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

\begin{labcover}
\labtitle{Aquaticus Data Analysis Tools}
\vspace{0.1in}
\labdate{September 2018}
\vspace{0.1in}
\labauth{Michael Benjamin, mikerb@mit.edu}
\labauth{Paul Robinette, paulrobi@mit.edu}
\labauth{Michael Novitzky, novitzky@mit.edu}
\labauth{Department of Mechanical Engineering}
\labauth{MIT, Cambridge MA 02139}
\labtoc{small}
\end{labcover}

\wikidoc{file=Memo.AQDataTools}
\wikidoc{auth=mikerb@mit.edu}

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\section{Data Tools Overview}
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\noindent
Aquaticus data sets are primarily comprosed of:

\begin{packed_itemize}
\item The alog files, one per vehicle, generated by the MOOS logging
  utility \app{pLogger}. 
\item The video files, typically one per MOKAI facing the human player.
\item Audio files, captured on the MOKAI, one file per audio message
  from the human either to their human teammate, or robot teammate.
\end{packed_itemize}

\vspace{0.1in}
\noindent
There may be other data captured, which for now may be opportunistic
and irregular given the current project scope:

\begin{packed_itemize}
\item Drone footage, perhaps one camera feed for each side of the field.
\item Dockside video footage, typically from a photographer with a zoom
  lense who may periodically see an event of interest with narrow scope.
\item Front facing video on the MOKAIs and/or robots. The priority
  would be the former as it would be very useful to see what the human
  players are seeing.
\end{packed_itemize}

%====================================================================
\subsection{Playing Back an Aquaticus Game with the ALogView Tool}

The \app{alogview} tool is designed to ingest multiple alog files,
synchronize them, and present all vehicles in a graphical display
of their operation area. The tool is designed to:

\begin{packed_itemize}
\item Step through the timeline, or play back continuously.
\item Allow for inspection of any variable for any vehicle at the given
  current time of playback.
\item Render a 2D plot of any numerical variable for any vehicle. For
  example, the heart-rate data can be plotted in this way.
\item Through specialized pop-up windows, examine the state of the
  autonomous helm for any robot platform.
\end{packed_itemize}



\vspace{0.1in}
\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.6\textwidth]{figures/m300-brd.png}
  \caption{{\bf The Heron M300}: The Heron M300 unmanned surface
    vehicle serves at the robotic teammate.}
\label{fig_m300}
\end{figure}

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\section{Further Tool Development}
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\end{document}



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