odyssey iv

11/23/2004 1

Principal InvestigatorC. Chryssostomidis

F. Hover

Design TeamR. DamusS. DessetF. Hover

J. MorashV. Polidoro

Odyssey IVOdyssey IV

11/23/2004 2

TableTable

• Motivations – Needs– MissionsMotivations – Needs– Missions• Data ProductData Product• Lessons From Previous AUVsLessons From Previous AUVs• MechanicalMechanical• PropulsionPropulsion• DynamicsDynamics• ElectricalElectrical• PayloadPayload• SoftwareSoftware• Schedule and Cost EstimatesSchedule and Cost Estimates

11/23/2004 3

– – MotivationsMotivations

RobRob

– – NeedsNeeds – – MissionsMissions

11/23/2004 4

Rationale for an Rationale for an Odyssey IVOdyssey IV AUV Class AUV Class

• National Research Council “Future Needs in Deep Submergence Science”, 2004– US $25M to replace Alvin and upgrade ROV fleetGoal: Put humans deeper to leverage in-situ decision-makingNo money for AUVs SG to promote AUV involvement with a true deep-water

platform that is cheap and can sample disparate locales quickly and return high resolution data products for site characterization prior to HOV deployment

• Benthic Community Genomic Relationships (WHOI “Oceanus” 2004)– WHOI sponsored research identifies speciesGoal: Understand origin of species by sequencing DNAAn AUV with large payload capacity can carry novel sensors to collect samples

• Cold Water Coral Reefs– Chemosynthetic life-cycle is poorly understoodGoal: Improve database of knowledge about this cycle and ecological linkagesHover capable AUV can investigate areas where feature relative navigation is

desirable option to probe deep water coral

RobRob

11/23/2004 5

Odyssey IVOdyssey IV Concept Focus Areas Concept Focus Areas

• A low-cost, reconfigurable, 3000m “truck”• Short missions – choose many quick, surface-

deployed sampling missions rather than long surveys

• Restricted data products, e.g., a single geo-referenced touch-down location, a small photographic survey, a single non-specific sample of the benthic surface, etc.

• Focus on deployment of multiple vehicles without requiring continuous navigation of each vehicle.

RobRob

11/23/2004 6

Missions and Relative Mission DifficultyMissions and Relative Mission Difficulty

0

1

2

One geo-referenced point One geo-referenced point (GRP) at seabed(GRP) at seabed

Visual survey Visual survey relative to relative to initial GRPinitial GRP

Go to a given Go to a given GRP and do GRP and do visual surveyvisual survey

3… … and get and get any sampleany sample4… … and get a and get a

targeted sampletargeted sample

RobRob

Power consumption Power consumption not including thrustersnot including thrusters

<50 W <50 W

~250 W~250 W

~800 W~800 W

~300 W~300 W

(pinger, MEH and core sensors)

(plus camera/lights)

(plus DVL)

(plus sampling device)

11/23/2004 7

ConOpsConOps• Get to depth quickly

– V = sqrt( 2*(W – B ) / CD ) ~ 3.0 m/s• requires 30kg dropweight• 3km 16.67min (@ 60deg pitch, 34min)

• Survey small area – O( 200m X 200m X 10m spacing) @ 1m/s

• coverage overlap: 50%• 73.3min

• Rise to surface– Powered Ascent @ 1.5 m/s

• 3km 33.33min• Recover from water

– Transit to vehicle, hoist onto deck• 30min

• Offload Data– 2200 images @ 3MB/img ~ 6.6GB data @ 100 Mbps

• 10.26min• Total Time: ~3 hrs (163.56min - 180.56min)• Transit to new locale

Power consumption Power consumption (including thrusters)(including thrusters)

~84 Wh~84 Wh

~430 Wh~430 Wh

~100 Wh~100 Wh

~9 Wh~9 Wh

~25 Wh~25 Wh

Total ~650WhTotal ~650Wh

11/23/2004 8

Needs – Sum UpNeeds – Sum Up

Good Maneuverability Good Maneuverability (4 DOF)(4 DOF) Stability Stability (pitch and roll)(pitch and roll) Quick inspectionQuick inspection ~2 hour mission time~2 hour mission time Fast dive and ascentFast dive and ascent streamlined bodystreamlined body Maximize bottom timeMaximize bottom time dive time dive time OO(30 (30

minutes)minutes) Minimize turn around timeMinimize turn around time ~1 hour on deck ~1 hour on deck Low costLow cost ~$100,000~$100,000 Big PayloadBig Payload 50 kg reserve buoyancy50 kg reserve buoyancy

RobRob

11/23/2004 9

Data ProductsData Products

JimJim

11/23/2004 10

Mission 2 – Data Products (1)Mission 2 – Data Products (1)

• High resolution digital imagingHigh resolution digital imaging– Easy to interpretEasy to interpret– Spatial resolution ~ 1 mmSpatial resolution ~ 1 mm– Range limited by water qualityRange limited by water quality

Sample image data, Sample image data, first-generation AUV first-generation AUV LAB camera systemLAB camera system

JimJim

11/23/2004 11


• High resolution digital imagingHigh resolution digital imaging– Ultimate goal: 3-D reconstruction with Ultimate goal: 3-D reconstruction with

photomosaic (future work)photomosaic (future work)

““Skerki D” sample Skerki D” sample photomosaic property of photomosaic property of

WHOI DSLWHOI DSL

JimJim

11/23/2004 12


• High resolution acoustic imagingHigh resolution acoustic imaging– More difficult to interpretMore difficult to interpret– Range less limited by water quantityRange less limited by water quantity– Spatial resolution ~ 1 mmSpatial resolution ~ 1 mm

MS 1000 KongsbergMS 1000 Kongsberg

Data from “Royal Navy”Data from “Royal Navy”

JimJim

11/23/2004 13


• Sample ReturnSample Return– A future research direction, once the base A future research direction, once the base

vehicle is completevehicle is complete– Possible subsystems range from simple water Possible subsystems range from simple water

pumps to hydraulic jackhammers and pumps to hydraulic jackhammers and manipulatorsmanipulators

– Scientific interest in organisms and chemicals Scientific interest in organisms and chemicals from midwater, seafloor sediments, from midwater, seafloor sediments, hydrothermal vents and coral reefshydrothermal vents and coral reefs

– Demands increased vehicle intelligenceDemands increased vehicle intelligence

JimJim

11/23/2004 14


• Sample ReturnSample Return– Sampling subsystem conceptsSampling subsystem concepts

JimJim

Harbor Branch Harbor Branch suction samplersuction sampler

Schilling Robotics Schilling Robotics ORION manipulatorORION manipulator

Stanley hydraulic Stanley hydraulic chipping hammerchipping hammer

11/23/2004 15

Lessons From Previous AUVsLessons From Previous AUVs

VicVic

11/23/2004 16

Previous Experience (1)Previous Experience (1)

What we’ve learned from previous experiences :What we’ve learned from previous experiences :

How to hover and maneuver at low speedsHow to hover and maneuver at low speeds

Take advantage of a large hydrostatic righting momentTake advantage of a large hydrostatic righting moment

Try to put the thrusters along an axis of symmetryTry to put the thrusters along an axis of symmetry

Minimize the coupling between axesMinimize the coupling between axes

Preserve a streamlined directionPreserve a streamlined direction

VicVic

11/23/2004 17

Previous Experience (2)Previous Experience (2)

Hovering AUV Projects at other institutionsHovering AUV Projects at other institutions

VicVic

ABEABE ALISTAR 3000ALISTAR 3000 SAUVIMSAUVIM

ALIVEALIVESeaBEDSeaBED

SENTRY SENTRY

(not hovering)(not hovering)

11/23/2004 18

Mechanical LayoutMechanical Layout

SamSam

11/23/2004 19SamSam

Mechanical – Design EvolutionMechanical – Design Evolution

11/23/2004 20

, ,

, ,

350

400

1.05

0.02

0.00

1.05

0.10 ~ 0.14

0.00

x y z

x y z

Mass kg

Buoyancy up to kg

CG

CB

Mechanical - Layout (1)Mechanical - Layout (1)

SamSam

11/23/2004 21


SamSam

11/23/2004 22


SamSam

11/23/2004 23


SamSam

11/23/2004 24

Mechanical – Thrusters functionMechanical – Thrusters function

Heave and Surge Heave and Surge

Sway and YawSway and Yaw

SamSam

11/23/2004 25

Mechanical – Devices LayoutMechanical – Devices Layout

SamSam

11/23/2004 26

Mechanical – Devices LayoutMechanical – Devices Layout

SamSam

FoamFoam

BatteriesBatteriesMEHMEH

Actuation Actuation housinghousing

Payload BayPayload Bay

11/23/2004 27

Mechanical – StructureMechanical – Structure

VicVic

11/23/2004 28

Mechanical – Drop Weight MechanismMechanical – Drop Weight Mechanism

VicVic

11/23/2004 29

Mechanical – Rotating Thruster Assembly Mechanical – Rotating Thruster Assembly

SamSam

11/23/2004 30

Mechanical – FoamMechanical – Foam

• Off the shelf blocks of foam ($1000/f3)

1’x6”x2’ 1’x6”x2’ 1’x6”x1.5’1’x6”x1.5’ 1’x6”x1’1’x6”x1’ 1’x6”x0.5’1’x6”x0.5’

SamSam

11/23/2004 31

Mechanical – Weight Repartition (~350Kg)Mechanical – Weight Repartition (~350Kg)

JB, 5 Kg, 1%

foam, 81 Kg, 24%

Structure, 25 Kg, 7%Camera System, 37 Kg,

10%

Actuation, 57 Kg, 16%

Battery, 50 Kg, 14%

Core System, 28 Kg, 8%

Cable, 15 Kg, 4%

MEH, 57 Kg, 16%

SamSam

11/23/2004 32

PropulsionPropulsion

The following analysts are based on Bollard thrust from manufacturer and projected The following analysts are based on Bollard thrust from manufacturer and projected surface area surface area

SamSam

11/23/2004 33

Mechanical – Thruster manufacturerMechanical – Thruster manufacturer

0 N

20 N

40 N

60 N

80 N

100 N

120 N

140 N

0 Watts 50 Watts 100 Watts 150 Watts 200 Watts 250 Watts 300 Watts 350 Watts 400 Watts

Input Power

Th

rust

-

0.10

0.20

0.30

0.40

0.50

0.60

Th

rust

per

Wat

t

TSL 70mm Tecnadyne 520 cyVect 1HP Deep Sea 1Hp

TSL 70mm Tecnadyne 520 cyVect 1HP Deep Sea 1Hp

Regression based on manufacturer data (bollard thrust)Regression based on manufacturer data (bollard thrust)

SamSam

11/23/2004 34

Mechanical – Thrusters chosenMechanical – Thrusters chosen

Deep Sea System 1HPDeep Sea System 1HPBollard ThrustBollard Thrust

0 N

20 N

40 N

60 N

80 N

100 N

120 N

140 N

160 N

180 N

0W 100W 200W 300W 400W 500W 600W 700W 800W 900W 1000W

Electric input power

Bollard Thrust

Poly. (Bollard Thrust)

SamSam

-1.83743589 - 04* ^ 2 3.44389821 - 01*in inThrust E P E P

11/23/2004 35

Mechanical – How many thruster per axis?Mechanical – How many thruster per axis?

SamSam

Bollard curve

11/23/2004 36

Mechanical – How fast can we?Mechanical – How fast can we?

SurgeSurge

SamSam

11/23/2004 37


SwaySway

SamSam

11/23/2004 38


HeaveHeave

SamSam

11/23/2004 39

Mechanical – How fast do we go down? (1)Mechanical – How fast do we go down? (1)

PropulsionPropulsion

SamSam

11/23/2004 40

Mechanical – How fast do we go down? (2)Mechanical – How fast do we go down? (2)

Descent WeightDescent Weight

Cd=0.4

Cd=0.1

PitchPitch

ThrustThrust+SpeedSpeedTotal ForceTotal Force SamSam

11/23/2004 41

DynamicsDynamics

VicVic

11/23/2004 42

Dynamics – Vectored Thrust Control Problem (1)Dynamics – Vectored Thrust Control Problem (1)

• The essential system is described by Mx’’(t) = F(t) cos (t)Mz’’(t) = F(t) sin (t)

where x(t) is surge positionz(t) is heave positionF(t) is thrust level(t) is pitch of the thruster

• Pitch is subject to velocity and acceleration limits, and

may be limited to 360 degrees of rotation• Thrust is subject to bandwidth limits

VicVic

11/23/2004 43

• In a steady disturbance, such as forward flight or a buoyancy force, the control inputs can be effectively linearized, giving excellent vectored thrust control

• When pure hovering is needed, the system cannot be stabilized to zero, except in the limiting case of zero closed-loop bandwidth.

• This is an extremely active area of research in the dynamic positioning community, usually with multiple thrusters.

Dynamics – Dynamics – Vectored Thrust Control Problem (2)Vectored Thrust Control Problem (2)

VicVic

11/23/2004 44

Dynamics – Rotating Thruster (1) Cruising + Low Frequency DisturbancesDynamics – Rotating Thruster (1) Cruising + Low Frequency Disturbances

VicVic

11/23/2004 45

Dynamics – Rotating Thruster (2) Cruising + High Frequency DisturbancesDynamics – Rotating Thruster (2) Cruising + High Frequency Disturbances

VicVic

11/23/2004 46

Dynamics – Rotating Thruster (3) Hovering + Low Frequency DisturbancesDynamics – Rotating Thruster (3) Hovering + Low Frequency Disturbances

VicVic

11/23/2004 47

Dynamics – Rotating Thruster (4) Hovering + Low Frequency DisturbancesDynamics – Rotating Thruster (4) Hovering + Low Frequency Disturbances

VicVic

11/23/2004 48

Dynamics – Rotating Thruster (5) Hovering + High Frequency DisturbancesDynamics – Rotating Thruster (5) Hovering + High Frequency Disturbances

VicVic

11/23/2004 49

Dynamics – Rotating Thruster (6) Hovering + High Frequency DisturbancesDynamics – Rotating Thruster (6) Hovering + High Frequency Disturbances

VicVic

11/23/2004 50

• Potential difficulties with nonlinear approaches: unexpected behavior, unrealistic demands on physical system, instability, etc. Very few tools available for design; analysis is by simulation.

• Pursue a linear approach to hovering; this requires regularization of pitch angle - i.e. regular, synchronized motion.

• One approach: rotate the pitch servo at constant rate (q). This partitions thrust into four quadrants per turn - two used for heave DOF and two for surge DOF.

T/4 3T/4T/2 T

Because thrust in each DOF is available on a regular time base, classical discrete-time control principles can be used; the two DOF are actuated alternately. The available positioning bandwidth is closely related to q and to the time scales of thrust production during a rapid turn. Linear approach allows systematic design.

11/23/2004 51

Dynamics – Rotating Thruster (7)Dynamics – Rotating Thruster (7)

A model of the thruster, show us that we should be able to rotate 90º in less than 0.4 second

2 2

2 max

1.5 0.0 0.0

0.0 0.3 0.0

0.0 0.0 0.3

. 0.0464*

. 0.0111*

*

System

dumping

friction

actuator actuator

J

T

T

T T

max2. . actuatorT

t J J J

SamSam

11/23/2004 52


Vector Thrusters will allow us to have a constant thrust value for any desired surge and heave

Same resulting thrust butSame resulting thrust but

different power leveldifferent power level

SamSam

75N

150N

225N

30 watts actuator offset

11/23/2004 53


The pitch (and roll) axis will be naturally stable

The vector thrust will assure The vector thrust will assure a decoupling of the Pitcha decoupling of the Pitch

Vector angle will be in Vector angle will be in reference to global framereference to global frame

SamSam

11/23/2004 54

6D0F Simulation Objectives6D0F Simulation Objectives

RobRob

Attributes:• True Six DOF• Relevant Terms

– Added Mass (w/off-diagonals)– Drag– Buoyancy– Thrusters

GoalsGoals• Quantify main vehicle behaviors and support decision makingQuantify main vehicle behaviors and support decision making

• Vehicle ShapeVehicle Shape• Thruster placementThruster placement• Vectored ThrustVectored Thrust

• Run missions for dynamics visualization – getting to 3km deep is Run missions for dynamics visualization – getting to 3km deep is difficult!difficult!

• Design and test controllersDesign and test controllers

11/23/2004 55

Added Mass MatrixAdded Mass Matrix

RobRob

Large Contribution• Yaw induced from Sway [M62]• Pitch induced from Heave [M53]

6662

555351

44

353331

2622

1513

0000

000

00000

000

0000

000

MM

MMM

M

MMM

MM

MMM11

1,4

2,5

3,6

Small Contribution• Surge induced from Heave [M13]• Surge induced from Pitch [M15]

Estimates – Ellipsoid of Revolution

• M11 = 587.82 <Blevins, Krieger>

• M22 = 2399 <Slender Body>• M33 = 598.94 <Slender Body>• M44 = 57.49 <Slender Body>• M55 = 238.35 <Slender Body>• M66 = 953.39 <Slender Body>• M26 = 1309.62 <Slender

Body>• M53 = 327.55 <Slender Body>

11/23/2004 56

Dynamics – MOOS Simulator EstimatesDynamics – MOOS Simulator Estimates

RobRob

Two Regime considerations for “streamline body”

Methods: Newman {2.6}, Hoerner {VI-C, X-A},

Schoerner and Blasius

–Thickness Ratios for 2D sections:

– Surge: 0.25, Sway: N/A, Heave: 0.5

–Hovering: 0.1 – 1.0 m/s

– Reynolds No: 2.18 x 105 – 2.18 x 106 <Laminar>

CF: .0028 - .001

–Diving: 3.0 – 4.0 m/s

– Reynolds No: 6.55 – 8.74 x 106 <Turbulent>

CF: .0031 - .0029

o CD: Surge: 0.1, Sway: 1.0, Heave: 0.29

• Natural Periods for 30° deflection– Roll: 14.995sec– Pitch : 5.804 sec

• Maximum Velocities– Surge: 3.02 m/s (Ucr = 1.85 m/s) – Sway: 0.52 m/s– Heave: 1.44 m/s

11/23/2004 57

MOOS Simulator – Preliminary ResultsMOOS Simulator – Preliminary Results

Time (sec)ra

d

Time (sec)

rad

• Passive roll stability• Initial torque: 175N-m• Damping too high?

• Passive pitch stability• 300N thrust 0 thrust in Z dir• Added Mass terms behave well

11/23/2004 58

Electrical LayoutElectrical Layout

JimJim

11/23/2004 59

Electrical Layout – SensorsElectrical Layout – Sensors

RDI DVL RDI DVL 600Khz600Khz

Tritech PA500Tritech PA500

Paroscientific 8bParoscientific 8b

Kongsberg MS1000 Kongsberg MS1000 2.25Mhz2.25Mhz

WHOI Acoustic modemWHOI Acoustic modem

Microstrain AHRSMicrostrain AHRS

JimJim

11/23/2004 60

Electrical Layout – Electrical Wiring (1)Electrical Layout – Electrical Wiring (1)

JimJim

11/23/2004 61

Electrical Layout – MEHElectrical Layout – MEH

JimJim

8 x 25 A relaysSPDT

Switch Board

PC104

DC/DC

Payload Side

Coms

Power Connectors

Pie Connectors

11/23/2004 62

Electrical Layout – Power BudgetElectrical Layout – Power BudgetCamera System,

348 WattsMEH, 36 WattsCore System, 398

Watts

Actuation, 3179 Watts

Actuation, 1157 Watts

Core System, 66 Watts MEH, 36 Watts Camera System,

198 Watts

Managed Power Budget Managed Power Budget (<1500 W)(<1500 W)

Aggressive Power Budget – Aggressive Power Budget – Requires Four Batteries Requires Four Batteries

(4kW peak)(4kW peak)

JimJim

11/23/2004 63

Payload DesignPayload Design

RobRob

11/23/2004 64

Payload (1)Payload (1)

• Stereo cameraStereo camera– New approach to optical sensingNew approach to optical sensing– Extremely high resolution (2 x 6 Megapixel)Extremely high resolution (2 x 6 Megapixel)– Many data processing options (real-time and Many data processing options (real-time and

post-)post-)– Compact mechanical designCompact mechanical design– Electronics chosen for easy upgrades as Electronics chosen for easy upgrades as

COTS technology improvesCOTS technology improves

JimJim

11/23/2004 65


• Stereo cameraStereo camera– Vision components:Vision components:

• 2 x Silicon Imaging SI-6600CL camera2 x Silicon Imaging SI-6600CL camera• EDT PCI-DV CameraLink frame grabberEDT PCI-DV CameraLink frame grabber• 2 x Birger Engineering EF-232 serial lens controller2 x Birger Engineering EF-232 serial lens controller• 2 x Canon EF 14mm f/2.8 USM wide angle lens2 x Canon EF 14mm f/2.8 USM wide angle lens• COTS PCI backplane and industrial SBCCOTS PCI backplane and industrial SBC• Rugged 60GB laptop HDRugged 60GB laptop HD

– Mechanical choicesMechanical choices• Two cameras in one large housingTwo cameras in one large housing• Streamlined vehicle body demands a fixed camera Streamlined vehicle body demands a fixed camera

angle – should it be forwards, or down?angle – should it be forwards, or down?

JimJim

11/23/2004 66


• LightingLighting– Strobe or steady?Strobe or steady?

• Cameras support triggered single frame, or high-Cameras support triggered single frame, or high-speed streamed videospeed streamed video

• Limited by battery capacityLimited by battery capacity• Several strobe choices: OIS, Kongsberg, …Several strobe choices: OIS, Kongsberg, …

– Number of lights on board?Number of lights on board?• Multiple strobes reduce obscuring shadowsMultiple strobes reduce obscuring shadows• Simultaneous need to minimize costSimultaneous need to minimize cost• Streamlined body reduces possible mounting Streamlined body reduces possible mounting

pointspoints• Determined in part by choice of camera angleDetermined in part by choice of camera angle

JimJim

11/23/2004 67

MOOS Behavior Architecture <Subsumption – Brooks ’86>MOOS Behavior Architecture <Subsumption – Brooks ’86>

RobRob

AvoidSeabedSurvey

TrackSeabedCameraTask

MOOSVariable Input(environment perception)i.e., NAV_*

Horizontal Layering

Prioritized Tasks

DESIRED_THRUSTDESIRED_RUDDERDESIRED_ELEVATOR

Perception Action

AvoidSeabed

SurveyTrackSeabedCameraTask

GoToWayPointGoToWayPoint

Third Party Task Introduction

Allow = User @ SessionTimeOut : TPTaskCredential Checks prevent hostile takeover

SessionTimeOut ensures timely completion of TPTask

Benefits • Reactive Control – no KB referencing• Behaviors usually control a single DOF, thus making PID control easy to debug• TPTask provides for Adaptive Behaviors• Extensible tasks• Mission programming in one file

11/23/2004 68

Holonomic MOOSHolonomic MOOS

• Observations for 6DOF control

– 6DOF control required a more generalized interface to the actuation

– Certain tasks would require control over multiple DOF at once to facilitate arbitration between vehicle <“state”>

• i.e. losing track of the bottom <“vehicle is blind”> does not mean the mission is over

– Perceptive reasoning

• Sensor mapping to a ControlledDOF requires representation

– i.e. a plane formed by the beams of the DVL

• Observations for deep ocean operation– Navigation fixes are infrequent during the dive

RobRob

11/23/2004 69

DOF ManagementDOF Management

RobRob

if( ShouldRun() )

{

CalculateDesired();

DOFMGRLIST::iterator it;

for(it != m_DOFManagers.end(); it++)

{

(*it)->DoControl( Transform, m_nPriority );

if( (*it)->HasProblem() )

HandleDOFFailure( *it );

}

}

C T r an s f o r m

s ta tic C D O F T o C o n tr o l X ,Y,Z . . .

boo l S e t(C D O FT oC on tro l s T ype ,dou bl e dfVal , i n t n Pri ori ty );dou bl e G e t(C D O FT oC on tro l s T ype );

C Ho lo n o m ic Beh v aio r

lis t< C D O F M an ag er * >

boo l Ru n (C T ran s form & );

C D O F M an ag er

C D O F T o C o n tr o l m _ D O F T o C o n tr o l;m ap < M O O S Var ,S en s o r O u tp u t>P I D C o n tr o lle r m _ P I D C o n tr o l;

vi rtu a l boo l Update D O F();vi rtu a l boo l Ru n PID Loop();vi rtu a l boo l Is D ataVal i d();vi rtu a l boo l C al cu l a te D e s i re d();vi rtu a l boo l M an age S e n s orFai l u re ();

C D O F M an ag er Yaw R elT o

boo l Update D O F();boo l Ru n PID Loop();boo l Is D ataVal i d();boo l C al cu l a te D e s i re d();boo l M an age S e n s orFai l u re ();

C D O F M an ag er S u r g eR elT o

boo l Update D O F();boo l Ru n PID Loop();boo l Is D ataVal i d();boo l C al cu l a te D e s i re d();boo l M an age S e n s orFai l u re ();

C M O O S Beh av io u r

Yaw P I DZ P I DS tar tF lag s , C o m p le teF lag s , E v en tF lag sc las s C o n tr o lled D O F ;

G e tN oti fi ca ti on s (), G e tRe g i s tra ti on s (),Ru n (C Path Acti on & );

11/23/2004 70

Cost EstimatesCost Estimates

• Cost per mission scenario – 10 day mission– Capable Ocean Vessel: $10K - $30K1/day– Travel expense and shipping to exotic locale: $18K

• 4 engineers• Air freight

– Deployments per day to 3km deep: 4

– $3K - $8K per AUV dive

RobRob11”Future Needs in Deep Submergence Science,” Ocean Studies Board of The National Research Council, 2004”Future Needs in Deep Submergence Science,” Ocean Studies Board of The National Research Council, 2004

11/23/2004 71

ScheduleSchedule

• Nov 30 ’04 - Design Review• Dec. ’04 - Finish detailed design,

order long lead items• Jan. ’05 - Construct prototype• Feb. ’05 - Tank test prototype• March ’05- Sea trials with prototype• Summer ’05 - First expedition with

Odyssey IV

RobRob

odyssey iv

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