1. Objective: Test Acoustic Rapid Environmental Assessment mechanisms. Construct an adaptive AUV path control. Predict ocean in real-time. Optimize control parameters in real-time, s.t. minimize TL uncertainty. FAF’05 Mission A1

2. ForwardBackward Adaptive AUV path control --- yoyo control Principle & Method Depth (m) Range (km)(m/s)

3. Adaptive AUV path control --- yoyo control Principle & Method Depth (m) Range (km) Relative position to thermocline. Relative position to upper bound and lower bound and bottom. Control parameters: n: number of sampling points to calculate d: threshold of

4. M I T Data Assimilation Smaller Ensemble of HOPS/ESSE forecasts Nowcasts at future time Sample variance of TL Statistics & Acoustic model Virtual Experiment Principal Estimate

5. Principle & Method P.E. OA P.E. new Yoyo 7 Yoyo 2 Yoyo 1 …… TL uncertainty associated with Yoyo 1 Err. new SVP Generator R 1 R m..… TL 1,1 TL 1,m CTD noise P.E. OA P.E. new Yoyo 7 Yoyo 2 Yoyo 1 …… TL uncertainty associated with Yoyo 1 Err. new SVP Generator R 1 R m..… TL 1,1 TL 1,m CTD noise

6. Implementation Plan 7/13/2005~7/16/2005 ACOMM Bouy LBL transponder POOL 10 6’ E 42 35’ N 2.5 km 2 km Alpha Charlie EchoDelta Bravo NC M I T

7. Implementation & Results Plan for 7/17/2005~7/26/2005 Optimal: n=30, d=1000 for afternoon of Jul 26 Max range=2.1km, frequency=100Hz

8. Implementation & Results Optimal: points=30, threshold=1000 for morning 7/21/05 Max range=4.3km, frequency=100Hz

9. Implementation & Results Optimal: points=30, threshold=0.1 for afternoon 7/21/05 Max range=2.1km, frequency=500Hz

10. Summary Major Accomplishment: Constructed an AUV yoyo control. Coupled HOPS outputs, AREA simulator and optimization codes together in a simple version. Implemented ocean prediction and control parameters optimization in real-time. Future work: Speed up cost function computation. Improve optimization for nonlinear, nonseparable cost function. Stochastic optimization.

11. P.E. OA P.E. new Yoyo 7 Yoyo 2 Yoyo 1 …… TL uncertainty associated with Yoyo 1 Err. new SVP Generator R 1 R m..… TL 1,1 TL 1,m CTD noise Principal Estimate RnRn OA P.E. new Yoyo 7 Yoyo 2 Yoyo 1 …… TL uncertainty associated with Yoyo 1 Err. new SVP Generator R 1 R m..… TL 1,1 TL 1,m CTD noise + ……. Forcast Ensemble

12. ith Yoyo pattern CTD noise Objective Analysis Principle Estimate A priori error field Correlation Lengths New P.E. Error field Sound Speed Generator RAM TL Uncertainty for ith yoyo