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    Stonefish Simulation

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    Paco Martinez

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    Stonefish Simulation

    Uploaded by

    Paco Martinez
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    Download as pptx, pdf, or txt
    9 views23 pages

    Stonefish Simulation

    Uploaded by

    Paco Martinez

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    You are on page 1of 23

    www.sfs.com. www.missionsystems.

    com
    au .au

    Distributed MCM Simulation


    with MOOS-IvP
    David Battle
    (david.battle@missionsystems.com.au)

    10th Aug 2022


    What is
    S4? of autonomous mine countermeasures.
    S4 is a simulation system tailored to the
    requirements

    Introducti
    on
    MINTACS user interface
    Constructs a synthetic environment within UE4

    The MINTACS mine warfare


    tactical planning suite has been
    interfaced to the UE4 game
    engine to create a high-
    performance simulation and
    visualisation system.
    www.sfs.com.au We call this S4.
    S4 Simulator architecture
    Full prototype
    S4 Simulator architecture
    Fast-data generation subset

    UE4 only required to


    initialise the environment
    and can run headless or
    be shutdown thereafter.
    REMUS 100 running near the
    shoreline
    Bluefin 9 in
    minefield
    AQS-24 towbody during a
    turn
    Tow platform in sea
    state 2
    Use cases
    1. Automatic Target Recognition (ATR) Training
    2. Operational Mission Planning
    3. Operational Mission Analytics
    4. Mine Warfare Personnel Training
    S4 These have now been broken down into four distinct modes of
    simulation:
    • Mission-Mode (previously time-warp), in which platform dynamics are
    Prototype: applied in an accelerated manner along a specific mission-track in a
    selected region of interest.
    Modes and use • REA-Mode experimental mode in which region of interest is evaluated
    cases for the detectability of specific mine threats using a specific sonar.
    • RMA-Mode Another experimental mode in which a particular vehicle
    track is evaluated for the detectability of specific mine threats in a
    specific environment.
    • FastDataGen-Mode (previously ludicrous-mode), in which a
    disembodied sonar teleports around without vehicle dynamics
    to generate synthetic data for ATR training
    Headline use case:
    Data generation for synthetic ATR training
    Target simulation
    S4 can produce infinite amounts of synthetic sonar data!

    Manta Rockan IHO Stonefish Buoyant


    mine mine cube mine mine
    Target simulation cont’d
    Mine burial and accretion simulation
    Target simulation cont’d
    Real vs synthesized data
    Synthetic sonar data
    (Marine Sonics 900 kHz – one side)
    Synthetic sonar data
    (Sonardyne SOLSTICE 750 kHz – one side)
    Fast data generation
    The ATR training workhorse
    Headline
    Achieveme ●
    Place any mine type on any

    nts:
    sediment
    ●
    Add any clutter from the real
    ATR Training world
    ●
    Create any approach vector
    Pipeline desired
    ●
    Generate 10,000+ mine images
    over
    night (on a single 3090 GPU)
    ●
    Operates independently of
    MINTACS
    ATR Training
    Adding synthetic clutter to reduce false alarms
    Pipeline
    • The central thesis of this project was that
    optimal ATR detection performance requires
    training in virtual environments with statistics
    as similar to reality as possible.
    • As a corollary, the addition of clutter objects to
    the training data which are rejected as targets
    should then reduce the false alarm rate.
    • In trials to date, we have seen false alarms
    drop from over 300 in real mission data to
    under 100 simply by adding schools of fish into
    the simulated training data!
    ATR Training Pipeline
    Training
    cont’dexample with data augmentation (YoloV5s)
    Synthetic data: 8221 Images:
    4654 stonefish, 3034
    manta,
    mines
    2609 rockan, 1786
    buoyant
    Synthetic + real data:
    8221 Images + 654 with
    154 MLOs
    ATR Training Pipeline cont’d
    ATR Challenge ROC Curves (Marine Sonics 900 kHz)

    YoloV5 trained by S4 with ATR Challenge + Haar Cascade Detector trained with ATR Challenge
    synthetic data 86.9% TPR with 4751 False Alarms data
    70% with 3500 False alarms and 14,000 False alarms for 80% TPR
    MOOS-IvP feature wish list
    Things that might make life easier*

    • Runtime warp control


    • Better shutdown control
    • Configurable message queue depth
    • Services
    • Name spaces
    • Encryption and access control
    • Config syntax highlighting
    • MOOSDB reset

    * Some of these suggestions were the result of a survey of our


    programmers, some of whom have not been using MOOS for very
    long. Some, however come from experienced MOOS practitioners.

    OFFICIAL
    • We have demonstrated a functioning prototype
    MCM
    of thesimulation
    S4
    Conclusio system
    • S4 is based on MOOS-IvP because of its small
    codebase and limited dependencies, which
    ns: simplified its integration into MINTACS
    • In the course of demonstrating S4, we have
    pushed
    MOOS-IvP to the limit and it didn’t break!
    • We have demonstrated that synthetic sonar data
    can be used to train ML-based ATR systems
    • The next version of S4 will be demonstrated at
    Euronaval
    later this year.
    Questions?

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