ocean observatories initiative sensing and acquisition (sa) subsystem overview michael meisinger...
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Ocean Observatories Initiative
Sensing and Acquisition (SA)
Subsystem OverviewMichael Meisinger
September 29, 2009
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OOI CI Kick-Off MeetingSept 9-11, 2009
Outline
• Subsystem Architecture Overview• Scope of Release 1• Selected Components
– Observatory Management and Resource Agents– Data Acquisition Flow
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OOI CI Kick-Off MeetingSept 9-11, 2009
Context within CI
Common Operating Infrastructure
Data Management
(Science)
Sensing & Acquisition
Data Management (Information Distribution)
Analysis & Synthesis
Identity Management
State Management
GovernanceFramework
Resource Management
Planning & Prosecution
Exchange
Service Framework
Presentation Framework
Common Execution
Infrastructure
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OOI CI Kick-Off MeetingSept 9-11, 2009
Requirements• High risk requirements
The CI shall provide monitoring services for all physical resources under OOI governance
Monitoring services to oversee specified physical resource attributes shall be provided
A user interface to the monitoring services for physical resource providers to specify monitoring attributes shall be implemented
The monitoring services shall publish monitored attributes
The CI shall provide control services for physical resources under OOI governance
Control services for physical resources shall be provided
The control services shall authenticate all actors attempting physical resource control
The control services shall authorize all actors attempting physical resource control
Physical resource control shall be subject to policy
The control services shall support resource control by another resource
A user interface to the control service for physical resource control shall be provided
The control service shall automatically update physical resource metadata when physical resource state changes
The CI shall provide instrument and data process repository services
The instrument repository services shall support the description of physical resource behavior
The instrument repository services shall support environmental models
The instrument repository services shall support the description of physical resource calibrations
The instrument repository services shall support physical resource configuration workflows
The instrument repository services shall support the persistence of physical resource documentation
The instrument repository services shall associate the instrument repository contents with physical resource metadata
The instrument repository services shall catalog the instrument repository
The instrument repository services shall federate the instrument repository with other observatory repositories
The data process repository service shall support physical resource test workflows
The data process repository service shall support physical resource data processing workflows
The data process repository services shall support physical resource calibration workflows
The data process services shall associate the data process repository contents with physical resource metadata
The data process repository services shall catalog the data process repository
The data process repository services shall federate the data process repository with other observatory repositories
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OOI CI Kick-Off MeetingSept 9-11, 2009
Scope of Release 1• Instrument Direct Access
– Raw, SSH/Telnet, Tunneling– Session management– User Interface for operators
• Instrument Management Services– Monitor / Control / Notification– Interface/Instrument test and verification– Lifecycle services
• Instrument and Data Process Repository– Metadata, ancillary information, behavior, config.– Catalog services
• Data Acquisition Services– Common interfaces and acquisition pipeline– Raw data and metadata acquisition
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OOI CI Kick-Off MeetingSept 9-11, 2009
Observatory Management and Resource Agents
Managed Resource Model
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OOI CI Kick-Off MeetingSept 9-11, 2009
Resource Agent
• Basic functionality: control, monitor, capability, and contract
Managed Resource Agent
Messaging Service
Service Application
Service Resource
Service
Service ResourceAdapter
s1
s2
in_event[guard]/out_event
FSM
Ser
vice
Res
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rce
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Co
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Cap
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tyP
roto
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Physical Resource
Ph
ysia
l Res
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roto
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Pro
xy R
eso
urc
e C
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Managed Resource Agent
s1
s2
in_event[guard]/out_event
FSM
Co
ntr
ol
Pro
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Mo
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or
Pro
toco
l
Cap
abili
tyP
roto
col
Co
ntr
act
Pro
toco
l
Proxy Resource Agent
s1
s2
in_event[guard]/out_event
FSM
Co
ntr
ol
Pro
toco
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Mo
nit
or
Pro
toco
l
Cap
abili
tyP
roto
col
Co
ntr
act
Pro
toco
l
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OOI CI Kick-Off MeetingSept 9-11, 2009
Functional Components
Data Management
Sensing & AcquisitionServices Network
Exchange
Data Processing
Instrument Agent
Observed data
Observed data
Metadata
InstrumentCommands
Instrument Supervisor
Controls
Status & Observed data
Observatory Data Ingest
Platform Agent
Repositories
Planning & Prosecution SN
Observation Plans
Data products
Observatory Management
Commands
Status
Status
Data products
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OOI CI Kick-Off MeetingSept 9-11, 2009
Functional ComponentsSensing & Acqusition Services Network
Instrument Agent
Observed data Data ProcessingFiltering &
SegmentationEvent
Detection
Exchange
MediationData
Acquisition
Command Translation
State/Control Engine
Event Processing
Controls
Status & Observed data
Platform Agent
Resource Conflicts
Management
Observation Plan Execution
Observed data
Commands
Observation Plans
Data products
Device Port
Observed data
Commands
Controls
Power SystemPower Agent
Power Allocation and Distribution
Port AgentPower &
Communication Supervision
Controls Controls
Controls
Buffering
Status
Observatory Management
Commands Status
Fulfillment Assurance Reconciliation
Calibration
Instrument Registration
Instrument ValidationInstrument Supervisor
MonitoringFault
Detection & Recovery
Fault Detection & Recovery
Update Clock
Fault Detection & Recovery
Replanning
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OOI CI Kick-Off MeetingSept 9-11, 2009
Dependencies on DMData Services Network
Exchange
Repositories
Data Product R
Instrument R
Status R
Data Process R
Catalogs
Data products
Observatory Data Ingest
Format Conversion
AdditionalContext Recording
VersioningData QA/QC
Metadata
“Science” “Engineering”
“Attributes” Associations
Data products
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OOI CI Kick-Off MeetingSept 9-11, 2009
Data Acquisition – Polling
LOOP <*>
Platform Controller Instrument Agent Instrument Data Processing
start data acq
Instrument preparation
get data
data sample
Add contextual info, time stamp, etc
data sample
stop data acq
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OOI CI Kick-Off MeetingSept 9-11, 2009
Sample Scenario – Exec. Plan
PAR
LOOP <*>
Platform Agent
Monitor platform health
Monitor state
Mission Planning & Control
Instrument Supervisor
Instrument Agent
Glider plan & default plan
move
ack
status
report “reached 10ft” state
Start data acq
Stop data acq
...
Infrastructure as a Service (IaaS)
Port ProtocolInformation
State
Commands Events FSM
Event Listener or Message Bus
Registration, communication
Registration, communication
Registration, communication
Registration, communication
Registration, communication
Registration, communication
OSGi Container
Backseat Driver Paradigm - ASTM F41
Autonomy System asa Whole
Control and Navigation System
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 WholeSensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication.
•Autonomous Decision-Making (backseat driver)Deciding vehicle heading, speed, and depth.
Autonomous Decision-Making
PayloadComputer
Main VehicleComputer
MOOSIvP Helm
MOOS-IvP Backseat Driver Vehicles• BF21 (with towed VSA,HLA)• IVAR Ocean Server (w/ HLA)• SCOUT (MIT kayaks)• REMUS 100/600 (In progress, PLUS, UCCI)• OEX (NURC, w SLITA HLA)• FOLEGA (NURC, Univ. Pisa)
MOOS-IvP Mandated Programs• UCCI (ONR 07-11)
• Distributed MCM• PLUS (ONR 08-12)
• Undersea Surveillance, ASW,• ORION (NSF 08-12)
• Ocean Observatory Infrastructure
Vehicle Autonomy Architecture
MOOS
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Autonomy System asa Whole
Control and Navigation System
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 WholeSensor processing, sensor fusion, autonomy, contact management, data logging, system monitoring, mission control, communication.
•Autonomous Decision-Making (backseat driver)Deciding vehicle heading, speed, and depth.
Autonomous Decision-Making
PayloadComputer
Main VehicleComputer
MOOSIvP Helm
module
module
module
module
module
module
module
module
module
module
MOOSCore
MOOS• Modules coordinated through a publish and
subscribe interface. • Overall system is built incrementally.
The “glue” for the autonomy system as a whole.
module MOOSDBPublish
Subscribe
Antelope
SIAM Concepts
Instrument
PU
CK
Power Port
Instrument Port
Port
Node
.
.
.
Node Manager
Port Manager
Device Service
Instrument
PU
CK
Power Port
Instrument Port
Port
Device Service
= CI Platform Controller
= CI Instrument Supervisor
= CI Instrument Agent
Data Sent to SSDS:-CI Observatory Data Ingest-CI Repositories<->Metadata
Event Manager
Technology Mapping
• Instrument Agent Framework based on Infrastructure-as-a-Service (IaaS) implementation using OSGi Services Container
• Design references: MBARI SSDS
Functional Component Technology TRLVirtual Resource Framework IaaS 6Instrument Drivers Antelope ORB 9Instrument Drivers SIAM 9Instrument Drivers PUCK 8Resource Monitoring Application Intermapper 9
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OOI CI Kick-Off MeetingSept 9-11, 2009
Thanks !
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OOI CI Kick-Off MeetingSept 9-11, 2009
SA Components• Based on FDR slides• Observatory Management and Resource Agents
– Could use a similar model to COI with Workers, Managers, Agents
– Managed resource domain model http://www.oceanobservatories.org/spaces/display/CIDev/Managed+Resource+Model
– Resource agent. From ObsMgt to agent and Magnet, FSM back up. Proxy agent: http://www.oceanobservatories.org/spaces/display/CIDev/MS+Iteration4
– Four services: Control, Monitor, Capability, Contract• Data Acquisition Flow
– Diagram that is currently in DM. Provides tie for all other components
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OOI CI Kick-Off MeetingSept 9-11, 2009
Sensing and Acquisition Objectives
• Marine Observatory Facility – Observatory Management– Instrument Management & Instrument Activation Services– Marine Resource Scheduling for Power, Bandwidth, etc.– Instrument Resource Repository
• Marine Infrastructure Interface– Instrument and Platform Agents– Instrument Direct Access
• Data Acquisition and Processing– Raw Data Acquisition, Buffering, Metadata association and
Persistence– Data Processing, QA/QC, Calibration & Validation– Data Product Generation, Publication & Persistence– Data Process Repository – Data Product Catalog & Repository
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OOI CI Kick-Off MeetingSept 9-11, 2009
Scope of Release 1
• Marine Observatory Facility – Observatory Management– Instrument Management & Instrument Activation Services– Marine Resource Scheduling for Power, Bandwidth, etc.– Instrument Resource Repository
• Marine Infrastructure Interface– Instrument and Platform Agents– Instrument Direct Access
• Data Acquisition and Processing– Raw Data Acquisition, Buffering, Metadata association and
Persistence– Data Processing, QA/QC, Calibration & Validation– Data Product Generation, Publication & Persistence– Data Process Repository – Data Product Catalog & Repository
Instrument Test Kit
T-MIC I
InstrumentTest & Certification
FacilityMICI
CGShoreStation
InstrumentAccess & Mgnt
Portal
OOI Operator Instrument Provider
Workbench - Logical Test Facility
Marine Specific - System Test Facility
Iridium Modem
Test - Marine Interface Card
Instrument
Ethernet
Web Browser
CommunicationPathways
RSN
CGSN
OOI Integrated Observatory Network