Ocean Observatories Initiative Sensing and Acquisition (SA) Subsystem Overview Michael Meisinger September 29, 2009

2 OOI CI Kick-Off Meeting Sept 9-11, 2009 Outline Subsystem Architecture Overview Scope of Release 1 Selected Components –Observatory Management and Resource Agents –Data Acquisition Flow

3 OOI CI Kick-Off Meeting Sept 9-11, 2009 Context within CI

4 OOI CI Kick-Off Meeting Sept 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

5 OOI CI Kick-Off Meeting Sept 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

6 OOI CI Kick-Off Meeting Sept 9-11, 2009 Observatory Management and Resource Agents Managed Resource Model

7 OOI CI Kick-Off Meeting Sept 9-11, 2009 Resource Agent Basic functionality: control, monitor, capability, and contract

8 OOI CI Kick-Off Meeting Sept 9-11, 2009 Functional Components

9 OOI CI Kick-Off Meeting Sept 9-11, 2009 Functional Components

10 OOI CI Kick-Off Meeting Sept 9-11, 2009 Dependencies on DM

11 OOI CI Kick-Off Meeting Sept 9-11, 2009 Data Acquisition – Polling

12 OOI CI Kick-Off Meeting Sept 9-11, 2009 Sample Scenario – Exec. Plan

Infrastructure as a Service (IaaS)

Backseat Driver Paradigm - ASTM F41 Autonomy System as a 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 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. Autonomous Decision- Making Payload Computer Main Vehicle Computer MOOS IvP 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 15 Autonomy System as a 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 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. Autonomous Decision- Making Payload Computer Main Vehicle Computer MOOS IvP Helm module MOOS Core MOOS Modules coordinated through a publish and subscribe interface. Overall system is built incrementally. The “glue” for the autonomy system as a whole. module MOOSDB Publish Subscribe

Antelope

SIAM Concepts Instrument PUCK Power Port Instrument Port Port Node Node Manager Port Manager Device Service Instrument PUCK 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

19 OOI CI Kick-Off Meeting Sept 9-11, 2009 Thanks !

20 OOI CI Kick-Off Meeting Sept 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 Managed+Resource+Model Managed+Resource+Model –Resource agent. From ObsMgt to agent and Magnet, FSM back up. Proxy agent: MS+Iteration4 MS+Iteration4 –Four services: Control, Monitor, Capability, Contract Data Acquisition Flow –Diagram that is currently in DM. Provides tie for all other components

21 OOI CI Kick-Off Meeting Sept 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

22 OOI CI Kick-Off Meeting Sept 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