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Commit cc62bc3e authored by Brutzman, Don's avatar Brutzman, Don
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airborne and submerged mission legs, regularize mission endgame

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missions/avcl/TCE22-2MemsAcousticVectorSensorTesting.xml
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<?xml version="1.0" encoding="UTF-8"?>
<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd">
<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="C:\x-nps-gitlab\EthicalControl\schemas/AVCL.3.1.xsd">
<!-- xsi:noNamespaceSchemaLocation="C:\x-nps-gitlab\EthicalControl\schemas/AVCL.3.1.xsd" -->
<!-- xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd" -->
<head>
<meta name="title" content="TCE22-2MemsAcousticVectorSensorTesting.xml"/>
<meta name="description" content="NPS MEMS Acoustic Sensor TCE mission. Participation Plan and Objectives. OBJ 1: Evaluate performance of MEMS acoustic vector sensor for detecting underwater and aerial vehicles or targets.Record acoustic signature of several sources (eg.UUVs, ROVs, Boats, UAVs, UAS, etc.). OBJ 2: Evaluate the capability of determining bearing to targets and how accurate are the bearings. Compare sensor provided bearings with the actual (controlled experiments). OBJ 3: Evaluate the survivability of the sensors in the field (Air and Underwater)."/>
<meta name="created" content="23 July 2022"/>
<meta name="modified" content="24 July 2022"/>
<meta name="modified" content="6 August 2022"/>
<meta name="creator" content="Don Brutzman"/>
<meta name="reference" content="https://www.darleydefense.com/r80d-skyraider"/>
<meta name="reference" content="SubUAS Naviator https://thenaviator.com"/>
......@@ -20,45 +22,61 @@
</head>
<body>
<UnitsOfMeasure distance="yards" angle="degrees" mass="kilograms" time="seconds"/>
<OperatingArea id="NpsMemsOperatingArea" description="Approximate rectangle, corner points from OpenStreetMap">
<urlMap>https://map.openseamap.org/?zoom=17&amp;lat=33.21657&amp;lon=-117.40033&amp;layers=BFTFFFFFFTF0FFFFFFFFFF</urlMap>
<!-- ampersands escaped as &amp; in XML source files-->
<!-- URI normalization https://en.wikipedia.org/wiki/URI_normalization -->
<Polygon>
<LatitudeLongitude id="MemsSW" description="Mems SW corner" latitude="N33°12.886'" longitude="W117°23.933'"/>
<LatitudeLongitude id="MemsNW" description="Mems NW corner" latitude="N33°12.922'" longitude="W117°23.953'"/>
<LatitudeLongitude id="MemsNE" description="Mems NE corner" latitude="N33°12.965'" longitude="W117°23.873'"/>
<LatitudeLongitude id="MemsSE" description="Mems SE corner" latitude="N33°12.931'" longitude="W117°23.844'"/>
</Polygon>
</OperatingArea>
<!-- TODO Vehicle vehicleName="RescueDrone" vehicleType="UAV" -->
<!-- TODO Vehicle vehicleName="Naviator" vehicleType="UAV,UUV" -->
<MissionAgenda description=".">
<LaunchPosition id="LaunchPosition" description="Ship position when robot is launched">
<LatitudeLongitude id="MemsStation" latitude="N33°12.889'" longitude="W117°23.915'"/>
</LaunchPosition>
<RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot">
<!-- TODO refid="MemsStation" not working since latitude, longitude are required attributes -->
<LatitudeLongitude id="MemsStation2" latitude="N33°12.889'" longitude="W117°23.915'"/>
</RecoveryPosition>
<GoalList>
<Goal id="Goal1" title="Deploy, Launch" description="Launch robot" phase="Launch" nextOnSuccess="Goal2" nextOnFailure="Goal3" nextOnException="Goal3">
<Goal id="Goal1" title="Deploy, Launch" description="Launch robot" phase="Launch" nextOnSuccess="Goal2" nextOnFailure="Goal99" nextOnException="Goal99">
<Reposition description="Leave dock, proceed to basin"/>
<!-- TODO Risk personnel clear -->
<!-- TODO generic Risk needed for personnel clear
<Risk riskName="Personnel clear" mitigation="visual confirmation" mandatory="true"/> -->
</Goal>
<Goal id="Goal2" title="Perform racetrack in Delmar Boat Basin" description="Provide acoustic signals to MEMS sensor" phase="Patrol"
nextOnSuccess="Goal3" nextOnFailure="Goal3" nextOnException="Goal3">
<Goal id="Goal2" title="Perform racetrack in Delmar Boat Basin" description="Provide acoustic signals to MEMS sensor" phase="Airborne Patrol Phase" nextOnSuccess="Goal3" nextOnFailure="Goal99" nextOnException="Goal99">
<Search datumType="area" requiredPD="0.5">
<Target name="Orbit using long rectangular track" id="Racetrack"/>
</Search>
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
<OperatingArea refid="NpsMemsOperatingArea"/>
<Duration value="6000"/>
</Goal>
<Goal id="Goal3" title="Return and recover" description="Land on dock" phase="Recover">
<Reposition description="Return to dock for recovery"/>
<!-- TODO Risk personnel clear -->
<Goal id="Goal3" title="Perform racetrack in Delmar Boat Basin" description="Provide acoustic signals to MEMS sensor" phase="Submerged Patrol Phase" nextOnSuccess="Goal99" nextOnFailure="Goal99" nextOnException="Goal99">
<Search datumType="area" requiredPD="0.5">
<Target name="Orbit using long rectangular track" refid="Racetrack"/>
</Search>
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
<Duration value="6000"/>
</Goal>
<Goal id="Goal99" title="Return and recover" description="Retrieve if possible" phase="Recover Robot" nextOnSuccess="Goal99.1_TerminalSuccess" nextOnFailure="Goal99.2_TerminalFailute" nextOnException="Goal99.3_TerminalFailure">
<!-- TODO generic Risk needed for personnel clear
<Risk riskName="Personnel clear" mitigation="visual confirmation" mandatory="true"/> -->
</Goal>
<Goal id="Goal99.1_TerminalSuccess" title="Halt and perform post-mission shutdown" phase="Recover Robot" description="Operations complete, final success state">
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
<Goal id="Goal99.2_TerminalFailute" title="Halt and activate recovery beacon" phase="Recover Robot" description="Unable to continue, final failure state">
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
<Goal id="Goal99.3_TerminalFailure" title="Halt and await further orders" phase="Recover Robot" description="Unexpected problem, final exception state">
<Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/>
</Goal>
</GoalList>
<LaunchPosition id="LaunchPosition" description="Ship position when robot is launched">
<LatitudeLongitude id="MemsStation" latitude="N33°12.889'" longitude="W117°23.915'"/>
</LaunchPosition>
<RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot">
<!-- TODO refid="MemsStation" not working since latitude, longitude are required attributes -->
<LatitudeLongitude id="MemsStation2" latitude="N33°12.889'" longitude="W117°23.915'"/>
</RecoveryPosition>
</MissionAgenda>
<!-- TODO represent concurrent operation: MEMS sensor on dock, recording data -->
<OperatingArea id="NpsMemsOperatingArea" description="Approximate rectangle, corner points from OpenStreetMap">
<urlMap>https://map.openseamap.org/?zoom=17&amp;lat=33.21657&amp;lon=-117.40033&amp;layers=BFTFFFFFFTF0FFFFFFFFFF</urlMap>
<!-- ampersands escaped as &amp; in XML source files-->
<!-- URI normalization https://en.wikipedia.org/wiki/URI_normalization -->
<Polygon>
<LatitudeLongitude id="MemsSW" description="Mems SW corner" latitude="N33°12.886'" longitude="W117°23.933'"/>
<LatitudeLongitude id="MemsNW" description="Mems NW corner" latitude="N33°12.922'" longitude="W117°23.953'"/>
<LatitudeLongitude id="MemsNE" description="Mems NE corner" latitude="N33°12.965'" longitude="W117°23.873'"/>
<LatitudeLongitude id="MemsSE" description="Mems SE corner" latitude="N33°12.931'" longitude="W117°23.844'"/>
</Polygon>
</OperatingArea>
</body>
</AVCL>
\ No newline at end of file
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