MBARI Observatory Software Software Infrastructure and Applications for MOOS K. Headley January 2011
Jan 02, 2016
Key System Concepts
• Reliability• Flexibility
– Moored systems– Cabled observatories
• Scalability– Resource constrained/rich– Many platforms, many instruments
• Interoperability– Platform-to-platform– System-to-system
• Capability– Real-time (or nearly so) telemetry and control– Event Detection
Instrument Integration
• Mostly serial instruments• COTS and custom• Proprietary protocols
– Control, data formats
• Spectrum of machine/human friendliness
• Unfavorable economics for interface standards
Between the sensor and scientist’s eye…
Instrument firmware, protocols
Platform Middleware (e.g. SIAM)
Data Handling System (e.g. SSDS)
Standard Interfaces
Proprietary Interfaces
StandardsMiddleware
Clients
IEEE1451 OGC SWE
ESB/GRIDOSDTVendorCustom
…
Observatory Implementers
Instrument vendors
Standards Gap
SIAM Functions
• Data Acquisition – accurate time, but not hard RT (maybe should be)– connected, not connected
• Local data archive• Telemetry, delivery to SSDS• Resource management
– energy, bandwidth, data storage
• System diagnostics• Event detection...
SIAM Features• Flexible architecture
– Distributed, Scaleable, Interoperable– Plug-and-Work, PUCK compatible– Operable across different resource regimes– Field upgradeable
• Instrument Service Framework– Ease instrument integration– Uniform network instrument interface– Modular, stand-alone– Open, extensible– Provides facilities for logging, time-stamping , resource
management, data summarization– Polled, streaming instruments – Abstractions for communications/power ports, data logs– Custom hooks for platform-specific hardware
Software Infrastructure and Applications for MOOS
SIAMClient
“sample A”
“CS\r\n”
“01000010”
InstrumentService
InstrumentSpecific
InstrumentService
Port A
Port B
TCP/IPRMIClient
“sample B”
Standard IF
“get B observation”
InstrumentSpecific
PUCK Protocol: Plug and Work
PUCK-enabled instrument
RS-232
MOOSpayloadPUCK
protocol
MOOSpayload
Observatory Xpayload
Observatory Xpayload
PUCK and SIAM
SIAMHost
SIAM Payload
Service XML
Instrumentservice
ServiceProperties
• Load and run service
• Pass service XML to data system
• Use service properties to configure instrument
SSDS
Plug and Work: Moored SystemTCP/IP, PPP
SSDS
Portal(SIAM Client)
BIN BIN
SIAM in situ
SIAM
Uses PUCK to
configure Platform,
sampling, telemetry
Low Bandwidth:
SIAM Proxy
forwards
full/summarized
data to data
system
SIAM
Remote or Local
Control
SIAM
SIAM
Plug and Work: Cabled Observatories
SIAM
Virtual Serial Port
Eth-SerialAdapter
TCP/IPMARSNode
SSDS
SIAM On
Shore
Configures
and control via
virtual serial
port
No Host
Environment:
Power and
Data Only
Control via
Network
High Bandwidth,
No Proxy: Data
published directly
to data system
QuickTime™ and a decompressor
are needed to see this picture.
Some Supported Instruments
Aandera Acti* ASIMET Axis* Garmin Hobilabs ISUS
microstrainNAL
ModemNobska Nortek OCR
MBARI
HRpHRBR
SBE
19plusSBE
16plusSBE
37SMSAMI Tri-axys Wetlabs Workhorse
McLaneMBARI
metsys
SBE
37IM
SBE
52MPKVH Seahorse YSI
* Ethernet/HTTP instruments
SIAM and Open Source DataTurbine
SIAM
OSDT ring
buffer
Event Detector
Shore-Side Data System
FOCE GUI
CO2 louver service
CO2 controller
application
Current Profiler service
Thruster service
sensor data
control
Real Time Data Viewer
pH sensor service
FOCE
SIAM Development
• Annual field program series
• Incremental feature development
• Experimental outcomes
• 2-3 core developers
• 1-2 other developers, software tech
• Developers work multiple projects
SIAM Status
• MOOS program reaching maturity• Internal tech transfer project includes SIAM
export • SIAM shared through collaborator’s
agreements– Great Lakes Environmental Research Lab – University of Hawaii– Northern Illinois University/WISSARD– National Renewable Energy Lab
Questions
• SIAM Team– Tom O’Reilly– Duane Edgington– Kent Headley– Bob Herlien– Brian Kieft– Mike Risi– Karen Salamy
SIAM Modules
NodeManagement
ConfigurationUser
Utilities
InstrumentService
Framework
Telemetry
Data Logging, Summarization
PortManagement
HardwareAbstraction
EventDetection
OSDTHooks
Scheduling
PowerManagement
Portal
Minimal Implementation
Host uses UUIDTo locate resources
PUCK payloadNot implemented
PUCK datasheet
UUID
PUCK versionDatasheet sizeManufacturer ID
Instrument model IDInstrument version IDInstrument serial #Instrument name
SIAM jar fileXML doc,
Instrument service binary
SIAM payload tag
IEEE-1451 TEDS
IEEE-1451 payload tag
PUCK payload
PUCK datasheet
UUID
PUCK versionDatasheet sizeManufacturer ID
Instrument model IDInstrument version IDInstrument serial #Instrument name
MBARI observatory retrieves this payload
PUCK memory map: multiple
payloads
UPC observatory retrieves this payload
SIAM jar fileXML doc,
Instrument service bytecodes
SIAM payload tag
IEEE-1451 TEDS
IEEE-1451 payload tag
Monterey Ocean Observing System
• Multi-disciplinary science– Coastal ocean – biology, chemistry, geology
• Synoptic observations– Surface, pelagic and benthic
processes
• Deep water• Remote locations• Sustained presence, multi-year time scale• Regional spatial scale• Cost-effective satellite communications