Draft Performance Work Statement REV 1.pdf

Performance Work Statement (PWS) National Oceanic and Atmospheric Administration (NOAA) Fisheries

Midwater Assessment and Conservation Engineering (MACE) program Advanced small stereo-camera lease pool

Section 1: Background

Many NOAA Fisheries science centers rely on underwater cameras to monitor marine living resources (MLR’s) and to augment other survey approaches. More specifically, the use of stereo-cameras within NOAA Fisheries has increased recently as this instrument allows for estimation of organism size and location in 3D space. These systems provide information on species, size, and density that can be used as a direct input into stock assessment models, and provide a non-extractive alternative to traditional survey methods, such as trawling or trap-based surveys. In addition, image-based surveys can often provide information on MLR abundance where other methods cannot be used, such as in rugose, high relief areas inaccessible to bottom trawl surveys, or in marine protected areas.

Several NOAA Fisheries programs have developed, or solicited the development of, sophisticated stereo-camera systems, and these systems are generally not accessible to other programs due to the high initial equipment cost and technical expertise required to operate and maintain the units.

Technological advances have allowed for new designs of camera systems that can significantly reduce the cost and overall size while maintaining or improving the system performance. Further, technologies allowing for on-device image processing are now readily available, which could revolutionize efficiencies in data collection and analysis by performing many automated image analysis tasks at the point of collection.

Alaska Fisheries Science Center (AFSC) scientists in the Midwater Assessment and Conservation Engineering (MACE) program have developed a generalizable operating system for stereo cameras, including custom software and hardware components, that would meet the needs of most underwater applications within NOAA Fisheries. This development will be made available to the open public through a computer code and hardware design sharing platform, such as GitHub.

These developments, combined with the currently available new generation of lower-cost, smaller size, higher capability cameras and single board computers would result in a feasible product line that will be accessible to more programs within NOAA. Further, a system that allowed researchers to make project-specific equipment loans would further increase the utility of these devices. Most projects have a limited field season and the equipment is not actively used for months at a time. In addition, underwater camera equipment is often desired for conducting field experiments with a limited duration, making the purchase of equipment unnecessary and ultimately prohibitive. An equipment loan service would allow for a lower cost for use, and would remove the need for annual maintenance, repairs, and application of updates to be borne by individual programs.

By increasing the number of groups using the same platforms, the post-survey data analysis platforms could also become more standardized, improving overall efficiency across NOAA’s science centers by allowing easier sharing of analytical tools and procedures. For example, the standardization of image data organization, structure, calibration (critical for stereo-cameras), and the integration metadata associated with images, such as sensor streams (e.g. temperature, depth), would benefit all programs by allowing shared software platforms for activities such as camera configuration, live image viewing in the field, and would facilitate the implementation of NOAA Fisheries wide AI/ML pipelined for timely extraction of data from images.

While several NOAA Fisheries programs have developed in-house stereo-camera designs that can be shared, these technologies are difficult for many groups to take advantage of as in-house expertise and fabrication facilities are often not available. This contract seeks to identify a contractor that would develop stereo-cameras based on existing MACE software and hardware designs, fabricate a set of camera units, and establish a system for loaning these units to NOAA Fisheries programs. The contractor would charge a loan fee to NOAA Fisheries to cover the costs of camera repairs, maintenance, and storage/shipment logistics. Optionally, NOAA Fisheries programs could also purchase camera systems from the contractor if desired.

Section 2: Tasks

Key tasks include the following:

Section 2.1: Task 1. Design and build camera units and supporting components

The contractor shall design a final camera product, which will directly incorporate the software and hardware approaches made publicly available from MACE, or devise a similar system that results in the same standard image formats, and file structure.

The contractor shall build a set of eight (8) camera units following the above design with the following capabilities:

- Four (4) shallow water units with a maximum depth rating of 150 meters

- Four (4) deep water units with a maximum depth rating of 750 meters

Camera units supplied by the contractor shall be battery operated and capable of autonomous data collection. While not required, live image feedback at a reduced resolution can be investigated by the contractor. The batteries should be housed in the same enclosure as the camera unit for shorter duration deployments. Shorter duration deployments are defined as a minimum of 30 minutes of continuous operation.

In addition, the contractor shall build four (4) external battery housings with a depth rating of 750 m and a battery capacity to allow for extended deployments, which are defined as

- Minimum four (4) hours of stereo-video collection

- Minimum of 12 hours of still image pair collection at an interval of five (5) seconds

The contractor shall design (or use existing MACE or contractor derived design) and build a high-intensity LED underwater light capable of strobed operation and continuous lighting. External lighting will consist of sufficient illumination power to provide good image quality of objects at least 10 centimeter (cm) in length at a distance of three (3) meters (m), and using an image exposure time of no more than four (4) milliseconds (shutter speed of 1/250). Illumination should adequately light the central 75 % of the image area. For efficient operation, a strobing shall be implemented, synchronized with still image pair exposure triggers.

The camera enclosure size should not exceed 18 X 32 X 15 cm. The viewports shall consist of hemispherical domes with a minimum diameter of 7.5 cm.

The MACE program shall deliver a prototype camera system without an enclosure, capable of meeting all of the minimum requirements listed below.

Stereo-camera unit internals basic specification (more details are provided in the appendix):

- Minimum still image resolution of 3.2 Megapixels

- Minimum video resolution of 1720 X 1080 pixel progressive scan at 25 frames-per-second

- Cameras must be compatible with the Spinnaker Software Development Kit / PySpin

Application Programming Interface (used with Teledyne/FLIR cameras) and have a global shutter and use USB3 or Gigabit Ethernet interface

- Lenses should provide 60 and 85 degree horizontal view

- The stereo camera baseline (inter-camera spacing) should be between 12 and 20 cm

- At a minimum, the camera system should collect ambient depth (pressure), temperature, and camera system orientation (roll pitch and yaw) associated with the image data.

- The camera system should have the capability for an external network connection

- Camera acquisition, processing and data storage shall be managed using a single board computer (SBC)

- The SBC should include a graphics processing unit (GPU) to enable basic image processing tasks to be performed in real time.

A prototype device delivered by the MACE program will have a SBC with a GPU, and an example of incorporating analysis routines into the image acquisition software process will be demonstrated. The Appendix lists specific components that will be used in the prototype, and that shall be used by the contractor unless a compatible alternative is available

Section 2.2: Task 2. Establish a loan pool for equipment

Following fabrication of eight (8) camera units to the specifications above, the contractor will maintain ownership of the equipment and it will not be transferred to NOAA. The contractor will set up a system for loaning out camera units for use by NOAA and other Government agencies conducting marine surveying and MLR monitoring. At all times the contractor should maintain an inventory of four (4) deep water and four (4) shallow water camera units. The system will operate year-round, with maximum 3-month loan windows. For an initial period of two (2) years, starting when the units are available for lease, the lease fee will be set to cover costs associated with unit maintenance, anticipated repairs to usual wear and tear, required upgrades, shipping and storage logistics, and will be limited to NOAA programs. To cover any equipment damage beyond normal wear-and-tear and accidental total or partial equipment loss, the contractor can include an additional cost to the lease fee, and will not hold the NOAA programs liable for full replacement costs. This arrangement will be specified in writing by the parties involved. After the two (2) year period, the contractor can lease units to any non-NOAA agencies, or institutions and the loan fee can be adjusted to include additional costs needed to make the program sustainable. The contractor can sell additional units that are built using the design for the loaner units at any time.

Following the initial fabrication and loan period described above, NOAA may provide additional funds for optional upgrades and modifications to the systems to improve their utility (see Options section below).

Section 2.3: Task 3 - Continued Operation, Maintenance and Repairs

The contractor shall provide continued operation of the lending pool, and routine maintenance of the overall program. The MACE program may provide additional funding for upgrades to the equipment, including but not limited to:

- continuation of NOAA lease pool subsidy

- increase in number of camera units

- updated cameras and SBC with latest available technology

- upgrades to sensors

- increased depth range

- improved sampling duration (updated/upgraded battery system)

- additional training on unit deployment

Task 3 will be separately exercised in accordance with the appropriate notice as stated in the appropriate FAR clauses. A Not To Exceed (NTE) amount of $25,000.00 under Time and Materials (T&M) Contract Line Item Number (CLIN) series X002 will be allotted for these services.

Section 3: Schedule of Deliverables

Section 3.1: Task/Deliverable 1: The contractor shall provide meeting/logistics and administrative consulting services, including:

A. Set up design consolation meetings and hardware exchanges (prototype delivery).

B. Share progress on hardware design and manufacture through virtual meetings every two

(2) months.

C. Conduct equipment testing for robustness, pressure rating, and durability.

D. Set up a demonstration meeting (virtual) that can be attended by multiple NOAA program representatives to show available equipment and

Section 3.2: Task/Deliverable 2: The contractor shall provide the following- A. Develop detailed specification documents and basic troubleshooting guides for all hardware components.

B. Develop inventory and scheduling system (preferably web based) for quick access to gear availability and fee structure.

C. Manage equipment loan service, including all delivery, shipping, storage, and communication with lessee parties required D. Track unit-specific performance, including maintenance/repair logs for reference.

Section 3.3: Task/Deliverable 3:

A. The contractor shall provide a final report at the end of the initial two (2) year loan period detailing total unit usage, fees collected, and itemized costs incurred by the contractor. Additional reporting on activities related to the Operation, Maintenance and Repairs Tasks will be required, if CLIN series X002 are exercised.

Item Description Quantity Due Date Deliver to Reference

Task 1A

Set up design consolation meetings and hardware exchanges (prototype delivery)

Not Applicable (N/A)

Within one (1) month of start of performance period

Requester Deliverable 1A

Task 1B

Progress meeting

Varies Every two (2) months from start of performance period

Requester Deliverable 1B

Task 1C

Equipment testing

N/A Six (6) to eight (8) months from start of performance period

Contractor Deliverable 1C

Task 1D

Equipment demonstration

N/A Eight (8) to 12 months from the start of the

Requester and

Deliverable 1D

Section 4: Performance Requirements Summary

This contract includes a Performance Requirements Summary (PRS) and Quality Assurance Surveillance Plan (QASP). The PRS plays an integral role in the administration of the contract. In addition to any applicable inspection clauses or other related terms and conditions contained in the contract, the PRS shall serve as a primary tool for inspection and acceptance of services as facilitated by the Contracting Officer’s Representative (COR). Evaluation of the Contractor’s overall performance shall be in accordance with the performance standards set forth in the PRS, and will be conducted by the COR. The PRS constitutes a material aspect of the contract and will not be changed or otherwise modified without prior written approval of the Contracting Officer.

Item Description Quantity Due Date Deliver to Reference meeting performance period participants

Task 2A

Equipment specification documentatio n

N/A

No later than six (6) to eight (8) months from the start of the performance period

Requester Deliverable 2A

Task 2B

Develop inventory and scheduling system

N/A

No later than six (6) to eight (8) from the start of the performance period

Requester Deliverable 2B

Task 2C

Manage equipment loan service, including all delivery, shipping, storage

N/A

No later than 12 months from the start until the end of the performance period

Requester Deliverable 2C

Task 2D

Track unit maintenance/ repairs

N/A 12 months from the start until the end of the performance period

Requester Deliverable 2D

Task 3A

Final report

Operation, Maintenance and Repairs Report

N/A

End of the performance period

End of Option performance period

Requester Deliverable 3A

Required Service and Designation

Desired Outcome

Performance Standard

Acceptable Quality Level

Monitoring Method

Incentive/ Disincentive

Task 1 Deliverables A, B, C and D

-Meetings are set up in a timely manner and accomplish required tasks

- Sufficient level of Equipment testing conducted

- Successful demonstration of equipment to at least two (2)

NOAA

programs

Performance standard met at least 95% of time

COR will solicit feedback from requesters;

Use of email to determine request date and scheduling date; Review of items accomplished by the contractor

Material-poor performance evaluations;

corrective action plan

Task 2 Deliverables A, B, C, and D

-Equipment spec.

Documentation issued to the satisfaction of requestor -Inventory, scheduling, and maintenance tracking conducted and made available to requestor

- Successful lease establishment, camera units made available and shipped in a timely

Performance standard met at least 95% of time

COR will solicit feedback from requesters;

Use of email to determine request date and scheduling date; Review of items accomplished by the contractor

Material-poor performance evaluations;

corrective action plan

Required Service and Designation

Desired Outcome

Performance Standard

Acceptable Quality Level

Monitoring Method

Incentive/ Disincentive manner

Task 3 Deliverable A

Sufficient detail in final report for requestor to evaluate equipment loaning strategy and future planning

Performance standard met at least 95% of time

COR will solicit feedback from requesters;

Review of items accomplished by the contractor

Material-poor performance evaluations;

corrective action plan

Section 5: Confidentiality and Data Privacy

This contract may require that services contractors have access to Privacy Information. Services contractors are responsible for maintaining confidentiality of all subjects and materials and may be required to sign and adhere to a Non-disclosure Agreement (NDA).

Section 6: Government Furnished Resources

The Government (MACE program) will provide all necessary information, data, prototypes, and computer code to the Contractor for work required under this contract.

Section 7: Overtime, Travel, and Training

Overtime and Training is not anticipated or authorized at this time. If overtime is required, a contract modification must be executed by the Contracting Officer prior to performance.

Section 8: Intellectual property and Data Rights

The software and hardware designs, including the camera control electronics, acquisition software, and LED strobe control hardware, that are required to be used by the contractor for this project, will be published on an open source server such as GitHub, making the design open source and not subject to patent. The housing designs, and any additional components or improvements beyond those contained in the prototype delivered to the contractor may be regarded as Intellectual Property of the contractor. The open software/hardware design will enable other programs to build compatible systems, which will make it easier to share other developments such as data annotation/analysis tools. All data collected rights remain the Intellectual Property of the NOAA Programs conducting the research.

Appendix

1. Example of components needed for a single deep-water unit with external battery and strobes.

Item Quantity

FLIR Chameleon3 MV camera* Two (2)

SBC with GPU (NVIDIA Jetson Orin NX with the Connect Tech Hadron carrier board)*

One (1)

Kowa LM5JCM-V 5 mm Optical lenses* Two (2)

Supporting electronics (pressure/depth and orientation sensors, power conditioners, microcontrollers) including Keller PA4-LD pressure transducer SAMD21 microcontroller Bosch BNO055 IMU sensor*

One (1)

Deep water underwater Stereo-camera housing (750 m) with 3” domed viewports , dimensions ~ 18 X 32 X 15 cm

One (1)

Long duration battery (24 V 10 Ah NiMH) One (1)

Battery housing, dimensions ~ 41 cm length, 9 cm diameter One (1)

LED Strobe components:

TaksLed Constant current LED Driver (buck) with Cree XLamp CXB3590

LED*

Two (2)

LED Strobe housing – clear flat port ~ 10 cm length, 6 cm diameter Two (2)

Underwater cabling: bulkhead connectors X six (6) (battery power, strobe out, ethernet for download and configuration), cables X three (3) (Y cable for strobes, single power cable for battery housing, download cable)

One (1)

* indicates components available in prototype