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\input{../common_latex_packages}
\input{../common_latex_definitions}
\input{../common_latex_memo_format}
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\begin{document}

\begin{labcover}
\labtitle{River Exercise - Roles and Responsibilities}
\vspace{0.1in}
\labdate{Summer 2016}
\vspace{0.1in}
\labauth{Michael "Misha" Novitzky, novitzky@mit.edu}
\labauth{Department of Mechanical Engineering, CSAIL}
\labauth{MIT, Cambridge MA 02139}
\labtoc{small}
\end{labcover}

\wikidoc{file=Memo.RiverExercises}
\wikidoc{auth=novitzky@mit.edu}

%======================================================================
\section{Roles and Responsibilities the Night before an Exercise}
%======================================================================

%======================================================================
\subsection{Radio Gear}

Ensure the radios are on their respective chargers.  Ensure the
cabling and headsets are in their correct home.

%======================================================================
\subsection{RC Controllers}

The RC controllers for each robot should be placed on their respective
chargers.

%======================================================================
\subsection{Front Seat Batteries}

These batteries typically last the entire day.  At a minimum ensure
that a combination of the required batteries for the upcoming
exercise.

%======================================================================
\subsection{Back Seat Batteries}

The backseat batteries tend to lose performance if not cycled
regularly.

%======================================================================
\subsection{Computer Readiness}

Check that each computer to be used for the upcoming exercise can
properly connect to the netowork, has the most updated code compiled,
and at a minimum can perform a hardware in the loop simulation or each
vehicle properly shows up on pMarineViewer. Are the laptops on their
chargers?

\begin{enumerate}
\item Batteries charging
\item MOOS-IvP, COLREGS, Aquaticus
\begin{enumerate}
\item svn update
\item build.sh
\end{enumerate}
\item Launch mission
\end{enumerate}

%======================================================================
\section{Roles and Responsibilities Prior to an Exercise}
%======================================================================

%======================================================================
\subsection{Shoreside Setup}
\begin{enumerate}
\item Initiate shoreside on the proper computer.
\item Connect to big screen TV.
\item Ensure all vehicles appear properly on the map.
\end{enumerate}

%======================================================================
\subsection{Mokai Deployment}

Always wear a lifejacket!

\begin{enumerate}
\item Move Mokai out into the open.
\item Check fuel level (if allowed).
\item Check battery level (above 12.8 V).
\item Move Mokai to the edge of the dock.
\item Minimum of two people slide Mokai out of dolly and into the
  water (stern first).
\item Secure Mokai to dock with line.
\end{enumerate}

\noindent
If using the Mokai as a node on the network:
\begin{enumerate}
\item Grab a laptop capable of interfacing with the GPS, Compass, and
  Bullet wifi.
\item Log into the laptop and ensure the wifi is off (this avoids
  major errors later).
\item Connect the Bullet ethernet cable to a Power Over Ethernet (POE)
  adapter.
\item Connect a battery to the POE cable.
\item Connect the ethernet male end of the POE into the laptop.
\item Connect the compass USB cable.
\item Connect the GPS USB cable.
\item Launch the Mokai as a vehicle in the appropriate mission.
\item (if applicable) Make sure the Mokai is properly displayed on the
  shoreside.
\end{enumerate}

%======================================================================
\subsection{Robot Setup}
\begin{enumerate}
\item Move the robot out into the open.
\item Grab: 
\begin{enumerate}
\item Front seat battery
\item Backseat battery
\item PABLO box
\item RC controller
\end{enumerate}
\item Turn on the front seat.
\item Wait until the lights flash 2 pulses slowly
\item In parallel, power up the PABLO box
\item Wait until the green light on the Raspberry Pi indicates total
  boot up (little blinking typically around 1 minute)
\item Plug in the PABLO boxes ethernet cable into the robot.
\item From a remote computer, SSH into the PABLO unit and launch the
  appropriate mission.
\item Ensure the robot is properly displayed on the shoreside
\end{enumerate}

%======================================================================
\subsection{Environment Setup}
\begin{enumerate}
\item Water for drinking
\item Sunscreen
\item Hats
\item Deploy the tent
\item Populate the tent with chairs for lookouts
\end{enumerate}

%======================================================================
\subsection{Radio Setup and Disbursement}

Radios must be disbursed to these roles:

\begin{enumerate}
\item PCOM
\item Chase Boat(s)
\item Mokai Operators
\end{enumerate}

\noindent
Other roles having radios is helpful but not totally necessary as they
can communicate through PCOM.

%======================================================================
\section{Roles and Responsibilities During an Exercise}
%======================================================================

%======================================================================
\subsection{Operations Manager}

primarily observes exercises and ensures proper operations and safety
of all vessels. Obtains situational awareness through pMarineViewer
and communication with all other operators.  Typically requests PCOM
to relay messages to proper personnel.

%======================================================================
\subsection{PCOM}

Official communicator of all operations.  Main role is to communicate
human vehicle startup, commencement of exercise, pausing of exercise,
and finish of exercise.  As a an additional role will communicate the
exercise status and aid human operators in robot interaction.

%======================================================================
\subsection{Lookout}

Primary role is safety.  Watches for river traffic which can include
kayakers, crewe boats, and other boats.  Will communicate with
Chaseboat, robot controllers, PCOM, and all PavLab vessels to ensure
situational awareness of all potential interfering traffic.

%======================================================================
\subsection{Robot Controllers}

Operators with one or more robot remote controls with the ability to
take manual override when necessary.  These operators ensure safe
robot operations by taking control prior to collisions.  They also
take over during deployment and return.  They make sure batteries are
fresh and the robots are operational.

%======================================================================
\subsection{Chase Boat}

Operator in a motorboat that ensures safe operations of PavLab
exercises.  Typically intervenes with potential river traffic to
politely divert them from operating area.  Will effect robot and mokai
operator recovery when necessary.

%======================================================================
\subsection{Mokai Operators}

The Mokai operators ensure safety and collision avoidance whilre on
the water. Will also execute whatever is necessary for the exercise.

%======================================================================
\section{Post Exercise Roles and Responsibilities}

Typically the group is fatigued after an exercise but this is one of
the most crucial phases of an exercise.

\begin{enumerate}
\item Move logged data off of vehicles.
\item Extract vehicles from the water.
\item RC controls on chargers.
\item Radios on chargers.
\item Radio cables and headsets to their homes.
\item Move vehicles into the lab.
\item Ensure logged data has been moved properly.
\item Place used batteries on chargers (this includes laptops).
\end{enumerate}

\end{document}


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