wp 7: system integration and validation 1 st project review march 21 th 2014 – lisbon - portugal

WP 7: System Integration and Validation1st Project Review

March 21th 2014 – Lisbon - Portugal

AuthorsUniversity of Girona

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VEHICLE HARDWARE AND SOFTWARE ADAPTATION AND INTEGRATION

Task 7.2

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Omnidirectional cameraW

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Pack

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• 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

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Light beacons for relative positioningW

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Pack

age

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

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Multibeam mapping payloadW

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Pack

age

7

• 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)

Sidus SS109APT P&T unit

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Multibeam mapping payloadW

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Pack

age

7

• The Pan & Tilt unit has been installed on the Girona 500 AUV

• Two payload sensors can be mounted, the Imagenex Delta T and the Soundmetrics ARIS sonars

• Preliminar tests using the ARIS and a concentrator lens for microbathymetry

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Operative AUVsW

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7

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.

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Software updatesW

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7

• 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.

• Several nodes, such as the cooperative path following and range-only formation controllers, the communications node, and the mission handler, were adapted for each vehicle.

• A ROS driver has been developed to control the Pan & Tilt unit