From cc62bc3e7334a37843de024eb99f0aeb6f94d8ae Mon Sep 17 00:00:00 2001 From: brutzman <brutzman@nps.edu> Date: Sat, 6 Aug 2022 22:49:30 -0700 Subject: [PATCH] airborne and submerged mission legs, regularize mission endgame --- ...TCE22-2MemsAcousticVectorSensorTesting.xml | 76 ++++++++++++------- 1 file changed, 47 insertions(+), 29 deletions(-) diff --git a/missions/avcl/TCE22-2MemsAcousticVectorSensorTesting.xml b/missions/avcl/TCE22-2MemsAcousticVectorSensorTesting.xml index 7b730f3..a1a305b 100644 --- a/missions/avcl/TCE22-2MemsAcousticVectorSensorTesting.xml +++ b/missions/avcl/TCE22-2MemsAcousticVectorSensorTesting.xml @@ -1,10 +1,12 @@ <?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&lat=33.21657&lon=-117.40033&layers=BFTFFFFFFTF0FFFFFFFFFF</urlMap> - <!-- ampersands escaped as & 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&lat=33.21657&lon=-117.40033&layers=BFTFFFFFFTF0FFFFFFFFFF</urlMap> + <!-- ampersands escaped as & 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 -- GitLab