MBARI Observatory Software

Software Infrastructure and Applications for MOOS

K. HeadleyJanuary 2011

MOOS System Concept

MARS Cabled Observatory

Key System Concepts

• Reliability• Flexibility

– Moored systems– Cabled observatories

• Scalability– Resource constrained/rich– Many platforms, many instruments

• Interoperability– Platform-to-platform– System-to-system

• Capability– Real-time (or nearly so) telemetry and control– Event Detection

Instrument Integration

• Mostly serial instruments• COTS and custom• Proprietary protocols

– Control, data formats

• Spectrum of machine/human friendliness

• Unfavorable economics for interface standards

Between the sensor and scientist’s eye…

Instrument firmware, protocols

Platform Middleware (e.g. SIAM)

Data Handling System (e.g. SSDS)

Standard Interfaces

Proprietary Interfaces

StandardsMiddleware

Clients

IEEE1451 OGC SWE

ESB/GRIDOSDTVendorCustom

…

Observatory Implementers

Instrument vendors

Standards Gap

SIAM Functions

• Data Acquisition – accurate time, but not hard RT (maybe should be)– connected, not connected

• Local data archive• Telemetry, delivery to SSDS• Resource management

– energy, bandwidth, data storage

• System diagnostics• Event detection...

SIAM Features• Flexible architecture

– Distributed, Scaleable, Interoperable– Plug-and-Work, PUCK compatible– Operable across different resource regimes– Field upgradeable

• Instrument Service Framework– Ease instrument integration– Uniform network instrument interface– Modular, stand-alone– Open, extensible– Provides facilities for logging, time-stamping , resource

management, data summarization– Polled, streaming instruments – Abstractions for communications/power ports, data logs– Custom hooks for platform-specific hardware

Software Infrastructure and Applications for MOOS

SIAMClient

“sample A”

“CS\r\n”

“01000010”

InstrumentService

InstrumentSpecific

InstrumentService

Port A

Port B

TCP/IPRMIClient

“sample B”

Standard IF

“get B observation”

InstrumentSpecific

PUCK Protocol: Plug and Work

PUCK-enabled instrument

RS-232

MOOSpayloadPUCK

protocol

MOOSpayload

Observatory Xpayload

Observatory Xpayload

PUCK and SIAM

SIAMHost

SIAM Payload

Service XML

Instrumentservice

ServiceProperties

• Load and run service

• Pass service XML to data system

• Use service properties to configure instrument

SSDS

Plug and Work: Moored SystemTCP/IP, PPP

SSDS

Portal(SIAM Client)

BIN BIN

SIAM in situ

SIAM

Uses PUCK to

configure Platform,

sampling, telemetry

Low Bandwidth:

SIAM Proxy

forwards

full/summarized

data to data

system

SIAM

Remote or Local

Control

SIAM

SIAM

Plug and Work: Cabled Observatories

SIAM

Virtual Serial Port

Eth-SerialAdapter

TCP/IPMARSNode

SSDS

SIAM On

Shore

Configures

and control via

virtual serial

port

No Host

Environment:

Power and

Data Only

Control via

Network

High Bandwidth,

No Proxy: Data

published directly

to data system

QuickTime™ and a decompressor

are needed to see this picture.

Some Supported Instruments

Aandera Acti* ASIMET Axis* Garmin Hobilabs ISUS

microstrainNAL

ModemNobska Nortek OCR

MBARI

HRpHRBR

SBE

19plusSBE

16plusSBE

37SMSAMI Tri-axys Wetlabs Workhorse

McLaneMBARI

metsys

SBE

37IM

SBE

52MPKVH Seahorse YSI

* Ethernet/HTTP instruments

SIAM and Open Source DataTurbine

OSDT

SIAM and Open Source DataTurbine

SIAM

OSDT ring

buffer

Event Detector

Shore-Side Data System

FOCE GUI

CO2 louver service

CO2 controller

application

Current Profiler service

Thruster service

sensor data

control

Real Time Data Viewer

pH sensor service

FOCE

SIAM Development

• Annual field program series

• Incremental feature development

• Experimental outcomes

• 2-3 core developers

• 1-2 other developers, software tech

• Developers work multiple projects

SIAM Status

• MOOS program reaching maturity• Internal tech transfer project includes SIAM

export • SIAM shared through collaborator’s

agreements– Great Lakes Environmental Research Lab – University of Hawaii– Northern Illinois University/WISSARD– National Renewable Energy Lab

Questions

• SIAM Team– Tom O’Reilly– Duane Edgington– Kent Headley– Bob Herlien– Brian Kieft– Mike Risi– Karen Salamy

SIAM Modules

NodeManagement

ConfigurationUser

Utilities

InstrumentService

Framework

Telemetry

Data Logging, Summarization

PortManagement

HardwareAbstraction

EventDetection

OSDTHooks

Scheduling

PowerManagement

Portal

Minimal Implementation

Host uses UUIDTo locate resources

PUCK payloadNot implemented

PUCK datasheet

UUID

PUCK versionDatasheet sizeManufacturer ID

Instrument model IDInstrument version IDInstrument serial #Instrument name

SIAM jar fileXML doc,

Instrument service binary

SIAM payload tag

IEEE-1451 TEDS

IEEE-1451 payload tag

PUCK payload

PUCK datasheet

UUID

PUCK versionDatasheet sizeManufacturer ID

Instrument model IDInstrument version IDInstrument serial #Instrument name

MBARI observatory retrieves this payload

PUCK memory map: multiple

payloads

UPC observatory retrieves this payload

SIAM jar fileXML doc,

Instrument service bytecodes

SIAM payload tag

IEEE-1451 TEDS

IEEE-1451 payload tag

Monterey Ocean Observing System

• Multi-disciplinary science– Coastal ocean – biology, chemistry, geology

• Synoptic observations– Surface, pelagic and benthic

processes

• Deep water• Remote locations• Sustained presence, multi-year time scale• Regional spatial scale• Cost-effective satellite communications