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Comprehensive Overview of Sensing and Acquisition Sub-System for Autonomous Vehicle Control

This document outlines the Sensing and Acquisition (S&A) services integral to controlling autonomous vehicles. It covers instrument management, data acquisition, and direct access services, highlighting the architecture behind these components. Emphasis is placed on the functionalities associated with instrument management, data repositories, and user interaction with instruments. Furthermore, it addresses the vehicle autonomy architecture, detailing the tripartite structure consisting of control/navigation, autonomy as a whole, and autonomous decision-making components. This overview serves as a foundational release for subsequent system enhancements.

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Comprehensive Overview of Sensing and Acquisition Sub-System for Autonomous Vehicle Control

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  1. Sensing and Acquisition&MOOS Arjuna Balasuriya Sensing and Acquisition Sub-System

  2. Release 1: S&A Services • Instrument Management Service • Activate & manage instrument, start/stop the inst. agent • Data Acquisition Service • Collect data from physical instruments and converting them to a format understandable by the CI • Repository Services • Create, maintain, Instrument & Data Product registries • Instrument Direct Access Service • Allow user to communicate directly to the instrument 2

  3. S&A Architecture OOI CI R1 C2 Design Kick-off

  4. S&A: Architectural Overview – Release 1 Instrument Management Out of scope for release 1 Instrument Registry Out of scope for release 1 Instrument Agent Interface Data Product Registry Out of scope for release 1 Data Acquisition 4

  5. Different MOOS Configurations OOI CI R1 C2 Design Kick-off

  6. Vehicle Autonomy Architecture Backseat Driver Paradigm - ASTM F41 Three components of the overall vehicle architecture. • Control and Navigation (frontseat driver) Actuator control, inertial navigation, GPS, compass, DVL, dead-reckoning systems, vehicle safety. • Autonomy System as a Whole Sensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication. • Autonomous Decision-Making (backseat driver) Deciding vehicle heading, speed, and depth. Autonomy System as a Whole Autonomous Decision- Making Payload Computer MOOS IvP Helm Main Vehicle Computer Control and Navigation System OOI CI R1 C2 Design Kick-off

  7. module module Vehicle Autonomy Architecture Three components of the overall vehicle architecture. • Control and Navigation (frontseat driver) Actuator control, inertial navigation, GPS, compass, DVL, dead-reckoning systems, vehicle safety. • Autonomy System as a Whole Sensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication. • Autonomous Decision-Making (backseat driver) Deciding vehicle heading, speed, and depth. Autonomy System as a Whole Autonomous Decision- Making Payload Computer MOOS IvP Helm Main Vehicle Computer Control and Navigation System module MOOS The “glue” for the autonomy system as a whole. module module • Modules coordinated through a publish and subscribe interface. • Overall system is built incrementally. module module MOOS Core module Publish MOOSDB module module Subscribe module OOI CI R1 C2 Design Kick-off

  8. behavior Vehicle Autonomy Architecture Three components of the overall vehicle architecture. • Control and Navigation (frontseat driver) Actuator control, inertial navigation, GPS, compass, DVL, dead-reckoning systems, vehicle safety. • Autonomy System as a Whole Sensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication. • Autonomous Decision-Making (backseat driver) Deciding vehicle heading, speed, and depth. Autonomy System as a Whole Autonomous Decision- Making Payload Computer MOOS IvP Helm Main Vehicle Computer Control and Navigation System IvP Helm The “glue” for the autonomous decision-making engine behavior behavior behavior • Modules coordinated through logic (behavior algebra), objective functions and multi-objective optimization. • Overall system is built incrementally. behavior behavior IvP Core Objective function behavior behavior IvP Solver behavior behavior behavior Sensor Info OOI CI R1 C2 Design Kick-off

  9. MOOS - pHelmIvPIntegrated Sensing, Processing and Control iRTSon pSigProc Acoustic Samples Real-time Sonar Interface Signal Processing Vehicle Nav Control Status pHelmIvp Results Vehicle Nav, Data Adaptive, Behavior-based AUV Control MOOS DB Heading, Speed Depth Vehicle NAV Status Data Heading Speed Depth Commands BF21 MVC Main Vehicle Computer NMEA pHuxley CCL pAcommsHandler WHOI Micromodem MOOS-MVC Interface Acomms OOI CI R1 C2 Design Kick-off

  10. Thanks! OOI CI R1 C2 Design Kick-off

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