P.F.J. Lermusiaux, P.J. Haley, Jr., C. Mirabito, T. Lolla, D. Subramani, A. Jain, C. Tang Massachusetts Institute of Technology Center for Ocean Engineering Mechanical Engineering Cambridge, Massachusetts

Real-time modeling Data sources Autonomy preparation

AforSSIE Project Main Page
2016 Sea Exercises page

These real-time sea exercises are to further develop our multi-scale MSEAS ocean modeling systems to be used as real-time inputs to optimal path planning. The time-optimal path planning is for AUVs to intercept moving targets in the fastest time and then engage with the targets, for example, underway surface vessels. The MIT real-time exercises utilize inputs from colleagues from WHOI (Glen Gawarkiewicz and Ben Allen) and Lincoln Lab (Joe Edwards and Kristen Railey).

REMUS AUV and vehicle tracks taken during the sea exercise. Images courtesy of Kristen Railey (MIT Lincoln Lab).

Real-time MSEAS modeling and processed information

• Atmospheric forcing plots, MSEAS processing of NCEP HIRESW forcast, 5km WRF model
• MSEAS-processed Buzzards Bay current velocities at selected NOAA/NOS stations
• MSEAS-processed MVCO ocean synoptic data
• MSEAS ocean modeling products:

  	7-18	7-19	7-20	7-21	7-22	7-23	7-24	7-25	7-26	7-27	7-28	7-29	7-30	7-31
  MSEAS-PE real-time modeling	X	X	X	X	X	X	X	X	X	X	X	X	X	X

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Data sources

• Ocean synoptic
  • WHOI Martha's Vineyard Coastal Observatory (MVCO)
    • Data overview
    • Ocean Data (CTD and ADCP) from 12m node (current and historical)
    • Instrument locations
  • The Global Temperature and Salinity Profile Programme (GTSPP)
    • Data Access
      • Real-Time Data
• Ocean historical/climatological
  • NOAA/NOS tidal elevation stations in MA
    • NOS 8447930 Woods Hole, MA tides/water levels (active)
  • CO-OPS current station data (historical)
    • Buzzards Bay 2009 Current Survey Stations
      • COD0914 Quicks Hole, Middle current data (historical)
  • The Global Temperature and Salinity Profile Programme (GTSPP)
    • Data Access
      • Best-Copy Data
• Atmospheric forcing
  • Weather Research and Forecasting (WRF) Model Real-Time Forecasts
  • National Centers for Environmental Prediction (NCEP) products:
    • High-Resolution Window (HIRESW) Forecast System products
    • wgrib2 online documentation
    • Index of HIRESW GRIB records

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Autonomy preparation

Optimal paths for 4 independent AUVs intercepting a moving target (black) in Vineyard Sound. The target is moving northeast at approximately 1.15 kt; the maximum AUV engine speed is approximately 2 kt. All AUVs are deployed on July 16, 2015 at 1545Z.	Optimal paths for 5 independent AUVs deployed at July 16, 2015 at 1545Z from Vineyard Sound intercepting a moving target (black) located in Buzzards Bay. The target is moving southwest at 3 kt; the maximum AUV engine speed is approximately 2 kt.
Level set propagation and color-coded optimal routes for a single AUV launched from a point near Menemsha, MA intercepting a ship in Buzzards Bay. The maximum AUV engine speed is approximately 3.9 kt. The effect of currents is ignored.	Time-optimal AUV paths most affected by the current and/or coastal geometry at each starting point (blue), with the path most affected of these indicated in red. The maximum AUV engine speed is approximately 1 kt.

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