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WP 7: System Integration and Validation 1 st Project Review March 21 th 2014 – Lisbon - Portugal

WP 7: System Integration and Validation 1 st Project Review March 21 th 2014 – Lisbon - Portugal. Authors University of Girona. Task 7 .2. Vehicle Hardware and software adaptation and integration. Omnidirectional camera. PMMA dome Aluminum alloy (lower housing) Point Grey Ladybug 3

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WP 7: System Integration and Validation 1 st Project Review March 21 th 2014 – Lisbon - Portugal

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  1. WP 7: System Integration and Validation1stProject ReviewMarch 21th 2014 – Lisbon - Portugal Authors University of Girona

  2. Work Package 7 Task 7.2 Vehicle Hardware and software adaptation and integration

  3. Omnidirectional camera • PMMA dome • Aluminum alloy (lower housing) • Point Grey Ladybug 3 • PC-104 computer (Intel core i7, 2.2 GHz, 8Gb RAM) • PCIe/104 Firewire module • HDD • Power source • Ethernet interface Work Package 7

  4. Light beacons for relative positioning Work Package 7 • Four blinking LEDs mounted in a cross-shaped frame. • The on/off cycles of the four LEDs are sequenced differently to make possible determining the correspondences • The system has been installed on the SPARUS AUV for testing

  5. Multibeam mapping payload Sidus SS109APT P&T unit • 19 Nm torque (each axis) • Near-zero backlash gearing • High accuracy optical feedback positioning (0.3º resolution) • Selectable rotation speed from 16 º/sec to 0.5 º/sec • 24 VDC @ 1.2 A max (each axis) Work Package 7

  6. Multibeam mapping payload • The Pan & Tilt unit has been installed on the Girona 500 AUV • Two payload sensors can be mounted, the Imagenex Delta T and the SoundmetricsARIS sonars • Preliminar tests using the ARIS and a concentrator lens for microbathymetry Work Package 7

  7. Operative AUVs The Girona 500 and SPARUS AUVs took part in the Toulon trials. Soon, the Sparus vehicle will be replaced by its renewed version, the SPARUS II. Work Package 7

  8. Software updates • A driver has been developed to make the Ladybug omnidirectional camera work with ROS and Ubuntu. • A driver for Linux has been developed for the Sound-metrics ARIS sonar. • Severalnodes, such as thecooperativepathfollowing and range-onlyformationcontrollers, thecommunicationsnode, and themissionhandler, wereadaptedforeachvehicle. • A ROS driver has been developed to control the Pan & Tilt unit Work Package 7

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