MIT Laboratory for Autonomous Marine Sensing Systems MIT Laboratory for Autonomous Marine Sensing Henrik Schmidt Laboratory for Autonomous Marine Sensing Systems Massachusetts Institute of technology 617-253-5727 ([email protected]) http://lamss.mit.edu Environmentally Adaptive Acoustic Sensing, Communication and Navigation in the New Arctic
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MIT Laboratory for
Autonomous Marine Sensing Systems
MIT Laboratory for
Autonomous Marine Sensing
Henrik Schmidt
Laboratory for Autonomous Marine Sensing SystemsMassachusetts Institute of technology
• The Virtual Ocean is effective platform for exercising platform
autonomy with realistic environmental dynamics and timescales
MIT Laboratory for
Autonomous Marine Sensing Systems
Deep Sea Operations – DASH-Shark (DARPA)
Submarine Hold-a-Risk in deep ocean environments using a network of autonomous underwater
vehicles with active and passive sonars. Large area coverage (500x500 km) and persistance (90 days)
is achieved by combining state-of-the-art deep-rated vehicle technology and environmentally adaptive
sonar technology exploiting the mobility of the undersea network.
MORAN: Environmentally Adaptive Acoustic Communication (DARPA SBIR)
TEAC: Tactical Exploitation of the Acoustic Channel (DARPA)
Establishing and maintaining coherent acoustic connectivity between offshore autonomous
platforms and platforms and arrays on the continental shelf. MIT is responsible for the
environmentally adaptive platform autonomy on the nodes.
MOOS-IvP Autonomy and Virtual Ocean
Transitions
ICEX16/FAST – Future Arctic Sensing Technologies
(ONR/DARPA/COMSUBFOR)
Exploring hybrid horizontal/vertical array apertures for enhanced passive and
active acoustic surveillance in the new Arctic. Autonomous, Integrated
Sensing Modeling and Control for adapting the AUV survey to the dramatically
changing acoustic environment in the Arctic
Environmentally Adaptive Communication and Navigation in the Arctic
(ONR)
The MIT operation of a BF21 with a towed array in ICEX16 demonstrated the severe
underice acoustic environment created by the climate related enhancement of the
Beaufort Lens, a warm water lens entering from the Bering Strait, and which is neautrally
bouyant at 75 m depth, creating a distinct double-duct, which requires underwater
vehicles to be environmentally adaptive for maintaining acoustic connectivity.
MIT Laboratory for
Autonomous Marine Sensing Systems
Summary• Artificial Intelligence is critical to persistent and resilient operation of undersea distributed sensing
systems– Adaptation and collaboration may compensate for reduced sensor performance
– Communication channel inherently layered, highly band limited, latent and intermittent
– Integrated of sensing, modeling, and control required for sustained autonomous operation
• Nested, behavior-based autonomy is a key enabler – Nested modularity supports effective ’cloning’ of domain experts
– MOOS-IvP is open-source, highly portable autonomy software
• Multi-objective optimization HelmIvP is key enabler for adaptive autonomy.
• Provides 95%+ of leveraging autonomy software through nested repositories
• Provides templates for efficient application and behavior development by domain experts
– Adaptive sensing, communication and autonomy supported by embedded environmental and tactical modeling
• Robust and Resilient Onboard Data Processing– Processing products suited for machine decision making
– False Alarm Control is critical. Ocean is random!
– Robustness more critical than resolution!
• Virtual Experiments key to deployment of robust and resilient field systems– Adaptive autonomy is inherently unpredictable. Robust and resilient performance requires extensive testing with