The Robots Come to the Monterey Bay
Steven R. Ramp
Outline
• Discuss program goals and operations
• Show and explain instruments/hardware
• Describe data communications
Activities in the Monterey Bay During August 2006 (MB06)
• The Adaptive Sampling and Prediction System (ASAP)
• Persistent Littoral Undersea SurveilenceNetwork (PLUSnet)
• Assessing the Effects of SubmesoscaleParameterizations (AESOP)
• Layered Organization of the Coastal Ocean (LOCO)
MBO6 Ship/Aircraft Time LineVersion 8, July 19, 2006
14 21 28 4 11 18 25 1 8July August Sept
POINT SUR
NEW HORZSPROUL
WECOMAREVELLE
FLIPSHANA RAE
ZEPHYRTWIN OTTER Ramp
Chavez/Ramp ChavezKunze/Girton
Pinkel/Klymak
15
Lee/D’Asaro
Stewart/Schmidt
Johnston/Rudnick
THOMPSON Cowles
D’Spain
Davis (as needed)
Gregg/Miller
Chavez
CYPR. SEA Healey
RampLeonardMONTAGUE
Denny
Sanford
McDonaldDavis (as needed) Davis
PLUSNetPLUSNet5 10
ASAP
Sprays (4)
Slocums (6)Dorado (1)Bluefin (2)REMUS (2)Solar AUV (1)
M2
M1
PLUS
FLIP (tent.)
AESOP
LOCO
M0
MB06 Operating AreasMB06 Operating Areas
MBARI
0 nm
Slocum (2)
Learn how to deploy, direct, and utilize autonomous vehicles most efficiently to sample the ocean, assimilate the data into numerical models in real or near-real time, and predict future conditions with minimal error.
The Adaptive Sampling and Prediction (ASAP) Program
ASAP Science Goal
Close the heat budget in a three dimensional upwelling center in a major eastern boundary current
Sanctuary Boundary
Nominal ASAP Box
Nominal DORADO Line
Glider
ADCPMooring
ASAPPlan
Nominal REMUS Line
The Players
• Princeton University– Control Theory, Adaptive Sampling
• Naval Postgraduate School– Aircraft, Real-Time Bottom Moorings, AUVs, Seaweb
• Harvard University– Numerical Modeling and Prediction
• Massachusetts Institute of Technology– Odyssey AUVs, Autonomous Kayaks, Acoustic Data
Assimilation (ADA)
• Woods Hole Oceanographic Institution– Shallow Water Gliders
• Scripps Institution of Oceanography– Deep Water Gliders
The Players(continued)
• California Institute of Technology– Lagrangian Coherent Structures
• MBARI– DORADO AUV– Data Management– Virtual Control Room
• NRL– The ICON Model, COAMPS Model
• JPL/CalTech– Regional Ocean Modeling System (ROMS)
• Un. Of Miami– Atmospheric Modeling and Prediction
What Does Adaptive Sampling Mean?What Does Adaptive Sampling Mean?
•• One:One: Collect RealCollect Real--Time DataTime Data•• Two:Two: Quality Control/Move to WWWQuality Control/Move to WWW•• Three:Three: Assimilate into Numerical ModelsAssimilate into Numerical Models•• Four:Four: Predict TomorrowPredict Tomorrow’’s Conditionss Conditions•• Five:Five: Blend Model Output: Blend Model Output: ““BestBest”” ForecastForecast•• Six:Six: Reposition AssetsReposition Assets•• Seven:Seven: Collect RealCollect Real--Time DataTime Data•• Eight:Eight: RepeatRepeat
EFFECT OF GLIDERS ON FORECAST ERROR
Naomi's ASAP Glider Homepage
ASAP DataASAP Data--Assimilating Numerical ModelsAssimilating Numerical Models
•• Innovative CoastalInnovative Coastal--ocean Observing ocean Observing System (ICON)System (ICON)
•• Harvard Ocean Prediction System Harvard Ocean Prediction System (HOPS)(HOPS)
•• Regional Ocean Modeling System Regional Ocean Modeling System (ROMS)(ROMS)
OBS
HOPS
ROMS
ICON
OBS
ICONHOPS
ROMS
Hardware DescriptionsHardware Descriptions
AUTONOMOUS VEHICLES OTHER ASSETS
AOSN-II 2003
Scripps Spray GliderASAP Spray Glider Page
WHOI Shallow Water GliderWHOI Shallow Water Glider
•10 – 200 m depth•30-40 cm/s headway•3 month duration•T, S, Chla, b470, PAR
example observations: sections
d. fratantoni
APL/UWSeaglider
ASAP Glider Formations(Fiorelli et al.)
Sense Temperature
Gradients in an upwelling front
REMUS (Cal Poly, NPS)REMUS (Cal Poly, NPS)Battery Powered, Acoustic NavigationBattery Powered, Acoustic Navigation
Mark Moline, Cal Poly
ARIES Vehicle in the Azores
Data Modem
Current Profiler
Housing
DATA BUS EXPERIMENT:Real-Time Data from Bottom-Mounted Profiler
DATA
DATA
Tony HealeySteve Ramp
ARIES AUV
• Fully autonomous or acoustically controlled
• 60 km range @ 3 kts• 120 - 160 kg dry weight• 6000 m depth rating
Odyssey Class AUVs
• Payloads include CTD, ADCP, fluorometer, OBS, sidescan sonar, and more
• Docking capability• Deployed in 20 field
experiments • 5 Odyssey IIb/IIc systems..
Dorado Vehicle (MBARI)
De Havilland De Havilland Twin OtterTwin Otter
Maximum endurance/altitude: 12 hours at 25,000 feet
Payload: 6000 lbs
Operational Speed Range: 70-160 KIAS
Aircraft InstrumentationAircraft Instrumentation
•• ATMOSPHEREATMOSPHERE–– Atmospheric PressureAtmospheric Pressure–– Air and Dew Point TemperatureAir and Dew Point Temperature–– Wind Speed and DirectionWind Speed and Direction–– Turbulent Flux MeasurementsTurbulent Flux Measurements–– AerosolsAerosols
•• OCEANOCEAN–– Sea Surface TemperatureSea Surface Temperature–– Ocean ColorOcean Color–– Sun GlintSun Glint–– Surface Wave HeightSurface Wave Height
6 mp Digital Cameras (Canon 10D)
HOBILabs Hydro RAD-3 Mounted in the NPS
TWIN OTTER
UNDERSIDE VIEW
HydroRAD Sensor
Digital Cameras
WIND FORCING DURING AOSN-II SUMMER 2003
AUGUST 4 AUGUST 5 AUGUST 6
AUGUST 10 AUGUST 11 AUGUST 13PHOTO NEXT SLIDE
August 13, 2003
15
10
5
0
30
20
10
0
-10
-20
-30
Aircraft Wind
Aircraft Curl
COAMPS 3km Wind COAMPS 9km Wind
COAMPS 3km Curl COAMPS 9km Curl
15Aug
N/m2 m/day
NPS BEACH LAB
RECEIVE
TRANSMIT
Greater Monterey Bay Expanded HF Radar Coverage
CENCAL Surface Currents Home Page
Monterey Bay:Pseudo-Drifter Movie
Thanks to: Jeff Paduan, NPSBruce Lipphardt, UDel
CommunicationsCommunications
SPAWAR Systems Center, San Diego
Seaweb
Seaweb Enabling technology for distributed undersea systems
Joseph A. Rice, PISPAWAR Systems Center, San DiegoNaval Postgraduate School, Monterey
831 402 [email protected]
SPAWAR Systems Center, San Diego
SeawebDemonstrated capabilities:
Seaweb network with UUVsUS/Canada collaborationGulf of Mexico, Feb 1-8, 2003
6 fixed repeater nodes
FreeWave radio links
3 glider UUV mobile nodes
Shipboardcommand center
Over-the-horizoncommand center
2 Racom buoy gateway nodes
Iridium satellite radio links
Mobile gateway nodes
Mobile sensor nodes
200 km logged by UUVs
300 hrs logged by UUVs
Node-to-multinode com/nav
UUV nosesection
PROPOSED SEAWEB GRID FOR THE ADAPTIVE SAMPLING AND PREDICTION SYSTEM (ASAP)
Joe Rice, NPS
COMMUNICATIONSPATHWAYS
1. PRIMARY
Each sensor node has its own surface buoy
COMMUNICATIONSPATHWAYS
2. SECONDARY
Multiple bottom nodes use the same surface buoy
ASAP 2006 RIGHT NOW
AUG 1
AUG 4
AUG 3
AUG 7AUG 5
AUG 2
Summary
• The Adaptive Sampling and Prediction Program is underway!
• All hardware is in the ocean and operating well• Six gliders are under autonomous coordinated
control• Data are being assimilated by all three numerical
models• The shift from local to virtual control is an
exciting new advancement
The End
Steven R. Ramp, Naval Postgraduate School
On behalf of many others