John Leonard: Professional Background
`
`Leonard
`
`DEMO001
`
`Education:
`• University of Pennsylvania, BSEE (1983-87)
`• University of Oxford, DPhil (1987-91) [Mobile Robotics]
`History of MIT Positions:
`• MIT Sea Grant AUV Lab 1991-1996
`• Dept. of Ocean Engineering 1996-2004
`• Dept of Mechanical Engineering in 2005-present
`• Computer Science and Artificial Intelligence Laboratory
`Current Responsibilities:
`• Area Head for Ocean Science and Engineering
`• Director, Ford-MIT Alliance
`Research Interests:
`• Mapping, Navigation, and Control of Autonomous Marine Vehicles
`• Mobile Sensor Networks
`
`JL-1
`
`PGS Exhibit 1128, pg. 1 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`Source Code
`
`Leonard
`DEMO002
`
`• Source code is a set of computer instructions
`
`Includes comments
`
`Written using a human-readable computer language
`
`#include <stdio.h>
`
`/* a simple C program to print out "hello, world" */
`
`main()
`{
`printf("hello, world\n");
`}
`
`JL-2
`
`PGS Exhibit 1128, pg. 2 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`DigiFIN: Lateral Control Software Overview
`
`Streamer
`Separations
`
`Lateral Controller
`
`Commanded
`DigiFIN
`Wing Angles
`
`JL-3
`
`PGS Exhibit 1128, pg. 3 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`DigiFIN Hardware & Software
`
`Leonard
`DEMO004
`
`oiioooiiioinooooioix ooimooooiirrorm-tuaiiioooooiiiooiioooiiiioiiiir 00111000010100100001111
`
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`
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`
`Hardware
`• Sensors
`- Temperature
`- Depth
`- Wing Angle
`- Pitch
`- Roll
`• Motor
`• Microcontroller
`
`Software
`• C Language
`• Assembler
`• Fin Commands
`• Backoff Algorithm
`• Out Of Bounds
`Conditions
`
`DigiFIN Wing,
`
`MOTOR CONTROL
`FUNCTION
`
`i M
`
`POWER SUPPLY +15V
`MOTOR VOK STATUS
`MOTOR H-BRIDGE
`CURRENT SENSE
`DIRECTION CONTROL
`
`Tx Data
`
`Rx D ata,.
`
`Control
`
`INCREMENTAL
`POSITION
`ENCODER
`
`ENHANCED
`LATERAL CONTROL
`MOTOR MODULE
`
`POWER CONTROL
`A, 8. PWR FILTERS
`QUADRATURE
`DECODER
`MOTOR CONTROL
`(CPLD)
`
`LATERAL STEERING CONTROL FUNCTION
`
`PTX227, DigiFIN Product Specification, at 11
`
`PGS Exhibit 1128, pg. 4 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`DigiFIN: Back Off Algorithm
`
`1
`
`r Zero Force: Rol-Negalrve. Ft^Zero */
`Verticaforce-0;
`
`r Nc vertical force component because Rr»Zefc •/
`tf(Vert>crfcrce"C)
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`muH -• (0 5'mSme);
`
`r Calculate value of max magnduOe */
`mSine«9in_deg(jb$_lheta*0 01) 1* Do net let vne<0)-C V
`r otojmSne) V
`if(mS<ne<0 0)
`mSina- -mS*w,
`imu « 2 6 /<{1 0 -abc_angto_dcg/80 0)*mS*ne):
`r Ateokrte value of ma* '!
`amaj * 6ms¥<0 Q 7 -JTJII *rna*
`
`r Calculate adjusted angle •/
`adj_angle - «9^}n-mil"ang»e_dcfl.
`
`C AbaoUe value of adj_angle 'I
`abs_adj_angle • adj_ar»ote<0 07 -adj_argle ad|_angle:
`
`r Lkrul magnitude of adjusted Angle V
`if ( at»_ad j_angle>amax)
`ac[_angle • adj_«ngie<0 0 ? -iTa* amax:
`
`r o*0* Erna-(flI - Or<*r>
`
`t>«*» tiffrfi
`
`/***** Depth Aware with large Depth Error *****/
`I* Depth Error(ft) = Depth - Depth Target
`Depth Error Positive:
`1) Too deep
`2) Need upward force
`Depth Error Negative:
`1) Too Shallow
`2) Need downward force
`
`Upward Force: sign(Roll) * sign(Fin) = -1
`Downward Force: sign(Roll) * sign(Fin) = 1
`
`If vertical force direction increases depth error,
`we must reduce vertical force.
`
`adj angto • aogn'angiejJeg
`
`If F3Sar{0|*0 */
`
`A-
`Co-rct Frt Angle back to MalhScale
`iff* _MatriS=alc*C3t«e<0T^TcM*fiS >
`
`tri Angle_MathScalt:
`
`Apprcxvnabon for compjtog Sine
`meaApp.
`
`UPttti «*i*tol the ame function where x is in
`- (f jy3>
`ct-jyji - (x^sys' - (x*7y7« •
`
`ol x. orty me lto*t lew terms a ** rn
`mi approachesp*2many ieim»j-< w
`you wsh Id have more than iusi * lew V
`
`/** Reduce Vertical Force if Force Increases Depth Error **/
`/* if(Too Deep and Vertical Force is Downward)
`OR
`if(Too Shallow and Vertical Force is Upward)
`7
`else if(((DepthErrorFeet>=0) && (VerticalForce==1)) ||
`((DepthErrorFeet<0) && (VerticalForce==-1)))
`
`{
`
`/*** Vertical Force Decreases Depth Error **7
`/* if(Too Deep and Vertical Force is Upward)
`OR
`if(Too Shallow and Vertical Force is Downward)
`7
`
`PTX27S atlONSC22i7
`
`PTX271 at (ONSC2218
`
`JL-5
`
`PGS Exhibit 1128, pg. 5 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`DigiFIN: Lateral Control Software Overview
`
`/
`
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`
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`Separations
`
`Commanded
`DigiFIN
`Wing Angles
`
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`JL-6
`
`PGS Exhibit 1128, pg. 6 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`Kalman Filter
`
`A Kalman filter is an algorithm the produces estimates for a system
`that changes over time by combining measurements with predictions
`from a dynamic model.
`
`JL-7
`
`PGS Exhibit 1128, pg. 7 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`ORCA's Kalman Filter
`
`Leonard
`DEMO008
`
`Description : The Kalman Filter software held in directory ncn/kf has been written
`in such a manner as to be able to solve more than one KF problem,
`i.e. it is generic.
`In order to solve a particular problem, this generic Kalman Filter
`software must be populated with data and equations which fully
`specify the particular problem which is to be solved. This process
`can be thought of as the compilation or building of the problem specific
`Kalman Filter. This module contains routines to perform this compilation
`process.
`
`PTX280
`
`JL-8
`
`PGS Exhibit 1128, pg. 8 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`Prediction In ORCA
`
`Leonard
`DEMO009
`
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`
`PRIOR
`
`POSITION + (
`©
`
`PREDICTED
`POSITION
`
`©
`
`JL-9
`
`PGS Exhibit 1128, pg. 9 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`Prediction In ORCA
`
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`ZMatSetEK S, par->ix.ilondot, 1, s.londot);
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`PXT282
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`
`PRIOR
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`PREDiaED
`POSITION
`
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`
`JL-10
`
`PGS Exhibit 1128, pg. 10 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`Latitude And Longitude
`
`Leonard
`DEMO011
`
`Boston
`42.3583° N, 71.0603° W
`
`Houston
`29.7631° N, 95.3631° W
`
`JL-11
`
`PGS Exhibit 1128, pg. 11 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`ORCA's Kalman Filter
`
`Leonard
`
`DEMO012
`
`k T
`
`5 Feet Per Second Velocity (Speed + Direction)
`
`1
`T
`
`V.
`
`Previous
`Position
`
`5 feet per second x 10 seconds = 50 feet
`
`JL-12
`
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`
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`
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`\
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`
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`
`PGS Exhibit 1128, pg. 12 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`Acoustic Ranging
`
`JL-13
`
`PGS Exhibit 1128, pg. 13 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`ORCA's Kalman Filter (Rejection)
`
`Leonard
`
`DEMO014
`
`Previous
`Position
`
`Predicted
`Position
`
`I
`
`JL-14
`
`PGS Exhibit 1128, pg. 14 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`ORCA's Kalman Filter (Rejection)
`
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`
`Predicted Position becomes best estimate
`
`JL-15
`
`PGS Exhibit 1128, pg. 15 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`ORCA And The Lateral Controller
`
`ORCA sends the Lateral
`Controller streamer separations
`
`Kalman
`Filter
`
`ORCA
`
`Lateral Controller
`
`JL-16
`
`PGS Exhibit 1128, pg. 16 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`Modes Of Operation In Lateral Controller
`
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`Fan Mode
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`Ghost Mode
`
`JL-17
`
`PGS Exhibit 1128, pg. 17 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`Lateral Controller: Even Separation Mode
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`JL-18
`
`PGS Exhibit 1128, pg. 18 PGS v. WesternGeco (IPR2014-01478)
`
`

`
`Lateral Controller: Fan Mode
`
`Leonard
`
`DEMO019
`
`JL-19
`
`PGS Exhibit 1128, pg. 19 PGS v. WesternGeco (IPR2014-01478)
`
`

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`PGS Exhibit 1128, pg. 20 PGS V. WesternGeco (IPR2014-01478)
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`PGS Exhibit 1128, pg. 20 PGS v. WesternGeco (IPR2014-01478)