Group: LAMSS

Total Lines of Code: 37,901

Total Files of Code: 149

Total Work Years: 7.93

Group Description: (35 modules)

MOOS and GobyMOOS Applications for operating UUVs and associated communication and navigation frameworks under the Nested Autonomy operational paradigm, implemented using the MOOS-IvP Payload Autonomy framework in combination with the Goby acoustic communication architecture. Also includes the Virtual Ocean development platform with its suite of high-fidelity, physics-based ocean environmental modeling tools for executing real-time virtual experiments with multiple mobile and fixed node undersea networks.

Distribution:

  • lamss.mit.edu

Modules:

  • iBellhop: Request/Response service module returning the eigenray solution for transmission from ownship to and from a depth-range receiver grid or a specific contact.
  • uMVS_Bluefin: High-fidelity dynamic model for BF21 UUV used for simulating platform maneuvering in the Virtual Ocean.
  • iNoaaBathy: Extracts a range-dependent bathymetry along a vertical slice of ocean between two latitude/longitude locations.
  • pCoroner: A process Coroner, reports dead apps.
  • pGeoTracker: Passive sonar tracker for geo-referenced target motion analysis (TMA).
  • pLamssAEL: Low-fidelity model of towed array geometry for on-board sonar processing chain.
  • pLamssBearingTracker: Stabilized bearing tracker for embedded use on UUVs with acoustic arrays.
  • pLamssCBF: Conventional beamformer for towed or fixed sonar receiving arrays.
  • pLamssMissionManager: State machine application for on-board autonomous mission command and control, responsible for defining the hierarchical MODE state of pHelmIvP, and filling the role of the operator during communication blackouts, emergencies etc.
  • pLamssTrackManager: GobyMOOSapp for managing the onboard autonomous state transitions associated with passive and active acoustic target tracking.
  • uSVP_OceanModel: Extracts a range-dependent sound speed profile for a vertical slice of ocean between an acoustic source and receiver.
  • uSimADCP_OceanModel: Simulates an ADCP sensor reading using the current field extracted from a 4D NMetCdf file with modeled ocean currents.
  • uSimActiveSonar: Physics-based, active sonar, element-level timeseries simulator supporting fixed, towed and volumetric hull-mounted arrays.
  • uSimCTD_OceanModel: Simulates a CTD sensor reading using the temperature and salinity extracted from a 4D NMetCdf virtual ocean database.
  • uSimModemNetwork: Request/Response service module returning the current multipath eigenray solution for a transmitter/receiver pair in a underwater modem network.
  • uSimModemRange: GobyMOOSApp module tracking the conversion of travel times in a modem network to ranges for use by ICEX20 integrated communication and navigation framework.
  • uSimModemSignal: Request/Response service module generating the timeseries of a received modem signal for a transmitter/receiver pair in a modem network in the Virtual Ocean.
  • uSimNoiseCovariance: Request/Response service application computing surface generated ambient noise in Virtual Ocean.
  • uSimPassiveSonar: Physics-based, element-level passive sonar timeseries simulator supporting fixed, towed and volumetric receiver arrays, including surface generated ambient noise and arbitrary distributions of dynamic acoustic targets.
  • uSimSelfNoise: Virtual Ocean module for simulating UUV noise interference of passive sonar on collaborator UUV.
  • uSimSourceArray: Configuring a phased source array for simulation of directional transmissions in the Virtual Ocean.
  • uSimTargets: Virtual Ocean module is managing the mobile acoustic targets for the active and passive sonar simulators. targets.
  • uSimTowedArray: Physics-based dynamic model for towed and fixed arrays of hydrophones or vector sensors on fixed or mobile platforms.
  • BHV_WiggleTail: Behavior for breaking left-right ambiguity of towed array response during acoustic surveillance surveys.
  • BHV_ConstantAltitude: Behavior for executing bottom mapping missions maintaining constant altitude.
  • BHV_MinAltitude: Behavior for maintaining a minimum altitude above bottom or below under-ice excursions. depends = ivp_behaviors.
  • BHV_OptAcommsDepth: Behavior for creating depth objective function for optimizing acoustic communication performance, including coherence properties and multipath interference.
  • BHV_OptAcoustDepth: Behavior for creating depth objective function for optimizing incoherent signal-to-noise ratio (SNR) for an acoustic signal originating at a contact.
  • BHV_Racetrack: Behavior for executing a racetrack survey with configurable length, width and heading, with tight tracklines.
  • BHV_SmartYoyo: Behavior for vertical yoyo surveys covering full water column in shallow water with horizontal bathymetry variation.
  • BHV_WiggleTail: Behavior for breaking left-right ambiguity of towed array response during acoustic surveillance surveys.
  • BHV_ConstantBearing: Behavior for maintaining a constant relative bearing to an acoustic target.
  • lib_bellhop: Library of protobuf messages and utilities for requests of raytracing impulse responses in the Virtual Ocean.
  • lib_henrik_util: Library of utility functions used by the LAMSS Nested Autonomy modules, including linear algebra, environmental modeling and signal processing.
  • lib_lamss_protobuf: Configurations of Goby-protobuf messages used for messages transmitted between Goby-MOOS applications through the MOOSDB or via the acoustic modem to and from the operators and collaborators.