  It is primarily wind  propelled, and is power positive. It is the worlds first self-righting catamaran. Unique deployment and payload configuration options set the Datamaran apart from other ASVs.  ||

|| %center%%width=220px% Path:/moos-dawg15/pics/sandshark.png ||The Bluefin SandShark is a small, open-platform, autonomous underwater vehicle (AUV) designed for scientists and developers. SandShark combines a standardized low-cost tail with core vehicle systems, a large modular payload area, and an open development platform. This combination provides a flexible subsea "reference design" to support rapid technology development. SandShark is built on open source software and allows end users to modify or replace all aspects of the vehicle's software stack. Features like quick-connect fins for tool-less field replacement and modular body components make SandShark fast and easy to modify. SandShark's payload bay makes up over half the vehicle - it is the ideal test platform for small subsea sensors and autonomy scenarios. ||

|| %center%%width=220px% Path:/moos-dawg15/pics/datamaran.png ||The Datamaran is a new deep water instrumentation platform offering fully autonomous operation over mission durations measured in months.  It is primarily wind  propelled, and is power positive. It is the worlds first self-righting catamaran. Unique deployment and payload configuration options set the Datamaran apart from other ASVs.  ||

|| %center%%width=220px% Path:/moos-dawg15/pics/datamaran.png ||'''Abstract:'''  The Datamaran is a new deep water instrumentation platform offering fully autonomous operation over mission durations measured in months.  It is primarily wind  propelled, and is power positive. It is the worlds first self-righting catamaran. Unique deployment and payload configuration options set the Datamaran apart from other ASVs. Demonstrations will take place at the Charles River Autonomy Lab, and recent testing results will be exhibited.  Design motivations, with a particular focus on the autonomy framework developed within MOOS-IvP, will also be presented. ||

|| %center%%width=220px% Path:/moos-dawg15/pics/sandshark.png ||'''Abstract:'''  The Bluefin SandShark is a small, open-platform, autonomous underwater vehicle (AUV) designed for scientists and developers. SandShark combines a standardized low-cost tail with core vehicle systems, a large modular payload area, and an open development platform. This combination provides a flexible subsea "reference design" to support rapid technology development. [[<<]] SandShark is built on open source software and allows end users to modify or replace all aspects of the vehicle's software stack. Features like quick-connect fins for tool-less field replacement and modular body components make SandShark fast and easy to modify. SandShark's payload bay makes up over half the vehicle - it is the ideal test platform for small subsea sensors and autonomy scenarios. ||

|| %center%%width=220px% Path:/moos-dawg15/pics/datamaran.png ||'''Abstract:'''  The Datamaran is a new deep water instrumentation platform offering fully autonomous operation over mission durations measured in months.  It is primarily wind  propelled, and is power positive. It is the worlds first self-righting catamaran. Unique deployment and payload configuration options set the Datamaran apart from other ASVs. Demonstrations will take place at the Charles River Autonomy Lab, and recent testing results will be exhibited.  Design motivations, with a particular focus on the autonomy framework developed within MOOS-IvP, will also be presented. ||

!! The Datamaran Autonomous Sailboat

* The WAM-V Unmanned Surface Vessel (Now the Sea Grant Rex vehicle, and formally the MIT RobotX vehicle)

There will be at least 4 groups providing informal demonstrations of their marine robotics technologies. The Demo Day is presented in the "workshop spirit", where work ranging from in-progress to more advanced are encouraged.

There will be at least 4 groups providing informal demonstrations of

!! MOOS-DAWG'15 Demo Day: 8-12 noon July 23rd (second day of the workshop)

!! MOOS-DAWG'15 Demo Day

There are two social events planned. Both are included in the cost of registration.

* %color=#BD614A%A barbecue for early arrivers%% \\
  '''Date''': July 21 2015 (Evening before the first day of the workshop) \\
  '''Time''': 6-8pm \\
  '''Where''': [[http://sailing.mit.edu/GeneralInfo/history.php|The MIT Sailing Pavilion]] \\
  '''Location''': 134 Memorial Drive, Building 51, on the MIT campus. \\

!! MOOS-DAWG'15 Social Events

  '''Date''': July 21 2015 \\

  '''Date:'''  July 22 2015 \\

  '''Date''': Day 1 -  July 2015 \\

  '''Date:''' Day 2 - July 2015 \\

  '''Time:''' 5-6pm \\

!! MOOS-DAWG'14 Social Events

  '''Date''': Tuesday July 29th \\

  '''Date:''' Wednesday July 30th \\

  '''Date''': Monday July 28th \\

  '''Date:''' Tuesday July 29th \\

* %color=#BD614A%A barbecue for early arrivers%%  (Sponsored by [[http://www.bluefinrobotics.com | Bluefin Robotics]]) \\

!! MOOS-DAWG'13 Social Events

  '''Date''': Monday July 29th \\

  '''Date:''' Tuesday July 30th \\

* %color=#BD614A%A pre-dinner gathering%% (Light dinner / appetizers will be provided). \\

* %color=#BD614A%A pre-dinner gathering%% \\

!! MOOS-DAWG'13 Social Events (Tentative)

* %color=#BD614A%A barbecue for early arrivers%%  (Sponsored by [[http://www.bluefinrobotics.com | Bluefin Robotics]] \\

!! MOOS-DAWG'11 Social Events (Tentative)

* %color=#BD614A%A barbecue for early arrivers%%  \\

  '''Location:''' 00 Memorial Drive, on the MIT campus.

  '''Date''': Monday July 18th \\

* %color=#BD614A%A pre-dinner reception%% \\
  '''Date:''' Tuesday July 19th \\

  '''Where:''' 2nd floor lobby area of CSAIL, outside the MIT Marine Robotics Lab.  \\
  '''Location:''' 33 Vassar Street, Building 32, on the MIT campus.