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MBARI Observatory Software Software Infrastructure and Applications for MOOS K. Headley January 2011 MOOS System Concept MARS Cabled Observatory 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… IEEE1451 OGC SWE ESB/GRID OSDT Vendor Custom … Clients Standard Interfaces Proprietary Interfaces Standards Middleware Observatory Implementers Data Handling System (e.g. SSDS) Platform Middleware (e.g. SIAM) Standards Gap Instrument vendors Instrument firmware, protocols 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 SIAM Client “sample A” Client “get B observation” Standard IF “sample B” Instrument Service TCP/IP RMI Instrument Specific “CS\r\n” Port A Instrument Service Instrument Specific “01000010” Port B PUCK Protocol: Plug and Work Observatory X payload MOOS payload Observatory X payload PUCK protocol MOOS payload RS-232 PUCK-enabled instrument PUCK and SIAM SSDS SIAM Host • Load and run service • Pass service XML to data system • Use service properties to configure instrument SIAM Payload Instrument service Service XML Service Properties Plug and Work: Moored System Remote or Local TCP/IP, PPP Control Low Bandwidth: Portal (SIAM Client) SIAM SIAM SIAM Proxy forwards Uses PUCK to full/summarized configure Platform, data to data sampling, telemetry system SIAM in situ SSDS BIN BIN SIAM SIAM Plug and Work: Cabled Observatories No Host SIAM On Environment: Shore SIAM Power and High Bandwidth, Data Only No Proxy: Data published directly to data system Configures and control via Eth-Serial Adapter MARS Node virtual serial Virtual Serial Port port TCP/IP SSDS QuickTime™ and a decompressor are needed to see this picture. Control via Network Some Supported Instruments Aandera Acti* ASIMET microstrain NAL Modem Nobska SBE 19plus SBE 16plus McLane MBARI metsys Axis* Garmin Hobilabs ISUS Nortek OCR MBARI HRpH RBR SBE 37SM SAMI Tri-axys Wetlabs Workhorse SBE 37IM SBE 52MP KVH Seahorse YSI * Ethernet/HTTP instruments SIAM and Open Source DataTurbine OSDT SIAM and Open Source DataTurbine FOCE GUI FOCE control SIAM Current Profiler service pH sensor service sensor data OSDT ring buffer Thruster service CO2 louver service Real Time Data Viewer CO2 controller application Shore-Side Data System Event Detector 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 Configuration User Utilities Portal Node Management Telemetry Event Detection Port Management Power Management Instrument Service Framework Hardware Abstraction Data Logging, Summarization Scheduling OSDT Hooks Minimal Implementation UUID Host uses UUID To locate resources PUCK version Datasheet size Manufacturer ID Instrument Instrument Instrument Instrument model ID version ID serial # name PUCK datasheet IEEE-1451 payload tag IEEE-1451 TEDS SIAM payload tag SIAM jar file XML doc, Instrument service binary PUCK payload Not implemented UUID PUCK datasheet PUCK version Datasheet size Manufacturer ID Instrument Instrument Instrument Instrument model ID version ID serial # name PUCK memory map: multiple payloads IEEE-1451 payload tag IEEE-1451 TEDS UPC observatory retrieves this payload PUCK payload SIAM payload tag SIAM jar file XML doc, Instrument service bytecodes MBARI observatory retrieves this payload 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