Borges de Sousa, J.

Costa, Maria

Dias, Paulo

Ferreira, Antonio Sergio

Pereira, João

Pinto, J.

Rajan, Kanna

Ribeiro, Manuel

English

UPCommons. Portal del coneixement obert de la UPC

97instrumentation viewpOint- 19 - MARTECH 16 instrumentation viewpOint - 19 - MARTECH 16ID44- THE LSTS OPEN-SOURCE COMMUNICATION AND AUTONOMY SOFTWARE: ENABLING   NETWORKED VEHICLE SYSTEMS TO FIND, TRACK, AND SAMPLE DYNAMIC FEATURES  OF THE OCEANJ. Borges de Sousa136, J. Pereira137, A. Sérgio Ferreira135, M. Ribeiro141, J. Pinto138, P. Dias142, M. Costa140 and K. Rajan139This paper discusses how the LSTS open-source communication and autonomy software (http://www.lsts.pt/toolchain) will enable networked vehicle systems to find, track, and sample dynamic features of the ocean. The software toolchain includes the following components:· Ripples – Web application including a communications hub and tools for re-mote visualization, tasking, and supervision enabling remote collaborative plan-ning and execution control, as well as outreach and education activities.· Neptus – Distributed off-board command and control framework supporting planning, execution control, and post-mission analysis for networked vehicle systems.· IMC – Protocol for networked vehicle systems operating in communications challenged environments. There is a discovery mechanism using different broadcasting mechanisms to identify end-points exposed in the network (over UDP, TCP, HTTP, acoustic modem, Iridium, etc.) The links among devices are dy-namically created during execution.· Dune – Onboard software framework providing logging, communications, nav-igation, and control functions for all supported vehicles, with a small memory and computational footprint to run virtually on any POSIX-compliant system.· TREX – Onboard deliberative planning software enabling autonomous de-cision-making without human intervention integrated with the LSTS-UP tool chain.· EUROPTus – Shipboard mixed-initiative planning and execution controller for multi-vehicle oceanographic field experiments and Neptus front-end.These components endow a dynamic set of physical assets with system level properties targeted at adaptive volume observation and sampling of interact-ing ocean processes. The approach builds on experience in large ocean experi-ments with multi-vehicle systems and on advances in: 1) standardized vehicle onboard software, including autonomy software; 2) delay and disruptive tol-erant networking communications; 3) adaptive sampling of ocean features; 4) mixed initiative planning and execution control; 5) inter-operability protocols for heterogeneous vehicles; and, 8) visualization software for integrated situ-ational awareness and planning and control.The LSTS vehicles and software toolchain will, for the first time, allow effective inter-disciplinary study of fronts and other oceanographic features of high mo-bility at fine spatial and temporal scales. Field trials are being performed with the LSTS unmanned vehicle systems (http://www.lsts.pt/vehicles/): AUVs in sev-eral configurations equipped with several types of sensors (CTD, fluorometer, holographic camera, turbidity, O2, cameras, and micro-turbulence), WiFi and satellite communications, acoustic modems, and battery packs enabling up to 36h endurance; fixed-wing UAVs capable of up to 1h of flight time equipped with several types of video cameras (including IR), WiFi, and capable of bent Line of Sight (LOS) communications; and, multi-copters/vertical takeoff and landing (VTOL) equipped with WiFi communications and cameras, and capable of bent LOS, of deploying drifters, and of collecting water samples.Abstract – The Galway Bay shallow-water observatory was installed in August 2015 and officially launched in July 2016. The observatory is located within the Galway Bay Marine and Renewable Energy Test Site at a depth of around 23m. The infra-structure has a core suite of scientific sensors monitoring a variety of marine pa-rameters as well as providing dedicated scientific ports (sockets) for marine research projects.Keywords – ‘Marine’ ‘Research’ ‘Science’ ‘R&D’ ‘Technology’ ‘Subsea’ ‘Observatory’ ‘Galway’ ‘Ireland’ ‘EMSO’I. CONTEXT AND OVERVIEWThe Galway Bay shallow-water observatory is part of a collaborative project be-tween the Sustainable Energy Authority of Ireland (SEAI), the Marine Institute (MI), University College Cork (Marine Renewable Energy Ireland - MaREI), Smart-Bay Ireland and Dublin City University (DCU) to upgrade existing facilities at the Galway Bay marine and renewable test site. The overall project was funded by Science Foundation Ireland (SFI)*.The Marine Institute had 4 main objectives to ensure a successful installation and completion of an operational marine observatory; 1) To procure and install main system components, 2) To apply for all relevant permissions (foreshore, planning, road-opening licence), 3) To procure and commission all onshore in-frastructure (ductwork and shore station) and 4) to ensure integration of the entire system.The culmination of the above steps led to the deployment of the Cable End Equipment (CEE) in August 2015 (fig. 2). The CEE is constructed of titanium hous-ing (fig. 1) and is 1.78m in length and has a diameter of 0.48m. It contains 17 science ports, 4 fibre ports and 1 video port (a full list of CEE port functions can be viewed in Table 1).The installation of the observatory also required terrestrial works (mainly civil) and included the cable landing site at a local pier, terrestrial duct work taking the cable ~1k underground to a specialised and fully equipped shore station. The shore station is located at a local second-level school and represents a suc-cessful partnership between the MI and the school. The dedicated shore facility was completely renovated and fitted out with a climate controlled server room.The shallow-water observatory has a core suite of environmental monitoring ID45- GALWAY BAY SHALLOW-WATER OBSERVATORY: INSTALLATION, COMMISSIONING AND  RESEARCH OPPORTUNITIESDiarmuid Gearóid Ó Conchubhair143, Dr Eleanor O Rourke144

The LSTS open-source communication and autonomy software: enabling networked vehicle systems  to find track, and sample dynamic features of the ocean

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The LSTS open-source communication and autonomy software: enabling networked vehicle systems to find track, and sample dynamic features of the ocean

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