: !! Talk-00: ''Developing MOOS-IvP interfaces to OPL/CPLEX Optimization Software and a Novel Mission Visualizer'' !!!!%color=#000000% '''Demetrious Kutzke, Marquette University''' !!!!%color=#000000% '''Mikhail Yakhnis, Cornell University''' !!!!%color=#000000% '''Jim Perkins, Matthew Bays, Naval Surface Warfare Center, Panama City Division''' As maritime autonomy is introduced to perform increasingly complex missions, there is a prevailing need to autonomously determine complex event sequences and task schedules, as well as visualizing those vehicle actions before a mission. The Naval Surface Warfare Center, Panama City Division (NSWC PCD) has developed interfaces between MOOS-IvP to aid with both areas. We present a software framework to interface the commercial off-the-shelf optimization software OPL/CPLEX with MOOS-IvP. IBM's OPL/CPLEX is one of the world�s fastest optimization software packages for solving numerical optimization problems such as mixed-integer linear programming, quadratic programming, and scheduling. The OPL-MOOS interface will allow unmanned systems controlled by the MOOS-IvP autonomy framework to utilize numerical optimization routines found in OPL/CPLEX for autonomous plan optimization and scheduling. For mission visualization, we present an overview of a novel three-dimensional mission visualization software package developed by NSWC PCD, and its interface with MOOS-IvP using Google protocol buffers. We believe the two interfaces and software packages allow for extending the possible mission profiles and tasking with which MOOS-IvP can be used. Restore June 00, 0000, at 00:00 AM by 000.0.0.0 - Changed lines 0-0 from: !!!! %color=#0000BB% [[Talk.00-Schneider | Prev-Talk]]%% | \ %color=#0000BB%[[Talk.00-Purvis | Next-Talk]]%% | \ to: !!!! %color=#0000BB% [[Talk.00-Anderson | Prev-Talk]]%% | \ %color=#0000BB%[[Talk.00-Gagner | Next-Talk]]%% | \ Restore June 00, 0000, at 00:00 AM by 000.0.0.0 - Changed lines 00-00 from: Autonomous underwater vehicles (AUVs) are regularly used as platforms for side scan sonar systems. One particularly common use is in the detection, identification and classification of underwater mines; known as mine countermeasures (MCM). Traditionally the development of processing algorithms for this task is performed iteratively; that is, a vehicle is taken out to an example mine field, either real or populated with training mines, where a selection of scans are collected. The vehicle simply records the collected data including navigational information which is then processed back at the �office� to train and improve the algorithms. When as much as possible has been gained from the latest set of data another trial is run, hopefully under different conditions so as to be useful in training. Since changes in the ocean floor are limited over reasonable time scales and continually laying new realistic synthetic mine fields is difficult groups are forced to take their vehicles further and further on field trips at great expense; both financially and in lost development time. In collaboration with the Australian Defence Science and Technology Organisation (DSTO) we have developed a high fidelity, highly configurable real time side scan sonar simulator such that virtual trials in variable mine fields can facilitate rapid iterative development. Our simulator integrates with a MOOS simulation enabling complete missions to be run including all autonomy systems, acoustic communication and vehicle dynamics and control. The MOOS simulator provides regular updates on the vehicles real world position as well as its internal position estimate, which our simulator uses in combination with a high fidelity 0D mesh of the environment to provide simulated side scan sonar output, including estimated position information for each pulse. The side scan simulator itself uses the NVIDIA OptiX ray tracing framework to perform the core of the simulation on any available CUDA enabled compute card(s). In this presentation we present the simulator as applied particularly to a REMUS 000 vehicle, as that is the primary vehicle in use by DSTO for side scan based MCM. 