odyssey iv
DESCRIPTION
Odyssey IV. Principal Investigator C. Chryssostomidis F. Hover Design Team R. Damus S. Desset F. Hover J. Morash V. Polidoro. Table. Motivations – Needs– Missions Data Product Lessons From Previous AUVs Mechanical Propulsion Dynamics Electrical Payload Software - PowerPoint PPT PresentationTRANSCRIPT
11/23/2004 1
Principal InvestigatorC. Chryssostomidis
F. Hover
Design TeamR. DamusS. DessetF. Hover
J. MorashV. Polidoro
Odyssey IVOdyssey IV
11/23/2004 2
TableTable
• Motivations – Needs– MissionsMotivations – Needs– Missions• Data ProductData Product• Lessons From Previous AUVsLessons From Previous AUVs• MechanicalMechanical• PropulsionPropulsion• DynamicsDynamics• ElectricalElectrical• PayloadPayload• SoftwareSoftware• Schedule and Cost EstimatesSchedule and Cost Estimates
11/23/2004 3
– – MotivationsMotivations
RobRob
– – NeedsNeeds – – MissionsMissions
11/23/2004 4
Rationale for an Rationale for an Odyssey IVOdyssey IV AUV Class AUV Class
• National Research Council “Future Needs in Deep Submergence Science”, 2004– US $25M to replace Alvin and upgrade ROV fleetGoal: Put humans deeper to leverage in-situ decision-makingNo money for AUVs SG to promote AUV involvement with a true deep-water
platform that is cheap and can sample disparate locales quickly and return high resolution data products for site characterization prior to HOV deployment
• Benthic Community Genomic Relationships (WHOI “Oceanus” 2004)– WHOI sponsored research identifies speciesGoal: Understand origin of species by sequencing DNAAn AUV with large payload capacity can carry novel sensors to collect samples
• Cold Water Coral Reefs– Chemosynthetic life-cycle is poorly understoodGoal: Improve database of knowledge about this cycle and ecological linkagesHover capable AUV can investigate areas where feature relative navigation is
desirable option to probe deep water coral
RobRob
11/23/2004 5
Odyssey IVOdyssey IV Concept Focus Areas Concept Focus Areas
• A low-cost, reconfigurable, 3000m “truck”• Short missions – choose many quick, surface-
deployed sampling missions rather than long surveys
• Restricted data products, e.g., a single geo-referenced touch-down location, a small photographic survey, a single non-specific sample of the benthic surface, etc.
• Focus on deployment of multiple vehicles without requiring continuous navigation of each vehicle.
RobRob
11/23/2004 6
Missions and Relative Mission DifficultyMissions and Relative Mission Difficulty
0
1
2
One geo-referenced point One geo-referenced point (GRP) at seabed(GRP) at seabed
Visual survey Visual survey relative to relative to initial GRPinitial GRP
Go to a given Go to a given GRP and do GRP and do visual surveyvisual survey
3… … and get and get any sampleany sample4… … and get a and get a
targeted sampletargeted sample
RobRob
Power consumption Power consumption not including thrustersnot including thrusters
<50 W <50 W
~250 W~250 W
~800 W~800 W
~300 W~300 W
(pinger, MEH and core sensors)
(plus camera/lights)
(plus DVL)
(plus sampling device)
11/23/2004 7
ConOpsConOps• Get to depth quickly
– V = sqrt( 2*(W – B ) / CD ) ~ 3.0 m/s• requires 30kg dropweight• 3km 16.67min (@ 60deg pitch, 34min)
• Survey small area – O( 200m X 200m X 10m spacing) @ 1m/s
• coverage overlap: 50%• 73.3min
• Rise to surface– Powered Ascent @ 1.5 m/s
• 3km 33.33min• Recover from water
– Transit to vehicle, hoist onto deck• 30min
• Offload Data– 2200 images @ 3MB/img ~ 6.6GB data @ 100 Mbps
• 10.26min• Total Time: ~3 hrs (163.56min - 180.56min)• Transit to new locale
Power consumption Power consumption (including thrusters)(including thrusters)
~84 Wh~84 Wh
~430 Wh~430 Wh
~100 Wh~100 Wh
~9 Wh~9 Wh
~25 Wh~25 Wh
Total ~650WhTotal ~650Wh
11/23/2004 8
Needs – Sum UpNeeds – Sum Up
Good Maneuverability Good Maneuverability (4 DOF)(4 DOF) Stability Stability (pitch and roll)(pitch and roll) Quick inspectionQuick inspection ~2 hour mission time~2 hour mission time Fast dive and ascentFast dive and ascent streamlined bodystreamlined body Maximize bottom timeMaximize bottom time dive time dive time OO(30 (30
minutes)minutes) Minimize turn around timeMinimize turn around time ~1 hour on deck ~1 hour on deck Low costLow cost ~$100,000~$100,000 Big PayloadBig Payload 50 kg reserve buoyancy50 kg reserve buoyancy
RobRob
11/23/2004 9
Data ProductsData Products
JimJim
11/23/2004 10
Mission 2 – Data Products (1)Mission 2 – Data Products (1)
• High resolution digital imagingHigh resolution digital imaging– Easy to interpretEasy to interpret– Spatial resolution ~ 1 mmSpatial resolution ~ 1 mm– Range limited by water qualityRange limited by water quality
Sample image data, Sample image data, first-generation AUV first-generation AUV LAB camera systemLAB camera system
JimJim
11/23/2004 11
Mission 2 – Data Products (2)Mission 2 – Data Products (2)
• High resolution digital imagingHigh resolution digital imaging– Ultimate goal: 3-D reconstruction with Ultimate goal: 3-D reconstruction with
photomosaic (future work)photomosaic (future work)
““Skerki D” sample Skerki D” sample photomosaic property of photomosaic property of
WHOI DSLWHOI DSL
JimJim
11/23/2004 12
Mission 2 – Data Products (3)Mission 2 – Data Products (3)
• High resolution acoustic imagingHigh resolution acoustic imaging– More difficult to interpretMore difficult to interpret– Range less limited by water quantityRange less limited by water quantity– Spatial resolution ~ 1 mmSpatial resolution ~ 1 mm
MS 1000 KongsbergMS 1000 Kongsberg
Data from “Royal Navy”Data from “Royal Navy”
JimJim
11/23/2004 13
Mission 2 – Data Products (4)Mission 2 – Data Products (4)
• Sample ReturnSample Return– A future research direction, once the base A future research direction, once the base
vehicle is completevehicle is complete– Possible subsystems range from simple water Possible subsystems range from simple water
pumps to hydraulic jackhammers and pumps to hydraulic jackhammers and manipulatorsmanipulators
– Scientific interest in organisms and chemicals Scientific interest in organisms and chemicals from midwater, seafloor sediments, from midwater, seafloor sediments, hydrothermal vents and coral reefshydrothermal vents and coral reefs
– Demands increased vehicle intelligenceDemands increased vehicle intelligence
JimJim
11/23/2004 14
Mission 2 – Data Products (5)Mission 2 – Data Products (5)
• Sample ReturnSample Return– Sampling subsystem conceptsSampling subsystem concepts
JimJim
Harbor Branch Harbor Branch suction samplersuction sampler
Schilling Robotics Schilling Robotics ORION manipulatorORION manipulator
Stanley hydraulic Stanley hydraulic chipping hammerchipping hammer
11/23/2004 15
Lessons From Previous AUVsLessons From Previous AUVs
VicVic
11/23/2004 16
Previous Experience (1)Previous Experience (1)
What we’ve learned from previous experiences :What we’ve learned from previous experiences :
How to hover and maneuver at low speedsHow to hover and maneuver at low speeds
Take advantage of a large hydrostatic righting momentTake advantage of a large hydrostatic righting moment
Try to put the thrusters along an axis of symmetryTry to put the thrusters along an axis of symmetry
Minimize the coupling between axesMinimize the coupling between axes
Preserve a streamlined directionPreserve a streamlined direction
VicVic
11/23/2004 17
Previous Experience (2)Previous Experience (2)
Hovering AUV Projects at other institutionsHovering AUV Projects at other institutions
VicVic
ABEABE ALISTAR 3000ALISTAR 3000 SAUVIMSAUVIM
ALIVEALIVESeaBEDSeaBED
SENTRY SENTRY
(not hovering)(not hovering)
11/23/2004 18
Mechanical LayoutMechanical Layout
SamSam
11/23/2004 19SamSam
Mechanical – Design EvolutionMechanical – Design Evolution
11/23/2004 20
, ,
, ,
350
400
1.05
0.02
0.00
1.05
0.10 ~ 0.14
0.00
x y z
x y z
Mass kg
Buoyancy up to kg
CG
CB
Mechanical - Layout (1)Mechanical - Layout (1)
SamSam
11/23/2004 21
Mechanical - Layout (2)Mechanical - Layout (2)
SamSam
11/23/2004 22
Mechanical - Layout (3)Mechanical - Layout (3)
SamSam
11/23/2004 23
Mechanical - Layout (4)Mechanical - Layout (4)
SamSam
11/23/2004 24
Mechanical – Thrusters functionMechanical – Thrusters function
Heave and Surge Heave and Surge
Sway and YawSway and Yaw
SamSam
11/23/2004 25
Mechanical – Devices LayoutMechanical – Devices Layout
SamSam
11/23/2004 26
Mechanical – Devices LayoutMechanical – Devices Layout
SamSam
FoamFoam
BatteriesBatteriesMEHMEH
Actuation Actuation housinghousing
Payload BayPayload Bay
11/23/2004 27
Mechanical – StructureMechanical – Structure
VicVic
11/23/2004 28
Mechanical – Drop Weight MechanismMechanical – Drop Weight Mechanism
VicVic
11/23/2004 29
Mechanical – Rotating Thruster Assembly Mechanical – Rotating Thruster Assembly
SamSam
11/23/2004 30
Mechanical – FoamMechanical – Foam
• Off the shelf blocks of foam ($1000/f3)
1’x6”x2’ 1’x6”x2’ 1’x6”x1.5’1’x6”x1.5’ 1’x6”x1’1’x6”x1’ 1’x6”x0.5’1’x6”x0.5’
SamSam
11/23/2004 31
Mechanical – Weight Repartition (~350Kg)Mechanical – Weight Repartition (~350Kg)
JB, 5 Kg, 1%
foam, 81 Kg, 24%
Structure, 25 Kg, 7%Camera System, 37 Kg,
10%
Actuation, 57 Kg, 16%
Battery, 50 Kg, 14%
Core System, 28 Kg, 8%
Cable, 15 Kg, 4%
MEH, 57 Kg, 16%
SamSam
11/23/2004 32
PropulsionPropulsion
The following analysts are based on Bollard thrust from manufacturer and projected The following analysts are based on Bollard thrust from manufacturer and projected surface area surface area
SamSam
11/23/2004 33
Mechanical – Thruster manufacturerMechanical – Thruster manufacturer
0 N
20 N
40 N
60 N
80 N
100 N
120 N
140 N
0 Watts 50 Watts 100 Watts 150 Watts 200 Watts 250 Watts 300 Watts 350 Watts 400 Watts
Input Power
Th
rust
-
0.10
0.20
0.30
0.40
0.50
0.60
Th
rust
per
Wat
t
TSL 70mm Tecnadyne 520 cyVect 1HP Deep Sea 1Hp
TSL 70mm Tecnadyne 520 cyVect 1HP Deep Sea 1Hp
Regression based on manufacturer data (bollard thrust)Regression based on manufacturer data (bollard thrust)
SamSam
11/23/2004 34
Mechanical – Thrusters chosenMechanical – Thrusters chosen
Deep Sea System 1HPDeep Sea System 1HPBollard ThrustBollard Thrust
0 N
20 N
40 N
60 N
80 N
100 N
120 N
140 N
160 N
180 N
0W 100W 200W 300W 400W 500W 600W 700W 800W 900W 1000W
Electric input power
Bollard Thrust
Poly. (Bollard Thrust)
SamSam
-1.83743589 - 04* ^ 2 3.44389821 - 01*in inThrust E P E P
11/23/2004 35
Mechanical – How many thruster per axis?Mechanical – How many thruster per axis?
SamSam
Bollard curve
11/23/2004 36
Mechanical – How fast can we?Mechanical – How fast can we?
SurgeSurge
SamSam
11/23/2004 37
Mechanical – How fast can we?Mechanical – How fast can we?
SwaySway
SamSam
11/23/2004 38
Mechanical – How fast can we?Mechanical – How fast can we?
HeaveHeave
SamSam
11/23/2004 39
Mechanical – How fast do we go down? (1)Mechanical – How fast do we go down? (1)
PropulsionPropulsion
SamSam
11/23/2004 40
Mechanical – How fast do we go down? (2)Mechanical – How fast do we go down? (2)
Descent WeightDescent Weight
Cd=0.4
Cd=0.1
PitchPitch
ThrustThrust+SpeedSpeedTotal ForceTotal Force SamSam
11/23/2004 41
DynamicsDynamics
VicVic
11/23/2004 42
Dynamics – Vectored Thrust Control Problem (1)Dynamics – Vectored Thrust Control Problem (1)
• The essential system is described by Mx’’(t) = F(t) cos (t)Mz’’(t) = F(t) sin (t)
where x(t) is surge positionz(t) is heave positionF(t) is thrust level(t) is pitch of the thruster
• Pitch is subject to velocity and acceleration limits, and
may be limited to 360 degrees of rotation• Thrust is subject to bandwidth limits
VicVic
11/23/2004 43
• In a steady disturbance, such as forward flight or a buoyancy force, the control inputs can be effectively linearized, giving excellent vectored thrust control
• When pure hovering is needed, the system cannot be stabilized to zero, except in the limiting case of zero closed-loop bandwidth.
• This is an extremely active area of research in the dynamic positioning community, usually with multiple thrusters.
Dynamics – Dynamics – Vectored Thrust Control Problem (2)Vectored Thrust Control Problem (2)
VicVic
11/23/2004 44
Dynamics – Rotating Thruster (1) Cruising + Low Frequency DisturbancesDynamics – Rotating Thruster (1) Cruising + Low Frequency Disturbances
VicVic
11/23/2004 45
Dynamics – Rotating Thruster (2) Cruising + High Frequency DisturbancesDynamics – Rotating Thruster (2) Cruising + High Frequency Disturbances
VicVic
11/23/2004 46
Dynamics – Rotating Thruster (3) Hovering + Low Frequency DisturbancesDynamics – Rotating Thruster (3) Hovering + Low Frequency Disturbances
VicVic
11/23/2004 47
Dynamics – Rotating Thruster (4) Hovering + Low Frequency DisturbancesDynamics – Rotating Thruster (4) Hovering + Low Frequency Disturbances
VicVic
11/23/2004 48
Dynamics – Rotating Thruster (5) Hovering + High Frequency DisturbancesDynamics – Rotating Thruster (5) Hovering + High Frequency Disturbances
VicVic
11/23/2004 49
Dynamics – Rotating Thruster (6) Hovering + High Frequency DisturbancesDynamics – Rotating Thruster (6) Hovering + High Frequency Disturbances
VicVic
11/23/2004 50
• Potential difficulties with nonlinear approaches: unexpected behavior, unrealistic demands on physical system, instability, etc. Very few tools available for design; analysis is by simulation.
• Pursue a linear approach to hovering; this requires regularization of pitch angle - i.e. regular, synchronized motion.
• One approach: rotate the pitch servo at constant rate (q). This partitions thrust into four quadrants per turn - two used for heave DOF and two for surge DOF.
T/4 3T/4T/2 T
Because thrust in each DOF is available on a regular time base, classical discrete-time control principles can be used; the two DOF are actuated alternately. The available positioning bandwidth is closely related to q and to the time scales of thrust production during a rapid turn. Linear approach allows systematic design.
11/23/2004 51
Dynamics – Rotating Thruster (7)Dynamics – Rotating Thruster (7)
A model of the thruster, show us that we should be able to rotate 90º in less than 0.4 second
2 2
2 max
1.5 0.0 0.0
0.0 0.3 0.0
0.0 0.0 0.3
. 0.0464*
. 0.0111*
*
System
dumping
friction
actuator actuator
J
T
T
T T
max2. . actuatorT
t J J J
SamSam
11/23/2004 52
Dynamics – Rotating Thruster (8)Dynamics – Rotating Thruster (8)
Vector Thrusters will allow us to have a constant thrust value for any desired surge and heave
Same resulting thrust butSame resulting thrust but
different power leveldifferent power level
SamSam
75N
150N
225N
30 watts actuator offset
11/23/2004 53
Dynamics – Rotating Thruster (9)Dynamics – Rotating Thruster (9)
The pitch (and roll) axis will be naturally stable
The vector thrust will assure The vector thrust will assure a decoupling of the Pitcha decoupling of the Pitch
Vector angle will be in Vector angle will be in reference to global framereference to global frame
SamSam
11/23/2004 54
6D0F Simulation Objectives6D0F Simulation Objectives
RobRob
Attributes:• True Six DOF• Relevant Terms
– Added Mass (w/off-diagonals)– Drag– Buoyancy– Thrusters
GoalsGoals• Quantify main vehicle behaviors and support decision makingQuantify main vehicle behaviors and support decision making
• Vehicle ShapeVehicle Shape• Thruster placementThruster placement• Vectored ThrustVectored Thrust
• Run missions for dynamics visualization – getting to 3km deep is Run missions for dynamics visualization – getting to 3km deep is difficult!difficult!
• Design and test controllersDesign and test controllers
11/23/2004 55
Added Mass MatrixAdded Mass Matrix
RobRob
Large Contribution• Yaw induced from Sway [M62]• Pitch induced from Heave [M53]
6662
555351
44
353331
2622
1513
0000
000
00000
000
0000
000
MM
MMM
M
MMM
MM
MMM11
1,4
2,5
3,6
Small Contribution• Surge induced from Heave [M13]• Surge induced from Pitch [M15]
Estimates – Ellipsoid of Revolution
• M11 = 587.82 <Blevins, Krieger>
• M22 = 2399 <Slender Body>• M33 = 598.94 <Slender Body>• M44 = 57.49 <Slender Body>• M55 = 238.35 <Slender Body>• M66 = 953.39 <Slender Body>• M26 = 1309.62 <Slender
Body>• M53 = 327.55 <Slender Body>
11/23/2004 56
Dynamics – MOOS Simulator EstimatesDynamics – MOOS Simulator Estimates
RobRob
Two Regime considerations for “streamline body”
Methods: Newman {2.6}, Hoerner {VI-C, X-A},
Schoerner and Blasius
–Thickness Ratios for 2D sections:
– Surge: 0.25, Sway: N/A, Heave: 0.5
–Hovering: 0.1 – 1.0 m/s
– Reynolds No: 2.18 x 105 – 2.18 x 106 <Laminar>
CF: .0028 - .001
–Diving: 3.0 – 4.0 m/s
– Reynolds No: 6.55 – 8.74 x 106 <Turbulent>
CF: .0031 - .0029
o CD: Surge: 0.1, Sway: 1.0, Heave: 0.29
• Natural Periods for 30° deflection– Roll: 14.995sec– Pitch : 5.804 sec
• Maximum Velocities– Surge: 3.02 m/s (Ucr = 1.85 m/s) – Sway: 0.52 m/s– Heave: 1.44 m/s
11/23/2004 57
MOOS Simulator – Preliminary ResultsMOOS Simulator – Preliminary Results
Time (sec)ra
d
Time (sec)
rad
• Passive roll stability• Initial torque: 175N-m• Damping too high?
• Passive pitch stability• 300N thrust 0 thrust in Z dir• Added Mass terms behave well
11/23/2004 58
Electrical LayoutElectrical Layout
JimJim
11/23/2004 59
Electrical Layout – SensorsElectrical Layout – Sensors
RDI DVL RDI DVL 600Khz600Khz
Tritech PA500Tritech PA500
Paroscientific 8bParoscientific 8b
Kongsberg MS1000 Kongsberg MS1000 2.25Mhz2.25Mhz
WHOI Acoustic modemWHOI Acoustic modem
Microstrain AHRSMicrostrain AHRS
JimJim
11/23/2004 60
Electrical Layout – Electrical Wiring (1)Electrical Layout – Electrical Wiring (1)
JimJim
11/23/2004 61
Electrical Layout – MEHElectrical Layout – MEH
JimJim
8 x 25 A relaysSPDT
Switch Board
PC104
DC/DC
Payload Side
Coms
Power Connectors
Pie Connectors
11/23/2004 62
Electrical Layout – Power BudgetElectrical Layout – Power BudgetCamera System,
348 WattsMEH, 36 WattsCore System, 398
Watts
Actuation, 3179 Watts
Actuation, 1157 Watts
Core System, 66 Watts MEH, 36 Watts Camera System,
198 Watts
Managed Power Budget Managed Power Budget (<1500 W)(<1500 W)
Aggressive Power Budget – Aggressive Power Budget – Requires Four Batteries Requires Four Batteries
(4kW peak)(4kW peak)
JimJim
11/23/2004 63
Payload DesignPayload Design
RobRob
11/23/2004 64
Payload (1)Payload (1)
• Stereo cameraStereo camera– New approach to optical sensingNew approach to optical sensing– Extremely high resolution (2 x 6 Megapixel)Extremely high resolution (2 x 6 Megapixel)– Many data processing options (real-time and Many data processing options (real-time and
post-)post-)– Compact mechanical designCompact mechanical design– Electronics chosen for easy upgrades as Electronics chosen for easy upgrades as
COTS technology improvesCOTS technology improves
JimJim
11/23/2004 65
Payload (2)Payload (2)
• Stereo cameraStereo camera– Vision components:Vision components:
• 2 x Silicon Imaging SI-6600CL camera2 x Silicon Imaging SI-6600CL camera• EDT PCI-DV CameraLink frame grabberEDT PCI-DV CameraLink frame grabber• 2 x Birger Engineering EF-232 serial lens controller2 x Birger Engineering EF-232 serial lens controller• 2 x Canon EF 14mm f/2.8 USM wide angle lens2 x Canon EF 14mm f/2.8 USM wide angle lens• COTS PCI backplane and industrial SBCCOTS PCI backplane and industrial SBC• Rugged 60GB laptop HDRugged 60GB laptop HD
– Mechanical choicesMechanical choices• Two cameras in one large housingTwo cameras in one large housing• Streamlined vehicle body demands a fixed camera Streamlined vehicle body demands a fixed camera
angle – should it be forwards, or down?angle – should it be forwards, or down?
JimJim
11/23/2004 66
Payload (3)Payload (3)
• LightingLighting– Strobe or steady?Strobe or steady?
• Cameras support triggered single frame, or high-Cameras support triggered single frame, or high-speed streamed videospeed streamed video
• Limited by battery capacityLimited by battery capacity• Several strobe choices: OIS, Kongsberg, …Several strobe choices: OIS, Kongsberg, …
– Number of lights on board?Number of lights on board?• Multiple strobes reduce obscuring shadowsMultiple strobes reduce obscuring shadows• Simultaneous need to minimize costSimultaneous need to minimize cost• Streamlined body reduces possible mounting Streamlined body reduces possible mounting
pointspoints• Determined in part by choice of camera angleDetermined in part by choice of camera angle
JimJim
11/23/2004 67
MOOS Behavior Architecture <Subsumption – Brooks ’86>MOOS Behavior Architecture <Subsumption – Brooks ’86>
RobRob
AvoidSeabedSurvey
TrackSeabedCameraTask
MOOSVariable Input(environment perception)i.e., NAV_*
Horizontal Layering
Prioritized Tasks
DESIRED_THRUSTDESIRED_RUDDERDESIRED_ELEVATOR
Perception Action
AvoidSeabed
SurveyTrackSeabedCameraTask
GoToWayPointGoToWayPoint
Third Party Task Introduction
Allow = User @ SessionTimeOut : TPTaskCredential Checks prevent hostile takeover
SessionTimeOut ensures timely completion of TPTask
Benefits • Reactive Control – no KB referencing• Behaviors usually control a single DOF, thus making PID control easy to debug• TPTask provides for Adaptive Behaviors• Extensible tasks• Mission programming in one file
11/23/2004 68
Holonomic MOOSHolonomic MOOS
• Observations for 6DOF control
– 6DOF control required a more generalized interface to the actuation
– Certain tasks would require control over multiple DOF at once to facilitate arbitration between vehicle <“state”>
• i.e. losing track of the bottom <“vehicle is blind”> does not mean the mission is over
– Perceptive reasoning
• Sensor mapping to a ControlledDOF requires representation
– i.e. a plane formed by the beams of the DVL
• Observations for deep ocean operation– Navigation fixes are infrequent during the dive
RobRob
11/23/2004 69
DOF ManagementDOF Management
RobRob
if( ShouldRun() )
{
CalculateDesired();
DOFMGRLIST::iterator it;
for(it != m_DOFManagers.end(); it++)
{
(*it)->DoControl( Transform, m_nPriority );
if( (*it)->HasProblem() )
HandleDOFFailure( *it );
}
}
C T r an s f o r m
s ta tic C D O F T o C o n tr o l X ,Y,Z . . .
boo l S e t(C D O FT oC on tro l s T ype ,dou bl e dfVal , i n t n Pri ori ty );dou bl e G e t(C D O FT oC on tro l s T ype );
C Ho lo n o m ic Beh v aio r
lis t< C D O F M an ag er * >
boo l Ru n (C T ran s form & );
C D O F M an ag er
C D O F T o C o n tr o l m _ D O F T o C o n tr o l;m ap < M O O S Var ,S en s o r O u tp u t>P I D C o n tr o lle r m _ P I D C o n tr o l;
vi rtu a l boo l Update D O F();vi rtu a l boo l Ru n PID Loop();vi rtu a l boo l Is D ataVal i d();vi rtu a l boo l C al cu l a te D e s i re d();vi rtu a l boo l M an age S e n s orFai l u re ();
C D O F M an ag er Yaw R elT o
boo l Update D O F();boo l Ru n PID Loop();boo l Is D ataVal i d();boo l C al cu l a te D e s i re d();boo l M an age S e n s orFai l u re ();
C D O F M an ag er S u r g eR elT o
boo l Update D O F();boo l Ru n PID Loop();boo l Is D ataVal i d();boo l C al cu l a te D e s i re d();boo l M an age S e n s orFai l u re ();
C M O O S Beh av io u r
Yaw P I DZ P I DS tar tF lag s , C o m p le teF lag s , E v en tF lag sc las s C o n tr o lled D O F ;
G e tN oti fi ca ti on s (), G e tRe g i s tra ti on s (),Ru n (C Path Acti on & );
11/23/2004 70
Cost EstimatesCost Estimates
• Cost per mission scenario – 10 day mission– Capable Ocean Vessel: $10K - $30K1/day– Travel expense and shipping to exotic locale: $18K
• 4 engineers• Air freight
– Deployments per day to 3km deep: 4
– $3K - $8K per AUV dive
RobRob11”Future Needs in Deep Submergence Science,” Ocean Studies Board of The National Research Council, 2004”Future Needs in Deep Submergence Science,” Ocean Studies Board of The National Research Council, 2004
11/23/2004 71
ScheduleSchedule
• Nov 30 ’04 - Design Review• Dec. ’04 - Finish detailed design,
order long lead items• Jan. ’05 - Construct prototype• Feb. ’05 - Tank test prototype• March ’05- Sea trials with prototype• Summer ’05 - First expedition with
Odyssey IV
RobRob