Conch Reef Survey for NASA’s NEEMO 15 Project

Dr. Art Trembanis’ Coastal Sediments, Hydrodynamics & Engineering Lab (CSHEL) has been pretty busy lately. Not long ago I did a post about the prototype sub-bottom profiler section that he added to his Autonomous Underwater Vehicle (AUV) (see: Sub-Bottom Profiling using an AUV). I was down at the NASATweetup for the Endeavour (STS-134) launch not long ago and I got chatting with some folks from NASA’s Open Goverment Initative about the NEEMO 15 project (NEEMO stands for “NASA Extreme Environment Mission Operations“) and we discussed UD’s involvement.

It takes a village of roboticists to run a successful AUV campaign

It takes a village of roboticists to run a successful AUV campaign

When I emailed Dr. Trembanis upon my return to Delaware, he emailed me back with instructions to browse to UNCW’s Life Support Buoy live webcam above the Aquarius Reef Base. Sure enough, he was there aboard the RV George F. Bond monitoring his Gavia Scientific AUV as it acoustically mapped the Conch Reef around the Aquarius as a precursor robotic mission for NEEMO 15.

Go Pro Hero Attached to the AUV

Go Pro Hero Attached to the AUV

Here is video footage shot by an off-the-shelf HD Go Pro Hero digital video camera that was attached to the AUV:

The mapping mission ran for 4 days and covered approximately 100km, resulting in about 15Gigabytes of raw data. Here’s an overview map of the mission.

Aquarius NEEMO 15 precursor survey

Aquarius NEEMO 15 precursor survey

Many thanks to Dr. Trembanis for the video and imagery to go along with the story. Be sure to visit NASA’s NEEMO site to learn more about the mission and what’s to come. Visit the CSHEL site to learn more about the research that’s going on there and to see other cool video and image products that they’re producing.

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STS-134 NASATweetup is only half over

I’m back from the Kennedy Space Center and the first half of the STS-134 NASATweetup. We got through most of the activities slated for Day #1 – which included meeting the ~149 other #NASATweetup attendees, a demo of the Extravehicular Mobility Unit (EMU) and Mark III spacesuits, and talks by Dana Hutcherson (flow director), Tara Ruttley (ISS associate program scientist) and astronaut Clay Anderson (@Astro_Clay). They really rolled out the red carpet for us!

@CPUGuru, @FlatSamantha and @Astro_Clay

@CPUGuru, @FlatSamantha and @Astro_Clay

The second half of the day involved visits to the Shuttle Landing Facility and the Mate-Demate Device (big honkin’ crane and assembly to lift the shuttle onto and off-of the 747 that carries it), the Vehicle Assembly Building (the large picture behind us in the picture above) – also known as the “world’s largest single story building” in which they work on and assemble the shuttle, booster rockets etc. The last part of Day #1 was supposed to be a site visit to the shuttle itself to watch the retraction of the Rotating Service Structure (or RSS) but a rather nasty storm front presented itself and all sorts of dark clouds, rain and lightning ensued.

The Lightning Storm

The Lightning Storm

Retraction of the RSS was delayed from its original 7:00pm time to much later in the evening, so we missed being able to get up close and personal with the shuttle. By the time we arrived for “Launch Day” the following morning, the RSS had already been retracted and the fuel tanks were being filled with liquid oxygen, so we were unable to get any closer than the press site almost 3 miles away.

On Day #2 we had a group picture taken by the countdown clock and talks by astronauts Ricky Arnold (STS-119 Discovery) and Leland Melvin (@Astro_Flow – now associate director for Education at NASA). We also had a talk by Daire McCabe – a designer at Lego followed by a weather/launch update by Lt. Col. Patrick Barrett of the 45th Weather Squadron.

We all went out to the roadside in front of the Vehicle Assembly Building (VAB) to watch the caravan carrying the astronauts to Launch Pad 39A go by and wish them well, however the vans came, stopped, and turned back around (a first we’re told). Apparently a power coupling unit was not functioning on the shuttle and they scrubbed the launch. We were all a tad disappointed, but I heard a good quote along the lines of “it’s better to be on the ground wishing you were in the air than to be in the air and wishing you were on the ground”.

Caravan Carrying the Astronauts

Caravan Carrying the Astronauts

The current status is that they are in the process of replacing the faulty power coupling unit and that the earliest possible launch date is May 10th. Both @FlatSamantha and I (@cpuguru) plan on heading back down to KSC as soon as they tell us a definitive launch date. We’ll be sure to take some awesome pictures and will keep you informed once the second half of this #NASATweetup resumes. For a good timeline of the adventures of @FlatSamantha, be sure to follow her on her Twitter page, where she’ll keep you informed and upload pictures of what’s going on right then. Until then, we’re on hot stand-by, our bags are packed and we’re anxiously awaiting the good news that the launch is a go.

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Flat Samantha Is Coming to the STS-134 NASA Tweetup

Flat Samantha

Samantha and her friend Flat Samantha

Flat Samantha is in the house! I was contacted by young Samantha (pictured left – the non-flat one) to see if I had room for Flat Samantha to ride with us to the Kennedy Space Center in Florida when we embark for the NASA Tweetup at the Space Shuttle Endeavour (STS-134) launch on April 29th. Today we met up with her and her parents and got instructions on how to take care of Flat Samantha.

Samantha has provided meticulous training to Flat Samantha and has crafted a first-class space suit along with a helmet to help her breath in space should the opportunity present itself.

During our pre-flight briefing, I gave her the run-down on what the travel plans will be. I promise to take good care of our new travel companion and will post pictures at every major step in our journey. Thanks for entrusting us with your friend Samantha! We’ll be sure to take good care of her and will return her to you safely when this adventure is over.

Flat Samantha is following the footsteps of some of her other flat siblings, including the original “Flat Stanley” who visited twice: once in 2002 when he went into space and did a 14-day mission on the space shuttle Endeavour and again in 2011 when he visited NASA HQ courtesy of Beth Beck.  Other flat adventurers include “Flat Paxton” and “Flat David“, who also had the opportunity to visit NASA.

Flat Samantha will be tweeting about her adventures at the #NASATweetup - you can follow her tweets via @FlatSamantha as well as mine at @CPUGuru. Welcome to the adventure Flat Samantha!

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NASATweetup for the Final Endeavour (STS-134) Launch

Ocean Bytes AstroTweeter @cpuguru

Ocean Bytes AstroTweeter @cpuguru

It’s official – I’m heading to Kennedy Space Center in sunny Florida for the Space Shuttle Endeavour (STS-134) launch as part of what they call a “#NASATweetup”. I follow @NASA via my personal Twitter account – @cpuguru – and when they announced that they were accepting applicants for the 150 spots that could gain back-stage access to the Space Shuttle Endeavour’s final launch, I beat feet over to the site and entered the contest. Apparently there were over 4,000 applicants for these openings from around the world. It blew my mind when I finally got the email from NASA saying that I was selected. I am deeply honored to be included in this auspicious event.

What is a “NASA Tweetup” you ask? Well, according to the NASA Tweetup page:

“A Tweetup is an informal meeting of people who use the social messaging medium Twitter. NASA Tweetups provide @NASA followers with the opportunity to go behind-the-scenes at NASA facilities and events and speak with scientists, engineers, astronauts and managers. NASA Tweetups range from two hours to two days in length and include a “meet and greet” session to allow participants to mingle with fellow Tweeps and the people behind NASA’s Twitter feeds.”

STS-134 Patch

STS-134 Patch

A list of the ~150 confirmed attendees of the #NASATweetup for space shuttle Endeavour’s launch can be found via the @NASATweetup/sts-134-launch list. A fellow attendee, @ChrisCardinal, has setup a comprehensive blog site that he’s using to post information pertinent to the launch and the STS-134 Tweetup at http://134tweetup.com. It’s been quite useful for tracking some of the behind-the-scenes information about the shuttle launch, as well as updates such as the delay of the launch from April 19 to a new (unless it changes again) April 29 launch date due to a overlap issue it would have with docking with the International Space Station by a Russian Progress supply vehicle. My understanding is that the delay came about because the Russian vehicle needed to be docked to the ISS during the same time frame as the Endeavour’s 14-day mission would have fallen. Apparently there are two docking ports on the ISS and the two vehicles could theoretically have been docked simultaneously, but I believe that process has not yet been fully vetted and approved yet so the safer alternative of delaying the shuttle launch was selected.

I’m taking you with me!

The bad news is that while I won the lottery to attend the NASA Tweetup, I am unable to physically take anybody else with me. The GOOD news is that doesn’t mean that you can’t come with me virtually. I’m brainstorming on what kinds of equipment I can pull together that would allow me to share as much of this experience with you as I can through the magic of modern portable electronics. I want to cobble together a high-def webcam and perhaps a tablet or laptop so that I can record (and maybe live stream) my adventure ala Hat Cam Guy (aka Joel Glickman). Since I don’t have an iPhone to hot-glue to my ball cap, I might have to rely on the generosity of others to help me pull this off. If you have some equipment and/or resources you’d like to donate to the cause please let me know by emailing me at 134Tweetup@oceanic.udel.edu.

Q&A for NASA

If you look in the menu above, you’ll see that I added a page called “Q&A for NASA” so that school kids (and adults ;?) can post questions that they’d like me to try to get answers for while I’m down there. If you have a question that you’d like me to try and find an answer to, please feel free to add it in a “comment” to the page and I’ll do my best to get it answered while I’m down at the Kennedy Space Center.

Government Shutdown?

Now we are apparently going to be playing the “chase the launch date” game as we worry about the possible impact that a US Government shutdown would have on the launch due to the lack of a budget from Congress. I’ve been following the Twitter hashtag “#NASATweetup” and keeping a watchful eye on what the latest rumors are as to whether the mission will be delayed from its current April 29 launch date if funding isn’t allocated to keep governmental operations rolling. I’m crossing my fingers and hoping that Congress can get matters worked out.

A HUGE shout-out to Tammy!

I’ve been emailing back and forth with our awesome Marine Public Education Office team about this incredible opportunity to reach out and help educate and include kids in this adventure. I mentioned that it would be cool to include more of a space theme in the Ocean Bytes header image and in the time it took me to drive home I had the awesome header image that you see above in my inbox from our incredibly talented Tammy Beeson. Tammy ROCKS!

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Sub-Bottom Profiling using an AUV

I was minding my own business, walking between Smith Lab and Cannon Lab buildings when what to my wandering eyes should appear but a reeeallly long stretched out Gavia Scientific AUV. My geek radar started going off and I just HAD to investigate exactly what was inside these newly milled sections of hull.

Gavia Scientific AUV with a recent addition

Gavia Scientific AUV with a recent addition

I invited myself into the lab and started asking some questions. It turns out that these new sections contain a prototype Teledyne Benthos Chirp III sub-bottom profiler that was specially designed to integrate with an AUV. Dr. Art Trembanis’ CShel lab and Val Schmidt from the University of New Hampshire’s Center for Coastal and Ocean Mapping were working with UTEC Survey Inc. to successfully integrate and test this new addition to the AUV’s sensor lineup. I cornered Nick Jarvies from UTEC and he gave me the run-down on the new addition (thanks Nick!):

Sample SBPWhat is a “sub-bottom profiler” you ask? Per the Wikipedia entry, it is a “powerful low frequency echo-sounder…developed for providing profiles of the upper layers” of the ocean floor. In the case of the Chirp III, probably in the range of 10-20kHz. Per Dr. Trembanis “Data is stored in an onboard Compact Flash card in an industry standard SEG-Y format.  The advantage of a chirp signal over a single frequency output is that through chirp demodulation of the returning signal one can get a better compromise between penetration and resolution.  The lower the frequency the greater the penetration but the less the resolution (and vice versa for high frequency) so a chirp signal which modulates from a low to high frequency provides penetration and resolution.  All of this depends to a great degree on the kind of bottom material one is trying to penetrate.”

Internal view of the Benthos Chirp III AUV SBP

Internal view of the Benthos Chirp III AUV SBP

The advantages of an AUV-based sub-bottom profiler (also per Art Trembanis) are:

  • We remove lots of water column data that would normally be unwanted and has to be removed/ignored from the record.
  • Because we can precisely follow the terrain near the bed or hold a constant depth well below the surface we can remove/diminish effects of waves that cause a ship to bob up and down.
  • We are able to do higher resolution characterization of the subsurface in greater water depths since otherwise from a surface ship you would have to use a lower frequency system to penetrate through the water column.
  • Because of the precise navigation of the AUV we can get very tight line spacing and precision following of features (i.e. pipeline routes) which allows us to provide better data more efficiently.

Thanks to everybody for taking time to talk on camera and for answering my questions!

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Outdoor Webcam 101

Some time ago I was asked what would it take to get a live webcam feed of the osprey nest next to our Marine Operations Building. We have an osprey couple – Ricky & Lucy – and people love to check in on them throughout the summer months when they come home to Lewes.

Ricky & Lucy
Ricky & Lucy

I thought I’d share the software and hardware lineup that I selected to do the job and explain some of my choices. The equipment I ended up ordering was:

  • Sony SNC-RZ30N PTZ (pan + tilt + zoom) IP Webcam (~$1,100)
  • Dotworkz D2 Outdoor Enclosure with heater/blower (~$500)
  • Videolarm APM3 Pole Mount Bracket (PDF) (~$60)
  • WebcamXP network camera monitoring, streaming & recording software (~$99)
  • Some sort of intermediary computer to run the WebcamXP software
  • 100′ Outdoor Extension/Power Cord
  • 100′ Underground Double-shielded Cat5 Network Cable
  • Uninterruptable Power Supply (UPS)
  • Desiccant packs, Velcro Tape & a Plastic Container
  • RainX and Marine Silicone RTV

Why I picked what I did

We wanted to mount the webcam on an existing antenna tower next to the Marine Operations Building, thus the pole mount bracket. The webcam needed to have a short shopping list of features – including:

  • Stand-alone operation and a physical network jack for IP (network) streaming – we didn’t want to potentially impact building wifi performance and we just wanted to be able to run a network line up to it (no USB webcams need apply). Doing this with a network cable tied into our building switch meant that the packets the camera generated would not negatively impact the rest of the users.
  • It needed to have sufficient intelligence that we could remotely log into it to position it and/or program preset camera stops and zoom factors.
  • A healthy optical zoom so we could zoom up close on the nest for an up-close experience.
  • Image stabilization built-in so that when we did zoom in, any sway or vibration in the antenna pole wouldn’t give us a jittery image.
  • FTP/FTPS functionality – where you can have the webcam automagically FTP a still frame to an outside server at a user-defined interval. We used this feature to amass the still shots that we used in our (award winning) time lapse videos for the Lewes wind turbine construction. (We stopped the camera from moving for the 2-3 weeks it took to complete construction.)

We selected the Sony SNC-RZ30N for the job, but before you go out hunting for one, they seem to have been discontinued. In its stead now is the SNC-RZ25N (slightly lesser 18x optical zoom than the 30N) and its replacement, the SNC-RZ50N (26x optical zoom) which does both motion JPEG and H.264 streaming. The SNC-RZ30N camera has its own built-in web server so we could control it via a web browser. It has a 25x optical zoom so we can get up close and personal with the osprey nest. Don’t be fooled by some webcams which tout a zoom without specifying that it’s an optical zoom. If it doesn’t say “optical zoom” it’s most likely a digital zoom, meaning a lower resolution subset of the total number of pixels the camera can capture.

The SNC-RZ30N supports up to 16 presets, which allows you to position the camera where you want it pointed at the zoom factor you want, and to save a “preset”. You can then have the camera cycle itself through the various presets at a user-specified panning speed, stopping at each stop for a user-specified amount of time. Quite handy when we are cycling the webcam to look at various points of interest on campus, and even handier for removing the osprey nest preset from the mix when the ospreys head south for the winter.

Sony web interface

Sony web interface

As you can see, the webcam is pretty close to the ocean, so we needed to find an enclosure for it that could:

  • Survive a salty marine environment
  • Remain water-tight
  • Provide space for desiccant packs to remove any excess moisture so that the inside of the enclosure didn’t fog up on cold mornings
  • Provide an automatic heating of the enclosure on cold mornings to prevent frosting up of the outside dome
  • Provide power for the camera inside

We chose the Dotworkz D2 Enclosure with optional heater. It has two sealable penetrations that allowed us to get power to the unit by cutting off the end of a heavy-duty outdoor extension cord, tinning the tips and tightening up the screws onto it to power the power supply and heater inside (green circle). The other end of the extension cord is plugged into a UPS/Surge Protector in the radio room below since the webcam is strapped to a huge metal pole sticking up into the (sometimes lightning filled) sky. An underground double shielded network cable was run up the tower and inserted through the second penetration – after which we crimped a RJ45 end onto it and simply plugged it into the back of the webcam. The power supply came with an end that was already compatible with the power connector on the back of the webcam (orange circle) so powering the camera was a cinch.

Enclosure interior

Enclosure interior

The enclosure also came with a magic universal mounting bracket and stand-offs of various heights to ensure you can position a compatible webcam at the right height to see out the bottom dome.

Mounting plate stand offs

Mounting plate stand offs

Here is a picture of the connectors on the back of the webcam:

Sony back

Sony back

We attached the camera as high as we could and still reach it with a scissor lift that facilities owns. The first time we installed the enclosure, we had it mounted by the pole climbers that were doing maintenance on the antennas at the top of the tower (no way I could ever do that – waaayyy too high up). We relied on the seal built into the enclosure to handle sealing out the moisture, but unfortunately it slowly started amassing some moisture inside which started pooling up inside the dome over several months. Since we didn’t have the requisite climbing gear to climb the tower, we ended up having the tower climbers move the enclosure down the pole just high enough for us to reach with the scissor lift when they came back again. We didn’t take any chances this time. We went along the exterior seam and penetrations with some marine RTV (silicone sealant) and I used some velcro tape to secure a plastic container filled with desiccant packs on top of the black mounting plate to keep the inside as dry as possible. The velcro would keep any tower vibrations from storms and the like from working the desiccant packs over the edge and down onto the dome.

Webcam on tower

Webcam on tower

We made sure to loop some additional network and power cable up the tower just in case we needed to move the enclosure to a different height or to another side of the tower. Make sure to make a “drip loop” with any cables that dips down from the enclosure and then back up away from it. This keeps water from flowing down the cable and running against the penetration, thus minimizing the likelihood of water making its way into the housing. Remember that the cables are exposed to the elements, which includes ultraviolet radiation (UV from sunlight) which can break down most plastics and vinyl cable sheathing. We selected an extension cord which listed UV resistance and selected an outdoor network cable to stave off the UV damage to the cables.

Webcam on tower closeup

Webcam on tower closeup

One last treatment I did was to apply Rain-X to the outside of the dome. It’s like a wax coating for glass that makes water bead up and roll down the dome rather than stick to the outside and fog up your view.

WebcamXP

One last topic I’d like to cover is the use of WebcamXP as a bridge between the webcam and the outside world. The problem with most webcams is that of security and scale. The internal web server in most webcams can handle about 25-50 simultaneous users. If you have more than that number, attempts to view the feed by users 51 and up will fail. To overcome this limitation, we purchased WebcamXP as an intermediary. The software installs on a desktop or server and it makes a connection to the webcam and handles the task of streaming it to the web server that you’re embedding the feed on. By acting as the intermediary, WebcamXP offloads the streaming load from the webcam. In our case we embed a Flash SWF file on the external webserver that gets its stream from WebcamXP.

The second issue that you run into with many webcams is that of security. They have some basic security built-in, but in order to stream the video from many of them, you have to expose the ability to control and position the webcam to the end-user. The last thing we wanted was for random users repositioning the webcam. Our solution was to give the webcam an internal IP address that was not accessible from outside our border routers. The system running WebcamXP was given a publicly accessible IP address and an internal IP address so that it could access the webcam video stream and serve it up externally.

Other nice features of the software are:

  • Watermarks – the software allows you to embed a watermark image over your video stream, thus branding your video with your logo and/or text.
  • Ability to expose the video stream via Java, Javascript or a Flash client.
  • Ability to handle multiple IP webcams simultaneously. If you want to grow the number of webcams you want to expose, you would only need one system running WebcamXP to stream the feeds from multiple webcams simultaneously.
  • A free version, which can handle a single webcam. This allows you to kick the tires and make sure the software does what you want before you buy. (Note, the free version does not allow watermarking your logo on the video stream)

I had initially looked into using either Silverlight and/or the IIS Streaming Server to handle this roll, but it was early in their development when we set the webcam up and it was more expedient to use WebcamXP. I’d still like to look into having our actual web server do the work of connecting to the internal webcam and handle streaming the content using Silverlight or some other non-Flash mechanism. If you have some feedback as to how to accomplish this, I’m all ears. I think it would make a much more flexible mechanism to handle the various browsers (including mobile, iPad etc.) that are coming online.

Thanks for enduring the long post and please feel free to comment if you can think of things I missed or have any suggestions on how to improve things.

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Flat Stanley Rides a REMUS in Antarctica

Flat Stanley joined researchers at Palmer Station in Antarctica in search of penguins and environmental data about their feeding grounds in January.  This video showcases just how awesome this icon of international literacy and community can be. Armed with only a minimal amount of training, Flat Stanley managed to pilot a REMUS Autonomous Underwater Vehicle in a precision pattern through the frigid waters off the West Antarctic Peninsula  — gathering vital information that will allow scientists to understand the feeding habits of Antarctic penguin species.

You can see a map about the many locations this worldly traveler has gone and find out more about the Flat Stanley Project on their website. Many thanks to student travel coordinators at Sierra Canyon School in Chatsworth, CA for helping Flat Stanley make his way this far south.

Awesome job Stanley!

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