Sub Project MANgO
Subproject MANgO aims to move synchronisation of information during a multi-vehicle marine campaign into the era of real-time applications. Led by the Ocean Systems Laboratory of Heriot Watt University, the MANgO subproject combines their expertise in world modelling for multi-vehicle operations with functionality facilitated by the SUNRISE project's advanced software communication stack. The result of this combined effort is the MANgO World Model Service (M-WMS) which utilises the SUNRISE communication stack to form a device-agnostic method for maintaining a consistent knowledge base across all platforms within an underwater campaign such as a Mine-Counter-Measures mission. The real-time MANgO WMS, where information is sent as soon as it becomes available, has been shown to outperform previous world model versions which use a Time Division Multiple Access (TDMA) method for medium access control. As a result of the asynchronous methodology, improved performance was most notably obtained when experiencing high packet loss due to noisy acoustic environments. This result was benchmarked against an equivalent system that used a TDMA method for medium access control in simulation. During the MANgO subproject a mixture of simulated, hardware-in-the-loop, and real vehicles were used for the testing and validation of the MANgO WMS. For hardware-in-the-loop testing, including some tests with real vehicles, a location in Scotland was used: Loch Earn. Here, personnel from Tallinn University of Technology (a MANgO subproject partner) brought their U-CAT robot which was integrated with the MANgO WMS in order to demonstrate the portability of the WMS on heterogonous vehicles. The U-CAT serves as a low-cost, small, portable AUV making it an ideal platform to ensure that the multi-vehicle MANgO WMS could be run on almost any hardware.
Figure 1: The MANgO team consisting of Tallinn University of Technology and Heriot Watt University personnel during trials in Loch Earn, Scotland.
Figure 2: Deploying the Smart Buoys which contain an Evologics 18/34 acoustic modem, a computer, and networking.
Figure 3: The U-CAT robot of Tallinn University of Technology getting ready for validation experiments of it's interface to the MANgO WMS.