purl ii, - collectionscanada.gc.ca
TRANSCRIPT
PURL II,
A RAPlD DEPLOYMENT
SEARCH AND SURVEY
AUTONOMOUS UNDERWATER VEHICLE
Peter D. Helland
B.A.Sc., Simon Fraser University, 1 995
THESIS SUBMITTED IN PARTIAL FULFILLMENT OF
THE REQUIREMENTS FOR THE DEGREE OF
MASTER OF APPLIED SCIENCE
in the School
of
Engineering Science
O Peter ~e l iand 1997
SIMON FRASER UNIVERSITY
October 1997
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Abstract
The Underwater Research Lab (URL) at Simon Fraser University in Bumaby,
Canada, is conducting research in the use of autonomous undenvater vehicles (AUVs) for
marine science and site survey applications. AUVs are unmanned, untethered, undenirater
vehicles that fly through the water without extemal control. Until recently, AUVs have
traditionally been large, expensive vehicles that were employed only for research or military
applications. The Underwater Research Lab feels there is a need to develop small AUVs
capable of perfomùng a variety of scientific and commercial missions in aqueous
environments.
This thesis focuses on the development of a srnall and inexpensive AUV, called
PURL II, that can be rapidly deployed in a remote location with little or no logistical support.
Moreover, PURL II will also act as a test bed for acoustic imaging research and limnology
research. Improving AUV sensors, and developing techniques for collecting scientific data
quickly and efficiently increases the usability of A W s for potential users. The utility of a
small AUV is investigated through various lake Eriais which culminate in the performance of
a scientific mission measuing the intemal waves in a small lake. PURL II successfûlly
demonstrates many of the capabilities and limitations of a small AUV developed using only
off-the-shel f components.
Acknowledgements
Many people helped make this thesis possible and deserve more recognition and
thanks than a mention in this Acknowledgements. 1 thank John Bird for givhg me the room
to explore and make the mistakes. Hamy Bohm for supporting me throughout my thesis,
grounding me in the real world, fabricating the mechanical components, and winng PURL II.
Bernard Laval and Paul Krautener for listening to my crazy ideas and providing insightfid
feedback on the mena and demerits of these ideas. Andreas Huster, for adding structure to
my programming, and solving numerous problems much faster and enthusiastically than I
ever could hope to. From International S u b m a ~ e Engineering, Sam Roberts and Mike
Boghart for providing me and the URL with excellent support for the control software
PROTEUS. Doug Girling and Dennis Michaelson for £iiendship and support when
development was going poorly. Kevin Maier for working on the altimeter system. And
finally my family, for putting up with my school schedule and understanding when 1 was not
a contnbuting member of the household.
Table Of Contents
. . ........................................................................................... Approval ii ...
Abstract .......................................................................................... iii
......................................................................... Acknowledgements iv
............................................................................ Table Of Contents v ...
List of Tables ................................................................................ vil1
List of Figures ................................................................................. ix 1 . Introduction ............................................................................... 1
1 . 1 General Background ........................................................................... 1 1.2 AUVs .................................................................................................. 2 1.3 URL and the PURL Program ............................................................. 5
............................................. ........................ 1.4 Outline Of Thesis ..... 7
2 . Vehicle Concept and Missions ................................................. 8 2.1 Vehicle Concept ................... .................... .......................................... 8
.................................................... .............................. 2.2 URL Missions ,.. 9 2.2.1 Autonomous Constant Depth Mission ............................................................ 10 2.2.2 Autonomous Sawtooth Mission .................................................................. 1 1 2.2.3 Autonomous Bottom Following Mission .................................................... 12 2.2.4 Piloted Mission ............................................................................................... 13
.................... .......... 3 . Design Specifications and Constraints .. 14 3.1 Constraints ........................................................................................ 15 3 -2 Navigation and Basic Instrumentation ......................................... 16 3.3 Payload ........................................................................................... 16
................................................................. . 4 Mechanical Design 17 .............................................................................................. 4.1 Faring 18
4.2 Floatation .......................................................................................... 18 4.3 Pressure Vesse1 ................................................................................. 20 4.4 Actuators / Propulsion ........................... .. ................................ 21
.................................................................................... 4.5 Card Cage 22 ................................ ...................... 4.6 Cabling And Penetrators ... 23
v
4.7 Mass and Displacement ...................... ... ................................... 24
5 . Electrical Design ..................................................................... 25 5.1 Power Distribution ........................................................................... 25
5.1.1 Battery Pack .................................................................................................... 26 5.1 -2 Power Switch and Relay PCB ........................................................................ 27 5.1.3 Main Power Supply Buses .............................................................................. 28 5.1.4 CPU Power Supply Buses .............................................................................. 28
5.2 CPU and PC-104 Stack .................................................................... 29 ................................................................................. 5.3 Instrumentation 30 . . 5.3.1 Navigation ................ ., ....................................................... .. .................... 30 ....................................................................................... 5.3 -2 Pitch and Roll 3 1
* . 5.3.3 Morutonng and Aiarms ............................ .... ............................................ 32 5.4 Ethernet Network ............................................................................. 32
6 . Software Design ..................................................................... 34 6.1 PROTEUS ...................................................................................... 35 6.2 Event-Based Software ................................................................... 35 6.3 Configuration Files ........................................................................... 36 6.4 CSP Design and Configuration ....................................................... 38
6.4.1 Interface Components .................................................................................... -38 .......................................................................................... 6.4.2 Operator Interface -39
6.4.3 Modes Of Operation ....................................................................................... 40 6.4.3.1 IDLE Mode ..................... ... ......... ,. ....... 40 6.4.3.2 PILOT Mode ........................................................................................... 40 6.4.3.3 MISSION Mode ...................................................................................... 41 6.4.3.4 ABORT Mode .................... .. ............................................................... 41 6.4.3.5 EXIT Mode .............................................................................................. 42
6.4.4 Telemetry ........................................................................................................ 42 6.5 Bugs, Conflicts and Deficiencies ..................................................... 42
7 . Vehicle Control ....................................................................... 43 7.1 Propulsion and Heading Control ..................................................... 44
................................................................................... 7.2 Depth Control 47
8 . Fibre Optic Link ..................................................................... 50 8.1 Design Specifications .................................................................... 50 8.2 Fibre Optic Design ........................................................................... 51
...................................................................................... 8.3 Link Budget 53 8.4 Back Reflection ........................................................................... 53 8.5 Cables and Penetrators ................................................................. 54
................................................................. 8.6 Canying Case / Handling 54
9 . Payload ................................................................................... 55 9.1 Water Property Sensors ..................................... .................... 55 9.2 Video Carnera .......... ........... ......................................................... 56
1 0 . Transportation. Launch and Recovery ................................... 56 1 1 . Vehicle Performance .............................................................. 57
1 1.1 Specific Energy ............................................................................ 57 ................................ 1 1.2 Vehicle Specifications .............................. 63
. . 1 2 Trials and Missions ................................................................. 64 12.1 Swimming Pool and Lake Trials ................. .... ........................... 66
12.1.1 October 19. 1995 ........................................................................................ 66 .......................................................................................... 12.1.2 Febmary 20. 1996 66
12.1.3 March 12. 1996 .............................................................................................. 67 12.1.4 September 4. 1996 ......................................................................................... 68
....................................................................................... 12.1.5 September 17. 1996 68 12.1.6 September 19. 1996 ....................................................................................... 69 12.1.7 September 23. 1996 ....................................................................................... 69 12.1.8 September 27. 1996 ...................................... .. 12.1.9 May 28. 1997 ................................................................................................. 70 . .
12.2 Missions ............ ... .. .. .................................................................... 71 12.2.1 Mission Tracks ............................................................................................. -72 12.2.2 Mission Profiles ............................................................................................ -77
Future Enhancements
14 . Conclusions ............................................................................. 80
References ...................................................................................... 83
Appendix ................................................................................ One 85
Appendix Two ............................................................................... 99
Appendix Three
vii
List of Tables
............ Table 2-1 : Payloads For Different Missions And Research ........................... .. 10 Table 3-1 : Vehicle Specifications and Design Constraints for PURL II .......................... 15
.. Table 3- 1 : Payload Sensors ............. ... ... ............................................................. -17 Table 4- 1 : Pressure Vesse1 ................................................................................................ 21 Table 4- 1 : Inuktun Thruster Specifications .................................................................. 22 Table 4- 1 : Mass and Displacement ..................... ... ................................................... -25 Table 5-1 : Power Supply Buses ......................................................................................... 26 Table 5- 1 : Banery Pack Specifications .......................................................................... 27 Table 5- 1 : Specifications For The HE 104-5 12- 16 Power Supply Card ............................ 28
.................................................. ........................... Table 5-1 : PC- 104 Stack Cards ... 29 ................ Table 5-2: PC-104 Stack Resources, Supply and Demand ................ ... -30
Table 5- 1 : Navigation Sensors For PURL II ................................................................. 1 . Table 5- 1 : Spectron S ystems Technology Inc Dual Axis Inclinorneter ........................... 32
Table 6- 1 : PROTEUS Interface Components .............................. .... .......................... -39 Table 6- 1 : Bugs and Deficiencies 43 ...................................................................................... Table 7- 1 : Depth and Altitude Arbitration Logic ............................................................ -50 Table 8- 1 : Fibre Optic Specifications ............................................................................... -50 Table 9- 1 : Sea-Bird SBE- 1 9 CTD ................................................................................ -55
.................. Table 9-1 : Video Carnera and Lights Specifications .................... .. 56 ..... Table 1 1 - 1 : Design Goals and Actual Implementation ... ...................................... 64
Table 12- 1 : Mission Specifics 76 ...........................................................................................
List of Figures
.............................................................................................................. Figure 1-1: PURL 1 6 ............................................................................................................. Figure 1-2: PURL II 7
...................................................................... Figure 2- 1 : Constant Depth Mission Profile 11 . . ............................................................................... Figure 2-2 : Sawtooth Mission Profile 12 ................................................................. Figure 2-3: Bottom Following Mission Profile 13
................................................................................ Figure 2-4: A Piloted Mission Profile 14 ................... Figure 4-1 : Dry and Flooded Sections Of PURL II ..................................... ... 17 . . .......................................................................................... Figure 4-2: Faring and Tai1 Fm 18
Figure 4-3: The BuoyancyIGravity And R e s t o ~ g Moment For A Submerged Body ...... 19 Figure 4-4: Aluminium Pressure Vesse1 ........................................................................... 20 Figure 4-5: Thruster ........................................................................................................... 21
.......................................................... Figure 4-6: Card Cage And Electrical Components 23 Figure 4-7: SEACON Penetrators And The Fibre Optic Port ............................................ 24 Figure 5- 1 : Battery Pack .................................................................................................... 26
13 Figure 5-2: Autonomous Ethemet Configuration .............................................................. JJ
....................................................................... Figure 5-3 : Piloted Ethemet Configuration 34 Figure 7-1 : Net Propulsive Force (NPF) And Tuming Moment ('TM) .............................. 44
................. ............................ Figure 7-2: Horizontal and Propulsion Control Diagram .. 46 ......................... .............*...*...*..*....*........... Figure 7-3 : Thruster Adaptive Control .... -47
Figure 7-4: Depth Control Employing Vertical Thrusters ................................................. 48 ............................................................ Figure 7-5: Depth and Altitude Control Diagram 49
................................................... Figure 8-1 : Fibre Optic System For Ethernet and Video 52 Figure 8-2: 13 1 O/ l550n.m Hybrid Wave Division Multiplexer Coupler ........................... 52
. Figure 1 1-1 : Velocity Vs Specific Energy ( O Watt Payload) .......................................... 61
. Figure 1 1-2: Velocity Vs Specific Energy ( 125 Watt Payload) ...................................... 62
. Figure 1 1-3: Velocity Vs Specific Energies .................................................................... 63 Figure 12- 1 : Loon Lake, University of British Columbia Research Forest ....................... 65
............................................................... Figure 1 2-2: Mission 4, JED 3 3 0, Mission Path -73
................................................................ Figure 12-3: Mission 5, JED 336, Mission Path 74 Figure 12-4: Mission 4, JED 33 1, Outbound Sawtooth Profiles ....................................... 75 Figure 12-5: Mission 5, JED 336, Outbound Sawtooth Profiles ....................................... 76
..................................... Figure 12-6: JED 33 1, Mission 4 a, Profiles Spaced 0S0C Apart 77 Figure 12-7: JED 336, Mission 5 a, Profiles Spaced 0S0C Apart ..................................... 78
1. Introduction
The Underwater Research Lab (WU,) at Simon Fraser University in Bumaby,
Canada, is conducting research and development in four areas: underwater acoustics,
autonomous underwater vehicles (AUVs), limnology, and oceanography. AUVs are
unmanned, untethered, undemater vehicles that fly through the water without external
control. Until recentiy, A W s have traditionally been large, expensive vehicles that were
employed only for research or military applications. The Underwater Research Lab feels
there is a need to develop srnall AUVs capable of performing a variety of scientific missions
in aqueous environments. This thesis f o c w s on the development of a small AUV that c m
be rapidly deployed to a remote site for search and survey missions in lakes. Moreover, the
A W will also act as a test bed for acoustic imaging and limnology research.
This work was done in partnership with International Submarine Engineering
Research OSER) of Port Coquitlam, Canada. ISER is investigating the use of A W s as
in-tnunent platforms for marine science missions where scientific data about phenornenon
such as out fall plumes and pollution dispersion are collected. ISER is interested in selling
the data to interested parties such as BC Hydro or pulp mills. The URL's focus is on very
small AUVs that cm be easily handled and rapidly deployed by two or three people in
remote locations. Such a small platform can be used for acoustic imaging and limnology
research, and also allows the URL and ISER to develop unique techniques for collecting
scientific data quickly and efficiently.
1.1 General Background
Fresh and salt water covers approxirnately seventy percent of the Earth's surface and,
when compared to the land masses, is relatively unexplored. From Egyptians on the Nile, to
the British Empire, to the oil tankers and cargo freighters of today, controlling and
conducting commerce on the water's surface has always been a path to weaith and power.
Until recently it was assumed that the waters of the world were infinite sinks for our
pollution, and infinite sources for our harvesting activities. With the collapse of fish stocks
around the world and pollution washing up on foreign shores, it is now apparent that there is
nothing infinite about our waters. However, finite as the world's waters are, they remain
essentially unexplored and unknown because of the difficuities involved in penetrating their
depths.
Depending on what properties are being measured, there are a variety of conventional
rnethods for collecting data and surveying the world's waters. Divers, profilers, moored
sensors, towed arrays, manned vehicles, and remotely operated vehicles (ROVs), are al1
empioyed in collecting information about the aqueous environment. Unfortunately, most of
these data collection methods require support piatforms and equipment that are expensive
and have inadequate response times for certain natural phenomenon (Chryssostomidis, 1993).
For example, ROVs and towed bodies require support platforms that are directly proportiond
in size and expense to the size of the ROV or towed body, and the depth of the water to be
studied. For the missions proposed by the URL and ISER, these conventionai data collection
rnethods require support platforms that are not necessarily large, but they must be transported
to, or acquired near, the mission site. Furthemore, the support platforms may be required to
support hydraulic equipment such as a winch, or provide significant quantities of electrical
power for the support equipment and platforms.
1.2 AUVs
Autonomous underwater vehicles (AUVs) are relatively new tools for collecting data
and performing underwater missions. The major difference between AUVs and other data
collection tools is that AUVs are self-propelled and not physically connected to a human
operator. Other data collection platforms such as ROVs, manned submersibles, towed arrays
and moored sensors are not both mobile and disconnected fiom a hurnan operator. AUVs
have not gained wide spread acceptance in the various underwater communities because they
have not demonstrated real benefits at a pnce and Ievel of risk that is acceptable to these
corrmunities (Krieder, 1997). When an A W demonstrates its ability to complete a task cost
effectively, and with low risk, then and only then will that AUV be considered viable.
Large, sophisticated and expensive AUVs have been employed by the rnilitary for
missions in the Arctic and other inaccessible regions because the mission requirements were
such that AUVs provided a feasible and economic alternative to other technologies. Cable
laying, surveying, mine detection, and mine countermeasures have been the high priority
items for naval organisations while collecting oceanographic data has been secondary
(Ferguson, 1997; Krieder, 1997). To support anti-submarine warfitre activities, the Applied
Physics Laboratory at the University of Washington built two AUVs, the Self-Propelled
Underwater Research Vehicle (SPURV) in 1967, and the Unmanned Arctic Research Vehicle
(UARS) in 1972 (Ferguson, 1997). The Advanced Unmanned Search System (AUSS),
fielded in 1984 by the United States Navy's Ocean Systems Center, was the first deep water
A W that performed search and identification missions (Ferguson, 1997; Bellingham, 1993).
The AUSS had a depth rating of 6000m, a displacement of 1300 kg, and a range of 130 km at
13 km per hour (Bellingham, 1993). In 1995, the AUV Theseus, built by International
Submarine Engineering for the Canadian Department of National Defence, laid a fibre optic
cable under the Arctic ice cap during a mission that exceeded 350 km in range (Ferguson,
1997). The special requirements of military organisations allow them to develop and deploy
large, sophisticated AUVs because they possess the budget, labour, and support equipment
required to handle these vehicles in the field.
Inexpensive and small A W s had never been built for anything other than technology
demonstrations until James Bellingham built Odyssey I at MIT Sea Grant (Ferguson, 1997).
The goal of the Odyssey AUV program at MIT Sea Grant is the development of a smaller,
longer range A W that can perform a wide variety of ocean research missions (Bellingham,
1992). These research missions include acoustic mapping of an ice canopy, biological
sweys, seep @lume) detection, mid-ocean ndge magnetics surveys, rapid response to
episodic ocean events, and bottom imaging and scene reconstruction (Chryssostomidis,
1993). Adding to Odyssey's success is the ability to cany a variety of mission dependent
payloads. The Odyssey II AUV displaces 120 kilogcams, is 2.2 rneters long, has a depth
rating of 6000 meters, and an endurance of 6-10 hours at 2-3 b o t s depending on the sensor
payload (Bellingham, 1994). A srnall, robust AUV does not require the support equipment
and p e r s o ~ e l that a ROV, towed body or manned submersible requises, thus increasing its
utility in remote applications where it is diffiicult to bring support to bear.
In addition to MIT Sea Grant, other research institutions such as Woods Hole
Oceanographic Institute (WHOI), and Florida Atlantic University (FAU) are also conducting
research into A W s and related technologies. The Autonomous Benthic Explorer (ABE)
performs scientific s w e y s of the sea floor for an extended period of time without support
from the surface. ABE complements existing manned submersible and ROV technology by
repeatedly surveying a hydrothermal vent area over a period of six weeks up to one year
(Yoerger, 1990). M e r each survey iteration, ABE moors itself to a hitching post and goes
into a low power sleep mode until it is time to perform another survey iteration (Anderson,
1992). Manned submersibles and ROVs cannot perform repeated surveys of a 6000m deep
hydrothermal vent because it is too expensive to be on site for an extended duration of t h e .
ABE solves this problem because surface support is only required for a short period of time
during the initial deployment and fmal retrieval phases of a mission. ABE has a
displacement of 450 kg, a 6000m depth rating, a maximum speed of 2 knots, a cruise speed
of 1 h o t , a total survey distance of at l e s t 30 km, and an on site mission time of up to one
year (Yoerger, 1 990).
WHO1 is also developing extremely smail A W s called REMUS vehicles (Remote
Environmental Measuring Units). REMUS vehicles are intended to provide researchers with
a simple, low cost, rapid response capability which facilitates the collection of water property
data (Ait, 1994). The REMUS concept is similar to the SEA SHUTTLE A W developed in
the 1980's by the Applied Physics Laboratory at the University of Washington. SEA
SHUTTLE carried conductivity, temperature and depth (CTD) sensors as payload, and
performed autonomous missions under the arctic ice cap. REMUS vehicles displace almost
40kg and are larger than SEA SHUTnE AWs, but REMUS vehicles are designed to c a q
not only CTD sensors, but also dissolved oxygen sensors. REMUS vehicles will be operated
and controlled fiom a short base line acoustic tracking system, or pre-programmed to follow
a trajectory determined by bottom moored acoustic transponders (Ah, 1994). The small size,
low cost, and mission specific nature of the REMUS vehicles makes them suited to data
collection tasks where logistics or response time exclude other survey platforxns.
4
The Ocean Voyager II, developed in the Ocean Engineering Department of Florida
Atlantic University (FAU), is designed to perform coastal oceanography for the purpose of
sarnpling coastai regions and ground-tnithing satellite spectrometry (Smith, 1994). The
primary difference between Ocean Voyager II (OVII) and similar AUVs such as ABE and
Odyssey is that OVII is designed for shallow-water long-range missions, not deep-water or
under-ice missions. Multiple OVII AUVs can work in conjunction with a support ship to
survey a coastd sea floor more efficiently and inexpensively than if the support ship
employed traditional techniques such as ROVs or towed sleds (Smith, 1994). The OWI has
a 250 kg displacement, 2.4m length, 0.6m diameter, 600m maximum depth, and an eight
hour endurance at 3 knots (Smith, 1994). Ocean Voyager II is designed to increase the
effectiveness of a surface support ship by increasing the surveyed area for a given cost.
URL and the PURL Program
In recent years, the Underwater Research Lab (URL) at SFU has focused on
underwater acoustic imaging, smalI AUVs, lirnnology, and oceanography. The URL has
determined that a gap exists in the current AUV research, and this gap manifests itself in the
absence of a fake only AUV. Because al1 of the current AUV research is focused on
oceanographic pIatforms, the A W s currently being researched may not be appropriate for
many potential lake missions because they provide more capability than is necessary in a
comparativeIy benign Iake environment. Reducing the capability of an AUV can reduce its
cost to manufacture and operate. As stated by Krieder (1997) and Alt (1994), AüVs must
offer real benefits over the current technology at a price that users are willing to pay, and a
level of nsk they are willing to accept. The specifications for lake missions are different than
those for ocean missions, and as a result, the URL's PURL (Probe for the URI,) program is
researching potential applications and specifications for AUVs operating in smalI Mes.
Uniike other AUVs such as ABE, Odyssey or the REMUS vehicles (Yoeger, 1990;
Bellingharn, 1994; Alt, 1994), the AUVs built for the PURL prograrn avoid custom electrical
components wherever possible. The goal of the PURL prograrn is to develop small AUVs
that employ cornmercially available off-the-shelf technology, and then test the capabilities of
these AUVs in small lakes,
The PURL program has resulted in the development of two A W s , PURL 1 and
PURL II. PüRL 1 (Figure 1-1) was designed for small area search and survey missions in
lakes, but was too slow and never able to carry a suflicient payload. However, PURL E was
considered a success because the URL gained experience designing and operating AUVs,
and some of PURL 1's software and electronics were ported to PURL II (Figure 1-2).
Similar to PURL 1, PURL II was designed to perform search and survey missions. In
addition, PURL 11 was also designed to perform rapid response missions, and operate as a
research test bed for lirnnology and acoustic imaging. Also, greater effort was expended
refining PURL II's deployment and retrieval system to create an AUV than could be easily
deployed by a two or three person tearn operating in a remote environment with no support
equipment except that which can be carried by the tearn. To facilitate lirnnology research,
acoustic irnaging research, and search and survey missions, PLJRL II has a larger payload and
greater speed than PLJRL 1.
Figure 1 - 1 : PURL 1
Figure 1-2: PURL II
1.4 Outline Of Thesis
The remainder of this thesis details the design, specifications and field trials of PURL
II. First, the many factors influencing the design of PURL II, including the most important
factor, being able to meet mission performance specifications, are discussed. Next, the
mechanical, electrical, and software designs are described fiom a functional viewpoint. A
detailed description of PURL II's electrical and software implementation is located in the
Appendices. The field trial resuits and performance specifications corne next with bnef
descriptions of the successes and failures of PURL II as a research platform, and search and
survey AUV. Finally, conclusions are drawn about the utility of PURL II as an autonomous
platform, and the suitability of off-the-shelf technologies for autonomous undemater
vehicles.
2. Vehicle Concept and Missions
Autonomous underwater vehicles have been developed in various military and
research institutions, and a few companies are even beginning to sel1 AUVs commercially.
PURL II is the URL's autonornous underwater vehicle, and it provides the URL with the
ability to perfom underwater robotics research, and search and survey missions in lakes.
PURL II is not intended to be a commercial product but instead a proof of concept that srnaII
AUVs can perform meaningful scientific missions in a variety of operating environments,
specifically remote Mes where little support equipment is available. Nevertheless, PURL 11
could be redeveloped as a commercial product if there were customers to support such an
endeavour.
2.1 Vehicle Concept
PURL II is a self-propelled underwater platform capable of delivering a payload to a
predetermined area in small lakes. PURL II is designed for two different, yet interconnected,
purposes. First, PURL II is designed to be rapidly deployed in a remote lake by two or three
people, and once deployed, perform search and s w e y missions of the lake bottom and water
colurnn. Second, PURL II is a URL research test bed for both limnology and underwater
acoustic imaging. Depending on the mission or research requirements, PURL II is equipped
with different payloads which can be added and subtracted without afTecting the standard
instrumentation. Employing the standard instrumentation, PURL II is capable of depth
keeping, altitude keeping, rudimentary navigation by dead reckoning, and data logging.
Combining a research test bed with a rapid deployment search and survey vehicle results in
an AUV that canies many different sensor payloads on a variety of lake missions. PURL II
is not a commercial product, but instead a proof of concept vehicle showing that a small,
rapid deployment AUV cm perform search and s w e y missions in lakes. Doubling as a
research platform is an additional requirement for the URL because it facilitates friture
research and fùnding for the URL.
As a proof of concept vehicle, PURC II must meet its operational window, but it is
not necessary to optimise vehicle parameters such as drag, power consurnption, cost, and
size. The operational window for PURL II is the ability to perform search and survey
missions in lakes while carrying a variety of payloads. This thesis focuses on the components
required to perform search and survey missions, but is not an extensive description of the
trade-offs made between the various components, The trade-offs that were done involve
balancing t h e , money, components already in our possession (PURL i), donated
components, and the window of operation. If they met our operational window, components
the URL dready possessed were employed whenever possible because they are generally the
cheapest and require the least time to integrate. We are a Canadian universi@ research Iab
that does not have the fiinding to purchase expensive components or pursue exotic
technologies. Achieving the operational window is a dernonmation utility under the
constraints of finite money, tirne and labour.
URL Missions
The window of operation for PURL II is defmed by three autonomous missions and a
piloted mission. The three autonomous missions are a constant depth mission, a sawtooth
mission, and a bottom following mission. When operating autonomously, PURL II is not
connected to the surface in any way except during the launch and recovery phases of the
mission when communications must be established to start-up and shut down PURL II.
During a piloted mission, PURL II is connected to a human pilot via a tether. The payloads
will change depending on the type of mission being perfonned. For example, if PURL II is
carrying a conductivity, temperature and depth profiler (CTD), an autonomous lirnnological
research mission couid be performed. However, if a video camera is carried, the mission
could be a bottom foliowing search and survey mission or a piloted video inspection mission.
Table 2-1 Iists the payloads that PURL II cari cany, and the missions that PURL II can
perform with those payloads.
Table 2-1 : Payloads For Different Missions And Research
2.2.1 Autonomous Constant Depth Mission
Pay load
CTD Camera Side Scan Sonar
Constant depth missions are a cornerstone in any AUV's portfolio of missions.
Constant depth missions are useful for limnology because they can rneasure parameters with
Note: An 'X' indicates that a paytoad item is employed for that mission type or research
horizontai variability that are sometimes difficult to rneasure using traditionai techniques.
Autonornous Missions
CTD profilers and moored sensor chains operate in a fixed horizontal position, thus requiring
Piloted Missions
X X X
multiple chains or profiles to determine horizontal variability. The density of horizontal
Bottom Foltowing
X X X
Constant De pth
X
X
profiles or moored chains may be too sparse ta accurately reconstruct the investigated
phenornenon. An A W travelling at constant depth can provide an excellent platform for
Sawtooth
X
Research
side scan sonar imaging of the bottom because an AUV is unaffected by surface conditions
Lhnnology
X
such as wind, waves, and ice. Figure 2-1 is a diagram of what a constant depth mission
ünaging
X X
profile may look like.
Pre-Dive Check and
Launch A W
AUV Recovery and
Post Processing
I \ Travel At Constant Depth Coiiecting Data
Figure 2- 1 : Constant Depth Mission Profile
2.2.2 Autonomous Sawtooth Mission
The sawtooth mission is aimed at surveying the water column with a water property
profiler such as a CTD. For example, the AUV cari repeatedly fly up and down through the
water column as the AUV traverses the lake looking for horizontal variability in the
temperature structure of the lake. If the lake is warmer in a particular region, this may
indicate the presence of a hot fluid out-fa11 from a source such as a pulp mil1 or power
generation station. Figure 2-2 shows a sawtooth profile and its primary components of
launch, execution, recovery, and data processing.
Pre-Dive Check AUV Recovery and and
Launch AUV Post Processmg Perform Sawtooth Profle Whiie Collecting Data - -
D D - D
Figure 2-2 : Sawtooth Mission Profile
2.2.3 Autonomous Bottom Following Mission
Bottom following missions are well suited to AUVs because A W s have better
manoeuvrability than other sensor platforms such as towed arrays. The bottom following
mission is one of the most dangerous missions for an underwater vehicle because of the risk
of collision. Due to the short range of video cameras underwater, the camera must be
brought close to the boaom to obtain a useful image. AUVs are one of the few sensor
platforms that have both the horizontal and vertical manoeuvrability required to perform a
video survey. Platforms such as ROVs are well suited to vertical video inspection, but
because of their umbilical, they lack the horizontal manoeuvrability required for long range
s w e y work. Side scan sonar benefits h m the constant altitude maintained during a bottom
following mission because the swath width will also be constant. Figure 2-3 shows the
primary components of a bottom following mission.
Pre-Dive Check A ü V Recovery and and
Launch AUV Post Processmg
Constant Altitude
Figure 2-3: Bottom Following Mission Profile
2.2.4 Piloted Mission
When perfonning a piloted mission the human pilot at the surface controis PURL II
via a tether in a manner similar to the way an ROV is controlled via an umbilical. In piloted
missions such as video inspection, a pilot's intelligence is particularly useful because only a
hurnan is capable of determining what is important during an inspection. The tether also
allows the operator to rnonitor the instrumentation and payload aboard PURL II. During
certain research missions or sensor trials, having real tirne sensor feedback is important. For
these missions the data is continuously monitored and evduated, and the mission modified
accordingly. The piloted mission supplements autonomous missions because once an area of
interest has been isolated after an autonomous search and survey mission, the tether is
comected and a human can investigate the area of interest in detail. Figure 2-4 shows an
example of what a piloted mission profile rnay look like.
Pre-Dive Check and
Launch AUV
AUV Recovery PüRL II Piloted From the and
Surface Via A Tether Post Processing
--
Figure 2-4: A Piloted Mission Profile
3. Design Specifications and Constraints
The design specifications and constraints for PURL II reflect the need to develop a
proof-of-concept vehicie that is capable of performing search and survey, and research
missions in lakes (Table 3-1). In addition, the specifications aiso reflect the limited resources
that the URL possesses and is willing to ailocate to the PURL program.
Table 3-1 : Vehicle Specifications and Design Constraints for PURL II
3.1 Constraints
Desired Completion Date Price Maximum Speed M i n k m Speed Maximum Depth Endurance (min. / max. payload) Maximum Displacement Maximum Size Pre and Post Autonomous Mission Communication Tethered Mission Communication Transportation Crew Operating Temperatures Navigation Minimum Instrumentation Pay load
Time and money are always two very important constraints in any engineering
Decem ber 1 996 Is there money in the research account? 1 d s Stationary but still maintain depth and heading control 70 m 2 hours @ 1 m/s / 1 hour @ 1 m/s 70 kg 2 m long, 0.5 m wide, 0.5 m tall Telernetry and Video Via Copper Cable
Telemetry and Video Via Fibre Optic Cable 2 compact cars or one pickup truck 2 or 3 people -5 to 40 OC Dead Reckoning Heading, Depth, Altitude, Battery Monitor, Leak Sensor CTD Profiler, Video Camera + Lights, Side Scan Sonar, and 2 kg Ballast
design, and PURL II is no exception. The desired completion date for PURL II was
December 1996, and the maximum cost was not determined by a maximum value but by the
URL's cash flow. Components were purchased to minimise cost, and expensive components
were purchased only when the URL's research accounts had suffiicient funds to cover the
expense. Like all ROVs, but few AWs, PURL 11 must maintain depth and heading control
at zero speed because PURL II must be able to perfom inspection tasks. A zero speed
requirement precludes the use of actuating planes and rudders for depth and heading control
because these control surface require a forward velocil to be effective. An endurance of one
to two hours, a maximum depth of 70m, a 70kg displacement, and 2m x 0.5m x 0.5m
maximum size were selected so that a two or three person team could operate PURL II in
Loon Lake, Maple Ridge (Figure 12- 1). With a two hour endurance and 1 m/s maximum
velocity, PURL II could perform two out-and-back missions before depleting its energy
stores. PURL II and its personnel can be driven to Loon Lake in either two compact cars or a
pickup truck, and PURL II cm be carried over uneven terrain to the actual launch site.
3.2 Navigation and Basic Instrumentation
PURL II's navigation method has been employed by mariners for many rnillennia;
dead reckoning. The minimum instrumentation required to perform dead reckoning is a
heading sensor, a depth sensor, and an altimeter. With these three basic sensors, PURL II
can perform the desired missions with very little knowledge about the structure of a lake.
StrictIy speakùig, an altirneter is not required for dead reckoning, but due to lack of
knowledge about the lake bottom, an altimeter is required to prevent a bottom collision.
Furthemore, an altimeter ailows PURL II to navigate by landmarks such as specified bottom
depths or bottom events such as pinnacles. The navigation system for PURL II is not
sophisticated, but future research in the URL may result in a new acoustic navigation tool
which cm be tested on PURL 11.
Other standard instrumentation aboard PURL II consists of a leak sensor, and a
battery monitor. A leak sensor is standard on almost any vehicle because leaks rnust be
caught before they cause serious damage to the electricai cornponents. The battery rnonitor
is employed in order to obtain the maximum endurance from a vehicle before the battery is
considered discharged, and to ensure the electronics do not fail because of low input
voltages. It is expensive to travel into the field, and it would be an inefficient use of
resowces if the AUV did not maximise its mission time.
3.3 Payload
Payload delivery is the reason most vehicle exist, be they persona1 automobiles, jet
fighters, or autonomous underwater vehicles. PURL II m u t provide dl the resources
(power, space, mountings, buoyancy) required to successfully deploy the payload items listed
in Table 3-1. Payload installation and removal fiom PURL II must also be transparent to the
standard instrumentation and control.
Table 3- 1 : Payload Sensors
Depth Temperature Conductivitv
4. Mechanical Design
O to 1 OOrn Accuracy <*O. I5% F S - -3 to 40 OC Accuracy ~ 0 . 0 1°C 0.0 to 7.0 Slm
Side Scan Sonar Video Camera
The mechanical design of PURL II was kept as simple a s possible to reduce cost,
maintenance, and fabrication t h e . PURL II is divided into a dry section and a flooded
section, and both are enclosed in the fibreglass faring (Figure 4-1). The dry section is housed
inside an aluminium pressure vesse1 that maintains a one atrnosphere environment for the
batteries and electronics. The flooded section contains the floatation, submersible switch,
altimeter, depth senso. thnisters, aluminium pressure vessel, and payload. If any of the
components in the flooded section of the AUV require a one atrnosphere environment, they
must be in their own pressure canisters.
Range > 100rn, Resolution .: 15 cm Resolution > 400,000 Pixels. Colour or B/W. Low LiaJit
I Bow --+
Flooded Region: Ambient Pressure, Wet Environment
Pressure Vesse[: One Annosphere Pressure, Dry Environment
Figure 4-1 : Dry and Flooded Sections Of PURL II
The fibregIass faring for PURL II was purchased fkom Simrad Mesotech dong with
an aluminium pressure vessel. The faring was originally a tow fish body for a side scan
sonar, but it was rnodified in the URL by adding a PVC insert that made the faring eighteen
centimetres tailer (Figure 4-2). Not having to create our own faring saved both time and
money. A new aluminium tail fui was also fabricated in the URL to provide directional
stability for the AUV. The faring and tail fin are 1.92m in length and 0.47m in height, the
width of the fanng is 0.1 8m, and the width of the tail fin is 0.28111.
Stem Bow
l l 1.92 r ri
I
i'
O - 7 f rf
1 1 1 0.325 7 i 0.47 1 0.18
l 1 - 2
l
Note: A11 Dimensions in Metres
Figure 4-2: Faring and Tai1 Fin
4.2 Floatation
Rigid fI oatation is an essential component of any submersible that does not possess a
variable ballast system. FIoatation provides displacement so that PURL II is slightly
positively buoyant. PURL II must maintain positive buoyancy for three reasons. First, when
PURL II is resting idle at the beginning or end of a mission, the vertical thrusters are
disabled, and positive buoyancy is required to keep the AUV at the surface. Second, in the
event of a power or vertical thruters failure, positive buoyancy is required to return PURL II
to the surface for retrievai. Thkd and finally, the vertical thnisters provide more downward
thnist than upward thrust, and positive buoyancy is required to make the ascent and descent
rates of PURL II symmetric. If PURL II dives more quickly than it rises, the sawtooth
profiles that PUEU II creates will not be symmetric. PURL II employs polyurethane foam
with a depth rating of 100m and a mass of 290 kg per cubic meter of displacement. The
polyurethane foam is located inside the top third of the f ~ n g , and helps provide P U E II
with a large difference between the location of the centre of gravity (centre of mass) and the
centre of buoyancy. This difference is called the b.g. (buoyancy gravity) and is directly
proportional to the magnitude of the restoring moment when the vehicle is rotated away fkom
its static equilibrium position (Figure 4-3).
Center of buoyancy The vehicle is rotated. The The restoring moment rotates above the center of CM and CB do not share the AUV until the center of mass and share the the same line of action, buoyancy is above the center sarne line of action. and a restoring moment is of mass again.
generated.
CB = Center Of Displacement The larger the b.g., the larger the CM = Center Of Mass restoring moment.
Figure 4-3: The Buoyancy/Gravity And Restoring Moment For A Submerged Body
The equation of the restoring moment for a submerged neutrally buoyant body is:
Restoring Moment = Mass * g * b.g. * sine = Displacement * p * g * b.g. * sin0 (1)
where the mass is in kilograms, displacement in cubic meters, b.g. is expressed in meters, p
is the density of water in kilograms per cubic meter, g is 9.8 1 N/kg and 8 is the pitch or roll
angle. The restoiing moment will have units of Nm as expected in the S.I. system. As a
source of displacement for a small and inexpensive A W , polyurethane foam is appropnate
because it is simple and has no moving parts or seals that can fail.
4.3 Pressure Vessel
PURL II's aluminium pressure vessel provides a dry, one atmosphere environment
for the batteries and electronics. When the pressure vessel was originally employed in a
Simrad Mesotech tow fish, the depth rating was greater than 300 metes, but we are only
employing it to the 70 meter depth rating of PURL II. Figure 4-4 is a picture of the
aluminium pressure vessel and Table 4-1 lists its specifications.
Figure t-4: Aiurninium Pressure Vessel
Table 4- 1 : Pressure Vesse1
4.4 Actuators / Propulsion
Material
606 1 Aluminiu rn
Propuision, heading, and depth control are the largest energy consumers in AUVs.
PURL II employs four thnisters for propulsion, heading and depth control. The two ttinisters
Note - ID = inner diameter, OD = outer diameter
Shape
Ribbed Cyiinder with Flat End Caps
mounted horizontally control the heading and propulsion. and the two thnisters mounted
verticalIy control the depth (Figure 4-2 and Figure 4-5).
Dimensions (cm) 15 ID, 16.5 OD, 122 L e n a
Figure 4-5: Thmster
The t h s t e r s were designed and fabricated by Inuktun Services (Table 4-1). Control
planes are not employed to controI the heading because PURL II has a zero speed
manoeuvring requirernent which precludes the sole use of planes. Mounting thrusters on side
2 1
Mass (kg)
8 . 3 ~ 1 0 endcaps, 10.8 w endcaps
Displacernent Ocg) 25.3
Notes
Cylinder is showing some pitting due to corrosion.
mounted struts reduces the likelihood of snarling the fibre optic tether in the thnisters. Aiso,
the mechanical complexity of stnit mounted thnisters is low in cornparison to actuating
surfaces such as planes or rudders. The absence of a protective cage renders the thrusters
vulnerable to damage during transport and handling. For zero speed control, simplicity, low
cost, low weight, and easy maintenance, strut mounted thnisters are consistent with the goals
of PURL II.
Table 4- 1 : lnuktun Thmster Specifications
4.5 Card Cage
Motor
Pitman X94 12
The card cage is an internai fiame inside the pressure vesse1 where the batteries,
wiring and electronics are mounted. A strong, light and versatile card cage is essential for
any submersible system where easy access to the electrical systems must be maintained.
Mounting components inside pressure vessels is often troublesome because pressure vessels
are either spherical or cylindrical, but the components are generaily rectangular. The card
cage creates a rectangular space and consists of three mounting bars running the entire length
of the card cage, and two shorter bars at the fore and aft ends. The open space between the
two shorter bars is used for changing the battery during field operations. The mounting bars
are connected by octagonal bulkheads which provide rigidity and additional mounting
surfaces (Figure 4-6). The bulkheads are 0.25 inch thick octagonal PVC plates, and the
mounting bars are 0.125 inches by 1.0 inches by 46.75 inches with two rows of countersunk
4-40 machine screw holes with 0.5 inch spacing. Ttiis card cage allowed the URL to pack
the components quite tightly, thus reducing the overall size and weight of PURL II.
Depth Rating 50m
Weight in Air 0.43 kg
Weight in Water 0.17 kg
ïhmst
0.7 kg @ 0.6 m/s
Power Consumption 50 W
Input Vdtage 34 VDC
Encoders
Incremental, 5 12 Counts Per Revolution
Figure 4-6: Card Cage And Electricai Components
4.6 Cabling And Penetrators
The cabling and bulkhead penetrators for PURL II were kept simple and robust as
appropriate for an undenvater vehicle deployed with little 1ogisticaI support. The two
SEACON AWQ-6/36 penetrators each provide six pie-shaped connectors with six 18 AWG
Teflon insulated conductors (Figure 4-7). To distinguish between the two penetrators and
their twelve cables, coloured elecmcal tape was wrapped around the penetrators and the ends
of the cables. The penetrators were wrapped with one band of either blue or yellow electrical
tape. The cables connecting into the blue penetrator were labelled with one to six bands of
blue tape corresponding to their position in the alphabet. Position 'A' was represented by
one band, 'B' by two bands, and so on up to 'F' with six bands of blue tape. The yellow
penetrator and cables followed the sarne scheme as the blue penetrator. The port for the fibre
optic cable is occupied by a one inch blanking plate when the fibre optic tether is not
connected, and a fibre optic penetrator when the fibre optic tether is connected. The seventy
two conductors and the fibre optic penetrator enter the pressure vessel through the aft end of
the pressure vessel.
Figure 4-7: SEACON Penetrators And The Fibre Optic Port
4.7 Mass and Displacement
The mass and displacement of any submersible vehicle are extremely important
because these parameten in part determine the utility, size, and cost of a submersible vehicle.
As the mass of a vehicle increases, the displacement must also increase to maintain neutral
(or slightly positive) buoyancy. If the mass increases beyond the displacement achievable in
a particular vehicle volume. the physical extents of the vehicle must be increased to gain
more displacement. Successful submersible vehicles have a significant payload capacity in
the sense that the displacement of these vehicles is large enough that payloads can be added
without becoming negatively buoyant. A summary of the mass and displacement of PURL
II's components is shown in Table 4-1. Without any payload or batteries, the total mass of
PURL II is 49 kg, and with battery pack Beta added the mass increases to 66.2 kg. The
displacement of PURL II without any payload is 71.1 kg, which provides PURL II with a
payload carrying capacity of 4.9kg of wet weight. Wet weight is the difference between the
mass of the payload and its displacement. When the CTD profiler, CTD pump, video canera
and Lights are added, the mass of PURL II increases to 74.8 kg with a displacement of 76.8
kg leaving 2.0 kg fiee for additional payload. To obtain slightly positive buoyancy and
proper trim, PURL II is ballasted with lead.
Table 4- 1 : Mass and Displacement
Displacement (kg of HzO) O O
Component Battery Pack Alpha (24V 24Ah) Baaery Pack Beta (24V 24Ah)
' ~atte& Pack amm ma (24V 2 0 ~ h ) Aluminium Pressure Vesse1 + End Caps Faring and Floatation
1 ~ltimeter and Cable 1
1 3.4 I 2.0 I
M a s (kg) 17.0 17.2
~ o u r - ~ s t e r s and Cables Card Cage with ElectrÏcal and Electronics Com~onents
15.8 10.3 23.1
5. Electrical Design
O 25.3 40.8
4.1 5.9
Depth Sensor, Submersible Switch and Cable Ethernet CabIe Video Camera, Lights and Cables SBE-19 CTD Profiler, Cm Purnp and Cable Lead Ballast
The electrical design for PURL II focuses on simplicity. Each of the electrical
2.5 O
subsystems is easily isolated fiom the whole so that in the event of a fslure, diagnostics and
-~ ~
1.8 O .4 2.1 6.5 To Trim
bench testing are easy to perforrn. High quality connectors are employed throughout PURL
0.37 0.14 1.2 4.5 To Trim
II to ensure reliaHe electrical connections despite the vibration and jarring that PURL II
expenences during transport, handling, and missions. Furthemore, pruited circuit boards
were created for dl the non-commercial circuits for which point-to-point soidering or wire
wrapping techniques are ofien employed.
5.1 Power Distribution
The power distribution system for PURL II is divided into two groups of buses, the
main power supply buses, and the CPU power supply buses (Table 5- 1). PURL II's battery
pack provides 24 VDC and is comprised of sealed lead acid batteries which were chosen for
their Iow cost and ability to survive abuse. Appendix One contains the schematic
representation of the power distribution system.
Table 5- 1 : Power Supply Buses
5.1.1 Battery Pack
Buses Main Supply CPU Suovly
Secondary (rechargeable) batteries are the standard energy source for almost ail
existing AUVs. Secondary batteries generaIly have a higher initiai purchase cost and lower
energy density than primary (non-rechargeable) batteries, but because they can be recharged,
their cost is arnortised over many missions. Power for PURL II is provided by a
rechargeable battery pack located inside the main pressure vesse1 (Figure 5-1). Three battery
packs are maintained so that a hlly recharged pack is always available.
Voltages (VDC) +24, +15, -15, +5, GND +12. -12. +S. -5. GND
Figure 5-1 : Battery Pack
The battery packs are comprised of four sealed lead acid batteries which combine to
create a 24VDC pack rated at 24 amp hours based on a 20 hour discharge rate at 25OC.
Although sealed lead acid batteries have a poor energy density when compared to other
secondary batteries such as Silver Zinc, Nickel Metal Hydride or Lithium Ion, they have
other attributes which make them well suited for PURL II. Only sealed lead acid batteries
are inexpensive, easily maintained, tolerant to improper recharging practices, tolerant to deep
cycle discharging, tolerant to shallow discharging, and possess a long cycle life. Because
PURL II may operate in water as cold as O°C, and discharge times range from one to three
hours, the battery pack may be de-rated as much as 40% for a one h o u discharge rate, or
23% for a three hour discharge rate. Fomuiately, the battery pack shares the pressure vessel
with heat generating devices such as electronics and motor controllers, and therefore it is not
anticipated that the temperature inside the pressure vessel will ever fa11 to zero degrees
Celsius. If users require more energy for a mission than can be supplied by a seaied lead acid
battery pack, they can build their own packs as long as the packs conform to the physical
size, output voltage, and connector specifications of the original sealed lead acid battery pack
(Table 5- 1 and Appendix One).
Table 5- 1 : Battery Pack Specifications
Baîîery Output Amp Hours Watt Hours Pack Voltage
l I 1 I Note: All specifications are at 25°C with a 20 hour dis
Mass (kg) Dimensions Notes l x w x h
17.2
Ah Cells :barge rate.
5.1.2 Power Switch and Relay PCB
PURL II employs a submersible switch for turning power off and on. A submersible
switch is much more expensive than a magnetic reed switch or a cable with a shorting plug,
but the URL has found that once in the field, switching power off and on, and knowing its
present state is sometimes difficult. However, with a submersible switch the power is either 27
off or on, and there is no doubt about its state. The submersible switch controls five relays,
the fust four control power to the thmsters, and the fi& switches power to the four main
buses (+24, +15, -15, +5). The relay outputs are fused at five amps for the thnisters, and
three amps for the buses.
5.1.3 Main Power Supply Buses
The main power supply buses are +24 VDC, I l 5 VDC, and +5 VDC. The +24 VDC
bus is connected directly to the Relay PCB, and the other buses are connected to the Relay
PCB through Vicor DC to DC convertee. The converters take +24VDC inputs, have a 25
Wan maximum output, and are between 80% to 90% efficient depending on loading and
output voltage. Ail the buses share a common ground which is c o ~ e c t e d to the negative
side of the battery pack.
5.1.4 CPU Power Supply Buses
The PC- 1 04 stack has a Tri-M Systems Inc. power supply card, the HE 104-5 12- 16,
that outputs 25 VDC, and +12 VDC for the CPU power supply buses. This power supply
card provides power for the PC-104 stack and the components connected to the PC- 104
stack. The input for the Tri-M power supply card is connected to the +24 VDC main power
supply bus and shares a comrnon ground with the main supply buses. The specifications for
the HE104-5 12-1 6 are listed in Table 5-1.
Table 5- 1 : S pecifications For The HE 1 04-5 1 2- 1 6 Power Supply Card
HE 104-5 12- 1 6 Specifications 1 1 5V Output 12 V Output
IO Arnps including current supplied to 12V, - 1 3V and -5V regulators 2 Amps
-5 V output - 12 V Output Input Range Efficiency Temperature Range Output Rippie
0.4 Amps 0.5 Amps 6 to 40 V < 95% -40°C to 85°C 20 mV on 5V supply
5.2 CPU and PC-104 Stack
The embedded controller for PURL II is a PC-104 stack which employs an 80486-
DX4 100 as the CPU. The PC-104 standard was chosen for the PURL program because it is
off the shelf, small, inexpensive, moderately rugged, a low power consumer, and it provides
native mode software development. The PC-1 O4 stack has six cards and they provide al1 the
I/O, data storage, and processing required to operate the standard equipment aboard PURL II
(Table 5-1). Table 5-2 lists the 110 requirements for PURL II, and the resources currently
supplied by the PC-104 stack. When operating autonomously PURL II performs data
logging, and time starnps the data so it can be correlated during post processing.
Table 5-1: PC-104 Stack Cards
Manufacturer: Card Advanced Digital Logic Inc.:
Resources
Intel 486 DX4-100 CPU, 16 Mbytes Rarn, VGA controller. floppy MSM 486 DX6 100
Tri-M: HE 104-5 12- 16 Sealevel Communications & U0: C4- 104-352 1 Diamond Systems Corporation: Sapphire-MM Arnpro: MiniModule IEthemet-II URL Breakout
controller, hard drive controller, 2 RS-232 serial ports. 1 parallel port, keyboard controller, speaker. f SV output, +12V output 4 RS-232 Ports
8 14-bit differential analogue inputs, 7 12-bit analogue outputs, 4 TTL inputs, 4 Tn. outputs. 1 10Base-T Ethernet Port or 1 AU1 Port A breakout card for the PC- 104 power supply buses and the Sapphire-MM in~uts and oumuts.
Table 5-2: PC- 1 O4 Stack Resources, Supply and Demand
- - -
1 Keyboard + Speaker 1 - I -
I l I l I
Signal 14-bit Analogue Inputs 8-bit Analogue Outputs RS-232 Senal Ports Parallel Ports Digital Inputs Digital Outputs U ï P Ethemet Ports
+12 VDC -5 VDC -12 W C
1 IDE Hard ~ i s k Con~oller 1 [ 1 1 1 *Note: The required currents are steady state values, the peak values are higher. Therefore, when adding new components, the required currents should be multiplied by a safety factor of 1.5 to detemine if there is enough current available from the power supply during peak perïods.
5.3 Instrumentation
Required 3 O 4 O 1 -bit 2-bis 1
+5VDCp 5.2 Amps*
0.6 Amps* O* 0.06 Amcis*
The standard instrumentation aboard PURL II is employed for navigation, stams
Supplied 8 4 4 (7 with a PROEUS upgrade) 1 4-bits 4-bits 1 10 Amps (including current to +12V, - 12V and -SV buses) 2 Arnps 0.4 Amps 0.5 A m ~ s
monitoring and alarms. Al1 of the instrumentation interfaces with the PC-104 stack, and is
monitored and controlled through the PROTEUS software. The instrumentation suite is the
minimum suite required to meet PURL II's operational window.
5.3.1 Navigation
Navigation of PURL II is performed by dead reckoning. With a chronometer (clock),
compass, depth sensor, and altimeter PURL II was able to successfully and repeatedly
execute a variety of survey missions. The chronometer is the heart of any navigation system
and the CPU clock is more than sufficient for al1 of PURL II's navigational requirements. A
heading reference and depth sensor are the two most important sensors in the navigation
system. As was demonstrated by PURL 1, many usehl missions can be performed in areas
fiee of obstacles when ody heading, depth and time are combined. The third navigation
sensor is an altimeter. The altimeter rneasures the time of flight of an acoustic pulse to
determine the altitude of PURL II above the bottom. The altimeter gives PURL II bottom
3 O
following, bottorn avoidance, and bathymetry generation capabilities. For example, PURL II
can fly at a predetermined altitude off the bottom while perfoming a video or side scan sonar
survey, with the heading, depth and time determinhg where the AUV is located. Table 5-1
lists the sensors employed for navigating PURL II through the water and over the bottom.
Table 5-1: Navigation Sensors For PUEU II
1 Sensor 1 Range 1 Accuracy 1 Resolution 1 Interface 1 Power 1 Notes - , I
KVH C- 1 O0 1 +180° 1 kO.S0 1 RS-232, COM 1, ) 0.5 1 W 1 Accuracy is reduced by 1 Fluxgate 1 1 1 1 9600 Baud, IRQ 1 1 ferrous materials and
Compass Pressure Sensor
5.3.2 Pitch and Roll
Simrad Mesotech Mdl. 819 Altimeter
Measuring pitch and roll (attitude) is not required for PURL II to meet its operational
window, but attitude can be employed as a diagnostics tool and performance monitor.
During the pre-mission check, PURL II is ballasted so that it is positively buoyant with zero
pitch and roll. Establishing zero attitude minimises the energy required to maintain constant
depth because a tendency to pitch up or down must be compensated by increased energy
consumption in the vertical thsters. Table 5-1 lists the specifications for the pitch and roll
sensor employed on PURL II.
O to 70m
0.75 to 200m
kO.20m
&O. 125m
0.01m
O. 125m
4, Address Ox3F8 RS-232, COM 3, 9600 Baud, IRQ 5, Address Ox3E8 RS-232, COM 4, 4800 Baud, IRQ 7, Address Ox2E8
1.25 W local magnetic fields. Hysteresis of less than
4.49 W
0.05m
Distances less than 0.75m are reported as 0.75m
Table 5- 1 : Spectron Systerns Technology Inc. Dual Axis Inclinorneter
1 1 1 kO.6O to 20" ( 1 per degree ( 1 1 inhcrernentsofO.1° 1
5.3.3 Monitoring and Alarms
Model
SSY009 I
PURL II lacks the system monitoring and redundancy that typify manned vehicles
Accuracy
&O. 1" to IO0,
Range
&2O0
because PURL II is small, and human life is not endangered. The monitored items are
pressure vessel leaks, low battery voltage, the presence of telemetry, and communication
with the motor controllers. Regardless of the mode of operation, if the leak sensor detects a
leak or the battery voltage falls below 20 VDC, PüRL II goes into ABORT mode. If the
telemetry is lost for more than forty seconds when PURL II is tethered and operating in
PILOT mode, PURL II also goes into ABORT mode. Upon entering ABORT mode, the
horizontal thnisters are set to full fonvard, and the vertical thnisters are set to full up to retum
PURL II to the surface for retrieval.
Notes
The output is displayed
Resolution
0.002°
When the motor controllers are operating during an autonomous mission, a watch dog
tirner is enabled. The watch dog timer is reset whenever the motor controllen receive
messages via their RS-232 seriai link. If communications is lost and the watch dog expires, it
Interface
400mV
is assurned a software or hardware failure has occurred, and the horizontal thrusters are set to
full forward and the vertical thnisters to full up. The fault management philosophy for PURL
II is that if anything goes wrong, retum to the surface and stay there.
5.4 Ethernet Network
Tirne Constant 150ms
Communications between PURL II, the surface, and Ethernet capable payloads is
conducted through an Ethemet network. An Ethernet network was chosen because off the
Power
0.19 W
shelf equipment is widely available, it allows multiple nodes to communicate with each other
over a single medium, and the addition or subtraction of nodes cm be transparent to the other
nodes in the network. PURL II does not cunently carry any Ethernet capable payloads, but
the URL is planning to add a digital side scan sonar which may employ an Ethemet interface.
Depending on whether P m II is operating autonomously (without the fibre optic
cable) or is piloted (with the fibre optic cable), the Ethemet network is configured differently.
During autonomous operation, PURL II is not connected to the surface computer except
during start-up, pre-mission and post-mission systems checks, and shut down. Because
surface monitoring is not occurring during an autonomous mission, a single Ethemet node is
~ ~ c i e n t for the pre and post mission communications ( Figure 5-2 ). The autonomous
Ethemet configuration has a single five port hub located aboard PURL II, with a single
unshielded twisted pair (UTP) cable to the surface computer. For piloted missions where
monitoring and control is performed by a human operator, multiple surface nodes may be
monitoring the PC-104 stack as well as scientific payloads that communicate via Ethernet (
Figure 5-3 ). To facilitate multiple nodes at the surface, the fibre optic backbone is
connected to a hub which can handle up to eight surface nodes. Employing an Ethemet
network allows a srnall AUV such as PURL II to support multiple configurations and
payloads with no impact on the intemal w i ~ g . If wiring changes were required each time
the vehicle changed missions and payloads, PURL II would lose its ability to perform as a
rapid deployment vehicle, and also run an increased risk of faulty wiring.
Computer with 1 OBase-T Ethernet
an 1 OBase-T Ethernet Hub
Autonomous Payload with 1 OBase-T
1 Ethemet Interface 1 ' I
Autonomous Payload with IOBase-T
Ethemet Interface
Ethernet Port 1
\
NOTE: This UTP cabIe is disco~ected during autonomous missions. Communications with the Surface Computer is for mission lauch and recorvery.
-------------.----------.----,,-J
Note: UTP - Unshielded Twisted Pau ( i OBase-T) Figure 5-2: Autonomous Ethemet Configuration
Surface
j Payload Monitor and
Controlier UTP 1 1 Single Mode Fibre
Optic Tether
P m II A I 1 Fibre Optic : I
I 1 them met 1 1
Tranrceiver i I 1 l
i - ( I I
I I i I
UTP to AUI I Converter I
I Ethemet Hub 1 i l
I I I I I I
Note: UTP - Unshielded Twiwed Pair (lOBase-T) AU1 - Anachment Unit Interface
Figure 5-3: Piloted Ethernet Configuration
6. Software Design
Similar to many other AWs, PURL II has a significant software component which
handles contrul, mission execution, telemetry, and sensor interfacing. To simplie sohvare
development for both PURL I and PURL II, an AUV control software package called
f ROTEUS was utilised. PROTEUS was developed by International Subrnarine Engineering
Research, in Port Coquitlam, Canada. Utilising an off-the-shelf software package greatly
reduced the development M e for PURL II, and provided the URL with a stable platform
fiom which to develop the software components specific to PURL II.
6.1 PROTEUS
PROTEUS is a reai-time scheduler developed by International Submarine
Engineering Research for controlling remotely operated and autonomous undemater
vehicles. PROTEUS employs an object-oriented software architecture implemented in CH.
New software modules, called components, added to the overall software system can be
based on existing components via class inheritance (ISER, 1991). From the users' standpoint,
the most important property of PROTEUS is that the control systems, telemetry, and mission
scripting can be modified without working on the underlying C* source code. An AW's
control system and mission scripts are entirely described by a set of text configuration files
which are parsed by the mission executor at run time and executed by the PROTEUS kemel
Because the text files are parsed at mn time, configuration changes c m be implemented
without re-compiling PROTEUS. The ability to reconfigure the system is particularly usefù
while testing and during field work where parameters must be changed to suit new situations.
Al1 of the control loops and signai arbitration are fixed throughout a mission however, and
changes to the configuration files must be made off line while PROTEUS is not ninning.
6.2 Event-Based Software
Data propagation is the fundamental operating rnechanism for PROTEUS. Instead of
real-time software modules communicating through a typical send-receive-reply mechanism
or a global variable blackboard, PROTEUS specifies what actions are performed when a
piece of data is updated. If a piece of data (a variable) changes vaiue, an "event" occurs, and
this event is propagated to each of the relevant software modules (components). A signal
from a peripheral device, a vaiue change in a system variable, a timer tick, or a keystroke are
d l exarnples of what can be considered events in PROTEUS. Events connect components
together, and these components al1 have well defined inputs, outputs, parameters, and input
to output mappings. Component functions include device interface, operator interface,
sensory processing, communications, control, navigation, obstacle avoidance, and fadt
diagnostics.
Event-based means that the firnction of each component is entirely event dnven. A
component interacts with the outside world by connecting its inputs and outputs to other
components via events. When the output h m one component changes, an event occurs.
This event (new variable value) is propagated to the components whose inputs are connected
to that event. The procedures in the components that are triggered by the event are called
actions. These triggered procedures transform the component inputs into outputs, according
to a well defined mapping specific to that component.
In addition to event propagation, PROTEUS also handles real-time scheduling of the
components once they have been triggered by an event. Each component has a different
priority level, and action procedures with higher priority are executed before those with
lower priority. When an event, or multiple events, trigger a set of components, the
corresponding action procedures are enqueued on PROTEUS'S scheduler waiting list.
Actions enqueued into the scheduler's waiting list are executed from the highest priority
action dom, and on a fist-in first-out basis for a given pnority level. Actions are always
processed to cornpletion before another action is started unless a hardware interrupt pre-
empts the current action and places a higher priority action into the scheduler's queue.
Action procedures do not wait for resources or semaphores in the middle of their execution.
synchronisation is always accomplished through event propagation.
6.3 Configuration Files
Although PROTEUS was wrinen in C++, users prograrn their systems in a
configuration language called Control System Probe (CSP). A configuration file is a textual
interface for definhg and building control systems. Configuration files list instantiations of
component m e s , with specifications for the attributes of each component instantiation, and
the input and output events that intercomect components. Confi~gurations draw on a set of
library components that together with the scheduler make up PROTEUS.
CSP is a declarative language wherein ail events and components are defined one at a
t h e in no order other than they not reference an event or component not yet defined. Within
a component there is no rigid ordering of parameters because each attnbute has a narne.
Constructing a real-tirne system fiom the PROTEUS library of components involves three
steps, choosing the templates for the required components, specifjring the parameters for
those components, and denning the interconnections between components. The following
syntax is employed to defme a component in a configuration file:
where the component type is one of the PROTEUS library components, attribute name is one
of the inputs, outputs or parameters, and attribute value is either an event or a constant.
Employing the above syntax, the following is an example of a Boolean AND component:
%uncontroIled.int narne = Event 1 initial = FALSE
%uncontrolled.int name = Event2 initiai = FALSE
%unconîrolled.int name = Result - Event initial = FALSE
%and
input-l = Event l
input-2 = Event2
output = Resu-vent
where Event 1, Event2, and Result-Event are al1 integer events that are either FALSE = O or
TRUE # O. Appendix Two contains the CSP files for both PURL II itself and the surface
interface.
6.4 CSP Design and Configuration
When designing the configuration for PURL II, several options were available for
implementing operational mode mitches and control signal arbitration. It is beyond the
scope of this thesis to describes ai1 the forms of controI hietarchies and methodologies that
can be cofigured using PROTEUS. To sirnpli* configuration and debugging, a mode
switching and arbitration approach was implemented which resembles a discrete cornponent
hardware design. Al1 of the components are always enabled, and they are always taking
input events, acting on them, and outputting the results. Arbitration between a few specific
inputs and outputs is controlled by multiplexers that use the current mode of operation or
other decision criteria to arbitrate signal propagation. The latest release of the PROTEUS
executable is entitled "sfü32-h-exe". The fiIe "PURL.BAT9 launches the PURL II
configuration, and the file "SURFACE.BAT7 Iaunches the Surface configuration.
6.4.1 Interface Components
Although PROTEUS'S library components provided almost al1 the fûnctionality
required to operate and control PURL II, several interface components had to be written.
Writing interface components was expected because the interface components are specific to
the sensors and peripherals installed aboard PURL II. Table 6-1 lists the interface
components that were added to PROTEUS.
Table 6-1 : PROTEUS Interface Components
6.4.2 Operator Interface
Component KVH-cornpass
Depth-Sensor
mesotech809- altimeter
sbet9
thruster-interface
Sapphire-Board
The operator interface provided by the SURFACE configuration allows a human
operator to control PURL II and monitor its status. The operator interface is a graphical user
interface where the inputs are controlled by mouse pointer. PROTEUS supports keyboard
inputs, but when the operator is in the field, a mouse is the most practicai input device. The
interface is divided into four main sections; mode control and feedback, setpoint control and
feedback, status feedback, and menu bar. Mode control is located on the upper right hand
side of the screen, and allows the operator to speciQ the desired mode of operation, and
receive feedback about which mode PURL II is currently in. Setpoint control and feedback
is located on the left hdf of the screen where the operator specifies the desired setpoints
while PURL II is in PILOT mode. Feedback from the navigation sensors is also displayed on
the lefi half of the screen. Status feedback, located in the lower right hand side of the screen,
monitors the status of the pitch, roll, battery voltage, telemetry, leak sensor, thnisters, CTD,
CTD pump, carnera lights, and data logging. The operator can also switch the camera lights,
CTD pump, and data logging off and on using buttons located beside their status indicators.
The menu bar is where the operator can monitor debugging signals, exit the SURFACE
configuration, and put PURL II into EXIT mode.
Interface KVH C 100 compass via RS-232 Digitec 4-20mA to RS- 232 converter via RS-232 Shrad Mesotech 809 Echo Sounder via RS-332
SBE-19 CTD via RS-232
Servo-LMK motor controlfer via RS-232 PC- 104 bus
Author(s) Peter Helland, Doug Guling Peter Helland, Doug Gitling Kevin Maier, ISER
Peter HeIland
Andreas Huster, Peter HeIland Peter Helland, Doug Girling
Notes Interrogates the compass whenever it is triggered. Lnterrogates the depth sensor whenever it is triggered See "The Intepration and Characterisation of a Mesotech 809 Altimeter for the PURL A W ' by Kevin Maier for more information, Requues up to 1 minute after starting to get initialisation information from the SBE- 19. Adaptive gain control loops dynarnically match the thrusters. Contains a busy wait that hangs PROTEUS il the Sapphire-MM card is not in the PC-104 stack.
6.4.3 Modes Of Operation
There are five modes of operation for the PURL II configuration; IDLE, PILOT,
MISSION, ABORT, and EXIT. Each of these modes have specific attributes that govern the
behaviour of PURL II. The SURFACE configuration does not employ modes of operation
because there is no mode-dependent change of the behaviour of the SURFACE
configuration. As a result, the discussion of modes of operation will focus on the PUEU II
configuration.
6.4.3.1 IDLE Mode
IDLE mode is the default mode for PURL II when the configuration is initially parsed
at start up. IDLE mode is the dormant state for PURL II, and is employed during the launch
and recovery phases of a mission. In IDLE mode the thnisters are disabled by forcing their
inputs to zero RPM. Disabling the thnisters ensures that it is safe to approach the vehicle.
6.4.3.2 PILOT Mode
PILOT mode is generally entered from IDLE mode, but can be entered fiom any of
the other modes except EXIT. PILOT mode is employed during the pre-mission checkout to
ensure al1 the actuators and sensors are fùnctioning properly, and when an operator is piloting
the vehicle via the fibre optic tether. In PILOT mode the operator specifies the desired
setpoints for heading, depth, altitude and velocity via the user interface provided by the
SURFACE configuration. SpeciSing setpoints is similar to how a ship's captain specifies
the heading and speed to the crew. PILOT mode assumes that there is a telemetry comection
between the SURFACE and PURL 11 because the new setpoints must be transmitted from the
SURFACE to PURL II. If the telemetry connection is broken for more than forty seconds,
PURL II enters ABORT mode. The thnisters are enabled in PILOT mode, and receive their
inputs from the depth, altitude, and heading control loops.
6.4.3.3 MISSION Mode
MISSION mode is employed during autonomous missions where one of six mission
scripts is executed. MISSION mode is the sarne as PILOT mode, except the telemetry
comection is not present, and the setpoints are set by the mission scripts not an operator.
Mission scripting is an essential component of any autonomous mission because a
mission scnpt is responsible for sequencing the tasks that will be undertaken by the vehicle.
Mission scripts are the ody CSP files that the operator will be changing on a regular basis.
Allowing the operator to modify mission scripts and sequence tasks is potentially dangerous
undertaking because it is likely bugs will be introduced. As a result, templates have been
created for the depth following, bonom following and sawtooth missions. A detailed
description of mission scripts, and mission planning is contained in the PROTEUS
documentation provided by International Submarine Engineering (ISEIL, 199 1 ). Even an
abbreviated description of mission planning and writing will remain absent fiom this thesis
because a hl1 and comprehensive understanding of mission scripts is required before writing
mission scripts. If there is a bug in an autonomous mission script, the nsk of Losing PURL II
increases dramatically, and therefore scnpt writing m u t be leamed properly or not attempted
at ail.
6.4.3.4 ABQRT Mode
ABORT mode is entered whenever a system failure is detected. Low battery, a leak,
loss of telemetry while in PILOT mode, or the ABORT cornmand fiom the operator al1 result
in PURL II entenng ABORT mode. Upon entering ABORT mode, the horizontal thnisters
are set to full forward, and the vertical thnisters to full up. These settings attempt to return
PURL II to the surface and keep it there until retrieved. As mentioned previously, there is no
arnbiguity about how PURL II is to behave in an ABORT situation, it should retum to the
surface and stay there for as long as possible.
In the event that the surface operator determines that the system failure is not critical,
the ABORT condition can be ovemdden by commanding PURL II into another mode. The
B O R T condition will still exist, but it will no longer send PURL II into ABORT mode.
Ovemding the ABORT condition will be necessary during retrieval as a way of stopping the 41
thruters. Otherwise, overriding ABORT shouId be discouraged and treated very carefidly
because it increases the risk of losing or damaging PURL II.
6.43.5 EXIT Mode
EXIT Mode is commanded by the surface operator when it is time to exit the PURL II
configuration and return to DOS. EXIT Mode executes a script that shuts down the thrusters,
lights and CTD purnp, thus ensuring that it is safe to shut down PROTEUS. If PURL II is
turned off before PROTEUS has exited properly, any logged data that was collected during a
mission may be lost, and PURL II's hard drive corrupted. To fix a corrupted hard drive, a
disk utility such as DOS'S SCAMIISK should be run.
6.4.4 Telemetry
TeIemetry between the surface and PURL II is controlled by a telemetry component
in PROTEUS. The telemetry items are tisted in the CSP file "xtelem.csp". Telemetry items
are sent when their corresponding events change value, when a periodic timer expires, or
both. Telemetry items are sent when their value changes because it is desirable to have
updated event values on both the surface and PURL II as soon as possible. Although
Ethernet is not deterministic and maximum message transmission times cannot be
guaranteed, adverse affects due to collisions and lost packets should be minimal. The
Ethemet bandwidth is much larger than the bandwidth consumed by the telemetry
information, and telemetry items are on periodic umers that ensure the latest event values are
updated even if previous telernetry packets were lost.
6.5 Bugs, Confiicts and Deficiencies
There are no confimed bugs in the cunent PURL II configuration of PROTEUS, but
there is one bug in the surface configuration. The PROTEUS system also has a variety of
deficiencies that can cause probIems if they are not handIed correctly or are misinterpreted by
the programmers Table 6-1 lists the conflicts and deficiencies that are currently known for
the PROTEUS system employed in PURL II.
Table 6-1 : Bugs and Deficiencies
1 Problem 1 Classification 1 Descri~tion 1 1 K
Serial Port ( Deficiency, 1 PURL II: Occasionally one of the interface components reports a reception 1 Erron 1 but possibly a 1 error on the senal port. It is likely that the serial port suffers fiom an 1 1 bug 1 o v e m error because the serial port intempts are not serviced quickly
polls get enqueuedduring start-up and are not sent until-after start up is complete. These enqueued polls get sent in such rapid succession that the
Logged Euors on Start-up
Deficiency
Mouse Pointer
I 1 Mission Script 1 Deficiency 1
1 If a component does not have a specified priority Ievel, it operates at the 1
enough, PURL II: PROTEUS Iogs that the motor controllers fail to respond after being polIed during start up. What is actually happening is that several
Stops Moving DOS T h e r
I Infinite Loop I
Bug
highest priority level- Mission scripts do not have a priority fevel. Any loops implemented in a mission script must incorporate timed waits or else
motor controllers are not given enough tirne to respond before the next poll is sent, and a polling enor is logged. SURFACE: The mouse pointer stops accepting inputs fkom the operator
Conflict and the surface cornputer must be re-booted to get the mouse functioning. PROTEUS seires the DOS tick and changes it fiom 65ms to 10ms. This causes problems with Carbon Copy and therefore Carbon Copy rnust be disabled before PROTEUS is run, and re-enabted after PROTEUS has been exited.
1 "interval" 1 1 rnultiply, add, subtract or divide componenu. -
I Not propagating
7. Vehicle Control
Controlling the velocity, heading, depth and attitude of PURL II is performed by a
Deficiency
relatively simple yet robust control structure. The dynamics of PUEU II change when the
they may run fieely and consume al1 the processor time. PROTEUS does not propagate the "interval" field of an event through the
payload, ballast, or tether changes. A fixed set of control parameters were chosen which
work for al1 vehicle configurations but are not optimal for any. The heading and velocity is
controlled by the horizontal thnisters and the depth and altitude are controlled by the vertical
thnisters. The control Ioops for PURL II are hnplemented in CSP. Feedback from the
heading, depth and altitude sensors are processed to create the appropriate control signals for
the horizontal and vertical thsters . Also, adaptive control loops within the thruster
interface utilise the encoder feedback fiom the h s t e r s to ensure that al1 the t h s t e r s are
properly matched and have the same response to a specified control signal.
Propulsion and Heading Control
The propulsion and heading control for PURL II is performed by the two horizontal
thmsters mounted on stmts off the side of the A W . Differential thnist is employed by the
horizontal thnisters to control heading and propulsion. The thrust fiom the two horizontal
thnisters can be converted fiom two vectored thmsts to a equivalent net propulsive force and
a tuming moment. The vector sum of the thnist fiom the two horizontal thnisters is the net
propulsive force (NPF), and the vector difference between the two horizontal thnisters
multiplied by their moment arms generates the turning moment (TM) (Figure 7-1).
Le fi Thrust
Thmst fiom the two horizontal thrusters.
Right Thrust
Figure 7-1 : Net Propulsive Force (NPF) And Tuming Moment (TM)
The equations of the NPF and TM are as foliows:
Net Propulsive Force = Left Thrust + Right Thrust
Turning Moment = Lefi Thmst * A - Right Thrut * A
force
where )c is the length of the moment arms for the horizontal thrusters. Although the 0.65 mk
maximum velocity of PURL II is well below the desired maximum velocity of 1 m/s, the
44
ths te rs were deemed adequate for this phase of the PURL program because they cm still be
employed to demonstrate the utility of a smail AUV.
The control loop for heading and propulsion control is anchored by a PID controller
(Figure 7-2). This PID controller accepts the heading setpoint fkom the heading setpoint
selection logic which arbitrates between the various heading setpoint sources* The feedback
for the PID controller cornes fiom the KVH Cl00 compas heading, and together with the
heading setpoint generates the heading control signai. After the heading control signai is
converted to a thnister RPM, it is either added or subtracted fkom the velocity setpoint RPM
to generate the lefl and nght horizontai t h s t s respectively. The T h t e r Motor Safety
Interlock disables the thnisters in IDLE mode, sets them to full forward in ABORT mode, or
passes the left and nght thnrsts through in MISSION and PILOT modes.
I AW-Mode
-felemHeadingSetpoint Setpoint Seiection H e a d i n g S e t p o i n t ~ P I D ~ ' e a d i n g f l - ControIler Control
I AUV-Compassiieading I
l HeadingControl-RPM
Ji'RjghtbSt
P u Veiocity Setpoint-RPM Y O O - u
I 8 v C O - LefiThrust
2 v t Safety ; I
r - r - 1 Interlock VI
VelocitySetpoint-RPM s =O .- 2
i ni ir 1
1 5 l
>' -I 3-MAX-THRUSTER-VELOCITY- 3 < I /
> !
I i l ZERO a
thmster-interface Lefi and Right Horizontal Thusten
- I i
d PURL II Dynamics ! i I i
1
Encoder Feedbacks-
ZERO-- vëg; 1 -TelemVelocitySetpoint
Selection VelocitySetpoint~~Ve1ocitySerpohttRPM-+ - ~ i s s i o n ~ e l o c i t y ~ e t ~ o i n t ~ Logic ] u
Figure 7-2: Horizontal and Propulsion Control Diagram
Upon entering the thster interface, the control signals for the right and lefi thmsters
are sent through adaptive control loops to ensure that the thsters achieve the desired RPM
(Figure 7-3). The motor controllers operate in a velocity mode where the control signal is
proportional to the error between the desired and actual velocity of the thruster. As a result,
there would normaily be a steady state error between the desired and acruai thruter
velocities. However, the thruster interface multiplies the desired RPM by a variable gain
(>I) which increases the commanded RPM sent to the motor controllers. The adaptive
control loops within the ùuuster interface empIoy the encoder feedbacks to adjust the gains
for each of the thrusters. The adaptive control Ioops ensure ail the thnrsters are matched and
turn at the desired RPM when commanded to do so. The PID heading controIler cannot fuly
compensate for rnismatched thmsters, but the adaptive control loops within the thruster
interface can.
Thmst Adaptive Gain Setpoint RPM Cornmand Thruster Feedback
I
-~rror RPM f(n+ 1 ) = Rn) + a e(n) x(n) where e(n) is Emr RPM and
x(n) is Thmst Sepoint RPM a is the step size
Figure 7-3: Thruster Adaptive ControI
Depth Control
Depth control utilises two vertical thnisters mounted on stmts at the bow of the AUV.
Once again, t h s t e r s are employed for control instead of planes because depth control must
be maintained even at zero speed. At zero horizontal speed the vertical thnistem push PURL
II up and d o m through the water column, whereas when PURL II is moving, the vertical
thmters pitch the bow up or down, thus making PURL II behave more like a wing flying
itself up and down through the water column (Figure 7-4).
Vehicle at rea in the water, zero pitch. A
CB = Centre Of Buoyancy v CM = Centre Of Mass
Vertical thnisters pitching the vehicle down, and the horizontal thnisters driving the vehicle fonvard and down.
Figure 7-4: Depth Controi Employing Vertical Thmsters
Similar to the heading control system, PURL II's operating mode determines which
setpoint source will be passed to the vertical PID controllers (Figure 7-5). The vertical
control feedbacks are depth and altitude. The depth and altitude control signais enter
arbitration logic which determines if PURL II should be controlled by altitude or depth
(Table 7-1). Similar again to heading control, the vertical control signal is converted to
RPM, passed through the Thruster Safety Interlock, and fmdly into the t h s t e r interface
where adaptive control loops ensure that the vertical thnisters are turning at the desired
velocity.
48
AUV-Altitude
-Te lemAlt i tudeSetp~~ Selection '5: ~ A l t i ~ d e S e p o h t ~ ~ ~ A 1 t i t u d e C o n t r o I - Controller 1 -MissionAItihideSetpoint
AüV-Altitude
l I AUV-Mode -
TelemDepthSetpoint DepthCon~rol~ Selection 1
AUV-Depth t 6 I
I . ! I ' I ! 1 Arbimtion i
m Logic
l /d- ~ e r & i c a l ~ o n t r o ~ R . ~ ~ ~ K k ~ e r t i c a l ~ o n t r o 1 i Between i
LI 1-1 Thruster 1 1 Depth Or 1
O I-Ï L-MAX~THRUSTER~VELOCITY- 7 Altitude 2 - Safety 1 j Control 1 - L
I Interlock
O ! = 1 ZERO - 5 9 - - i rn C i' 1
>' >
I I
thruster-intedace Horizonta1 Thusters PURL I I Dynamics
Figure 7-5: Depth and Altitude Control Diagram
Table 7- 1 : Depth and Altitude Arbitration Logic
Note: This Karnaugh rnap is based on the work of both Peter I-ielland and Maier, 1997.
a = 1 a=O
8. Fibre Optic Link
The fibre optic link is connected to PURL II whenever a survey task requires the
where: a = I is Bottom Following Enabled a = O is Bottom Following Disabled (Le. Depth Following) b = I is Deeper than the Depth Setpoint b = O is Shallower than the Depth Setpoint c = 1 is Less Altitude than the Altitude Setpoint c = O is More Altitude than the Altitude Setpoint
Altitude Depth
intervention or supervision of a hurnan operator. The fibre optic link allows a human
operator to view the outputs of the various sensors, especially the video cmera, and rnake
Altitude 1 Altitude Altitude 1 Altitude
decisions about controlling PURL iI.
Depth Depth
8.1 Design Specifications
The specifications for the fibre optic link are deceptively simple, but were difficult to
implement because of physical size and monetary constraints. The specifications for the
fibre optic link are listed in Table 8- 1.
Table 8-1: Fibre Optic Specifications
1 Parameter I Specification Fibre Type Single or Multi-Mode Fibre Number of Fibres I Cable Lenmh > 150 rn Deph ~ a t & 100 m Maximum Cable Diameter < 2.5 mm
- - -
Armoured 1 Yes Simals From PURL II to the Surface 1 10Base-T Ethemet. and Colour or Black and White Viaeo
1 ~ i i n a l s Frorn Surface to PURL II 1 I OBase-T Ethernet 1
Fibre Optic Design
Sending Ethernet bi-directionaily and video uni-directionally through a single fibre
requires electrical andor opticai multiplexing. When the components for PURL II were
sourced there were no electrical mulitplexers for video and Ethernet that could fit within the
physical constraints imposed by the pressure vessei. However, Ethernet transceivers, video
transrnitters and video receivers that could operate with either single mode or multi-mode
fibres were located. Multiplexing the Ethemet and video signals had to be performed
optically, but a decision had to be made between a multi-mode or a single mode system.
Employing off-the-shelf equipment constrained the nurnber of wavelengths available for both
multi and singIe mode fibre systems; multi mode components commonly employ 850nm and
13 1 Onm, and single mode components employ 13 10nm and 1550nm. Forced to employ two
distinct waveIengths to transmit three signals (Ethemet up, video up, Ethemet down) meant
that one of the two waveiengths wouid have to be sent in both directions, and back reflection
wouid cause interference between the signals that shared a comrnon wavelength.
The possibility of using less expensive muiti-mode equipment was eliminated because the
back reflection of muiti-mode connectors was too high to ensure that interference wouid not
be a problem. Fortunately, the cost of single mode components (optical and electrical) has
been falling in recent years, and low back reflection components could be sourced for singIe
mode applications. To ensure that back reflection would not be a problem, link budget and
back reflection calculations tvere perforrned on the optical multiplexing system shown in
Figure 8-1 and Figure 8-2.
Surface
Video Receiver,
3253R-LD-FC 13 10/1 %Onm Hybrid
Ethernet Transceiver, Vilink
Company Mdl. VK 1 00-FC-OS
PURL II
1 Fibre Optic
Tether, Single Mode
Fibre
Wave Division MuItiplexer Coupler, 1 Mdl. HB 1 1 13-20000 1 I
NOTE: FC = A Fibre Optic Connector PC = Physical Contact APC = AngIed PhysicaI Contact
Figure 8-1 : Fibre Optic System For Ethemet and Video
( l 3 ' O n m l 13 1 Onm, 2x2
Figure 8-2: 13 1 0/1550nrn Hybrid Wave Division Multiplexer Coupler
Terminated
13 10nrn4 sp'iner' k 1 3 ~ ~ n r n - ~ 13 lSSonm
1 S5Onrn 4-1310nm-b
NOTE: FC = Fibre Optic Connector f- 1 S5Onm -b
PC = Physical Contact APC = Angled Physical Contact
Wave Division Multiptexer
4 b FCIAPC
8.3 Link Budget
The link budget for the fibre optic system shown in Figure 8-1 and Figure 8-2 was
calculated based on a reasonable worst case estimate of the attenuation of the various
components in the system. The maximum total attenuation in the system is 10.6 dB for the
13 10nm signais and 3.4 dB for the 1550nm signal. The Ethemet transceiver has a
transmission power of -12dBm and a maximum receive sensitivity of -30 dBm, thus leaving
an allowable loss of 18 dB in the transmission path. Therefore, the 13 1 Onrn Ethernet signal
has 7.4dB of signal power margin, and the 1 5 5 0 ~ 1 Ethemet signal has 14.4dB. The video
transmitter has a transmission power of -14 dBm and a maximum receive sensitivity of -37
dBm thus leaving 12.4 dB of signal power margin.
8.4 Back Reflection
The sources of back reflection in the 13 I Onm optical system are connectors,
coupler/splitters, terminations, and wavelength division multiplexers. If a worst case
scenario is assumed, a frst order approximation of the back reflection is good enough to
determine whether or not the desired multiplexing scheme would be successhl. A first order
approximation means that only the primary back reflections are included in the back
reflection calculation because secondary back reflections would be so small that they are
insignificant (<- l5OdB) when compared to the primary back reflection (<-5OdB). A worst
case scenarîo assumes that the al1 the back reflection sources sum coherently, each back
reflection source provides the maximum back reflection specified by the manufacturer
(instead of the typicai back reflection), and system attenuation is calculated to increase back
reflection. These three assurnptions yield a pessimistic estirnate of the total back reflection in
the system, and should provide sufficient safety margin.
The calculated back reflection was -44.2 dB (Appendix Three) and this resulted in a
signal to interference ratio of 32.8 dB for the 13 1 Onrn Video signal, and a signal to
interference ratio of 36.8 dB for the 13 l O n m Ethernet signal. The manufactures of the
Video and Ethemet receivers would not guarantee that these interference levels were low
enough, but the fibre optic equipment was ordered anyway. Upon receipt of the fibre optic
equipment, the entire system was tested and confïrmed to function properly.
8.5 Cables and Penetrators
The fibre optic cable and penetrator employed on PURL II is a copy of the system
employed by ISER for the Theseus AUV which deployed over 200 nautical miles of fibre
optic cable under the arctic ice cap in the spring of 1996. The fibre optic cable contains one
9/125pm single mode fibre housed inside a stainless steel tube with a fibre glass and H p e l
jacket. The outer diarneter of the fibre optic cable is 0.1 inches. The fibre optic penetrator
was constructed fiom a modified Brantner and Associates Inc. XSA-BCL Type 2 penetrator.
This XSA-BCL penetrator has a hollow stainless steel tube that the fibre (the jacket and
stainless steel tubing were removed) was fed through and potted into place with epoxy. The
potted fibre provides the pressure barrier between the ambient pressure outside PURL 11 and
the one atmosphere environment inside the pressure vessel. When the fibre was potted, the
epoxy also spread into the stainless steel tube, thus preventing water fiom entering the tube.
The fibre optic cable, penetrator, and connectors form a single unit. If the fibre optic cable is
not in use, the entire cable m u t be removed fiom PURL II, and a penetrator blanking pIate
placed across the hoIe vacated by the penetrator.
8.6 Carrying Case / Handling
Safely transporting the fibre optic cable to the mission site, and handling the fibre
optic cable during a tethered mission are two important tasks of the fibre optic case. We
employed a waterproof PeIican case which was modified to provide posts for coiling the fibre
optic cable in a figure eight. The Pelican case also houses another smaller Pelican case
which holds the fibre optic transrnitter and receivers, and the Ethernet Hub (Note: UTP - Unshielded Twisted Pair (IOBase-T)
AU1 - Attachment Unit Interface Figure 5-3).
9. Payload
PURL II is designed to cary a variety of payloads that c m be interchanged with litùe
or no modification to the vehicle itself. PURL II is currently configured to carry ody two
items, a water property profiler (CTD), and a video camera However, power,
communications, and reserve buoyancy are available for additional payloads such as a side
scan sonar.
9.1 Water Property Sensors
The water property sensors are housed in a conductivity, temperature and depth
(CTD) profiler manufactured by Sea-Bird Electronics Inc, the SBE-19 (Table 9-1).
Table 9-1 : Sea-Bird SBE-19 CTD
I I 1 Len. 1
The SBE-19 is a self-contained CTD profiler that dots not require extemal power
sources or data logging. When the SBE-19 is mounted inside PURL II it requires a pump
and plumbing to flush the sensors with water. The pump employed on PURL Il is the SBE-
5T, and it is controlled by switching its power off and on. The SBE-19 can be interfaced
with the PC-104 stack via a RS-232 link, and the CTD data logged by PROTEUS. Because
PROTEUS can interface with the SBE-19, PURL II c m be reconfigured to use the SBE-29
outputs as control signals. For example, if the goal of a particular mission is to survey the
thermocline in a lake, PURL II could be configured to perform a sawtooth survey with ttvo
temperatures defining the top and bottom of the vertical profiles.
Notes
Contains conductivity, temperature and depth sensors with up to four additiona1 sensors such as dissotved oxygen, pH, and fluororneter. l OOmL per second at 2000 RPM, 1 O- I 8VDC power. 0.2 Ami's
Component
SBE- 19
SBE-5T Pump
Depth Rating 3OOm
10500
Weight Air 1 HzO
5.1 kg / 12 kg
0.7 kg / 0.3 kg
Dimensions
9.9crn 4, 73.9~~1 Len. 4.5cm 4, 23.1 cm
9.2 Video Camera
Underwater vehicles employ cameras for a wide varïety of tasks including bio-diversity
surveys, bottom mosaics, visual inspection, and vehicle piloting. Low light cameras are
essential for autonomous surveys because an A W must cany energy for the lights. Low
light cameras also reduce optical back scatter because as less light is put into the water, less
light is scattered back into the camera from particles suspended in the water. An analogy to
back scatter is the reduction in visibility experienced when high bearns are ernployed while
driving in fog or snow. Extremely low light, black and white SIT and ICCD cameras provide
the best light sensitivity of ail cameras (lo4 to 10" Lux), whereas low light colour cameras
provides light sensitivities as Iow as 0.1 Lux. Due to cost and size constraints PURL II does
not cany an extremely low Iight camera. Instead, PURL II carries a black and white video
camera manufactured by Deep Sea Power and Light called the Micro Sea Cam 1 O00 ( Table
9-1 ).
Table 9- 1 : Video Camera and Lights Specifications
1 Component ( Type 1 Dimensions 1 Depth 1 Weight 1 Power ] Notes I
DSP&L MSC
10. Transportation, Launch and Recovery
IO00 DSP&L Light
Transporting, launching, and recovenng AUVs are the three tasks that ofien make
them unwieldy for many potential users because A W s are generally too large to be handled
inexpensively. PURL II is small and light enough that two or three people can transport it to
the launch site, launch it, run a mission, and recover it with little difficulty or expense. To
- -
1 Black & 1 6cm Len.
facilitate easy handling, a search and rescue stretcher was purchased and modified to act as a
White Haiogen
carnage for PURL II. Search and rescue equipment is designed for handling loads (injured
(m) Air / Water (kg) (Watts)
people) that are approximately the same weight and size as PURL II. To aid movement over 56
1000 4.4cm Dia. I l.6cm Len. 7.9cm Dia.
0.175/0.100
1000
1 -4
0.3 / Neutral
0.3 Lux Scene
50 or 100
Ilhmination Innish current up to 10 times nomina1 value.
long distances and rough terrain, a large wheel is attached to one end of the stretcher, and the
unit is rolled over the ground. The stretcher has convenient hand holds and is designed for
canying, dragging, rolling, Lifting and other tasks associated with moving, Iaunching and
retrieving PURL II. PURL II is small enough to be transported in a compact car with a hatch
back and the passenger seat removed, a pick up truck, or a mini-van. Employing readily
available personal vehicles reduces the cost of transporthg PURL II because special vehicles
do not need to be rented or purchased. The support equipment also travels in the sarne
vehicle as PURL II, and is contained in toolboxes and Pelican cases. The fmal resdt is a
mobile AUV that can be transported from the lab to a mission site quickly and easily.
11. Vehicle Performance
For the purpose of mission planning and analysis, the performance parameters of
PURL II c m be represented empirically by a few simplified equations. QuantiSing the
performance of A W s reduces the costs and resources required to obtain undemater data
because missions can be planned to make the best use of the available AUV resource. Also,
if an AUV is designed for a specific set of missions, a minimum A W can be developed that
minimises the resources consumed while operating the A W . The volume of water surveyed
during a mission is detemined not only by the types of sensors carried and their ranges, but
also by the path that the A W is able to complete in a specified t h e . In general, the faster an
A W travels, the more water sweyed. Trade-offs between the speed, size, depth and cost of
AUVs constrain the maximum performance available fiom current AUV technology.
11.1 Specific Energy
The base components for PURL II Uiclude everything but the payload (Le. the faring,
floatation, pressure vessel, thrusters, navigation sensors, batteries, and electronics). These
base components cm be represented in relation to the vehicle's mission by four parameters:
volume, mass, velocity and power consumption. The power consurnption calculated without
including the propulsion and payload is cornmonly referred to as the hotel load. Hotel load
represents the overhead energy required to operate al1 the vehicle's systems before any usehl
survey work is done. As in a Company, reducing the overhead (hotel load) is an important
part of increasing efficiency. If ail of an AUV's energy is consurned by the hotel load, there
will be no energy for propulsion and payload sensors. An equation for specific hotel energy
for a given mission with duration t is s h o w Ïn (4):
where e~ is the specific hotel energy, PH is the hotel load, s is the survey distance, w is the
total weight of the vehicle, and v is the survey speed (Bird, 1997). The specific energy
represents the energy required per unit distance travelled per unit weight of the vehicle. By
definition, e~ is directly proportional to the hotel load, and inversely proportionai to the
velocity and weight of the AUV. The faster the AUV travels, the less tirne the hotel load has
to consume the AUV's energy reserves, and the heavier the ALN the more energy that can be
stored in the form of batteries for a given hotel load.
Similar to the hotel load, the payload also consumes power, and the specific payload
energy is shown in (5):
where ep is the specific payload energy, Pp is the payload power consumption, s is the survey
distance, w is again the total weight of the vehicle, and v is the survey speed. It is not
obvious that the specific energies for both the payload and hotel use the total weight of the
vehicle until you remember that the total weight of the vehicle also includes the weight of
whatever payload is canied. Part of a payload could be an extra battery pack, similar to drop
tanks that fighter aircrafi cany to increase their range. The mission defines the payload, but
the weight of the vehicle used to calculate the specific energies must include everything
including the payload.
The surn of the specific hotel and payload energies represents the energy required to
complete a mission if no energy is expended moving the vehicle through the water.
However, energy is required to t h m t an AUV through the water, and the specific energy of
propulsion is shown in (6):
where er is the specific energy of propulsion (thrust), Dg is the drag force, CD is the drag
coefficient, A, is the wetted area of the vehicle, cr is the efficiency converting electrical
energy into thrust, P, is the battery power required for the vertical thnrçters (typically 50W),
and p , is the density of the water. The efficiency converting electrical energy into thnrst is
assumed to be constant, and at 0.6 m/s a was determined to be 0.0825. 8.25% is an
extremely low efficiency rating, but one of the reasons for this low efficiency rating is that
the thmters turn a small, low pitch propeller at high speeds. To increase the propulsion
effkiency, the thruster shodd tum a larger propeller at lower speeds.
The coefficient of drag is determined by fiction drag, pressure drag, and Reynolds
number as follows:
where Cf is the friction drag, r is the length to diameter ratio, and the terms in the brackets
represent the pressure drag on a slender body (Bird, 1997). Since P U U II does not have a
cylindrical cross section, the length to diameter ratio for PURL II was approximated by an
equivalent diarneter (0.33m) which yields the sarne frontal area as PURL II. The equivdent
length to diameter ratio for PURL II is r = 5.82. Friction drag depends on the Reynolds
number (r,) as shown in (8) and (9).
Where Ci and Cz are determined by the flow around the vehicle, L is the length, v is the
velocity, and y is the kinematic viscosity of water (y = 1.1 x1 o4 at 1 8°C). An estimate of the
coefficient of drag could be determined by approximating PURL II's shape with known
shapes such as cylinders and rectangular boxes, but the shape of PURL II is more complex
because it has appendages. Determiring the values of Ci and C2 relies on the assumption
that the flow around PURL II is turbulent. At the speeds PURL II generally operates,
assurning turbulent flow is reasonable because PURL II is no? weil fared and it has non-fared
appendages. For bodies with turbulent flow Cz = 0.2 (Bird, 1997), and C 1 must be
detemiined from measured data. When the two fonns for the specific energy of propulsion
(4.) are equated at v = 0.6m/s, A,v = 2.6 m', pr = 1 O00 kg/m3 and Dg = 1 -4 kg * 9.8 1 N/kg,
Ci equals 0.41.
The total specific energy for a vehicle (eV) is the sum of e ~ , e p and e~ as shown in
(10). It must be reiterated that the calculation of specific energy is an approximation to the
actual performance of PURL II and the developrnent of a detailed model is outside the scope
of this thesis.
The graphs for specific energies have different minima depending on the payload and
ballasting. For this crude empirical analysis it is assurned that the payload ranges fiom zero
watts (a self contained CTD) to 125 watts (Cm, pump, video carnera and 100 watt lights),
and that the vehicle is ballasted so that 50 watts is required on average to keep the vehicle at
the desired depth and altitude (Figure 1 1-1 and Figure 1 1-2 ). The wetted area of PURL II is
approximately 2.6 rn2, the m a s is 70 kg. The minimum for a zero power payload occurs at a
60
velocity of approximately 0.45mk and the minimum for a 125 watts payload occurs at
approximately 0.65ds. The area between the two curves in Figure 1 1 -3 shows the range of
specific energies for payload power consumption between zero and 125 watts. I f the payload
power consumption increases above 125 watts, the minimum energy velocity will increase
beyond the maximum velocity of PURL II (0.65mIs).
G*. c Mission OW Paylod
Vclocity ( d s )
Figure 1 1 - 1 : Velocity Vs. Specific Energy ( O Watt Payload)
Figure 11-2: Velocity Vs. Specific Energy ( 125 Watt Payload)
Figure 1 1-3 : Velocity Vs. Specific Energies
Rarely will PURL II be able to operate at the minimum specific energy point because
the desired mission velocity will be determined by the physical phenomenon being measured
or surveyed. Full throttle is usually the desired velocity setpoint because the phenomenon
being measured must be sampled as quickly as possible. The scientist operating PURL II
does not care what is the most efficient operating point, he or she wants to collect their data
in as timely a manner as possible.
11.2 Vehicle Specifications
Table 3- 1 iists the desired specifications for PURL II. Table 1 1 - 1 shows a
cornparison between the desired and actuaI specifications for PURL II.
Table 1 1 - 1 : Design Goals and Actud Implementation
Design Parameter Cornpletion Date Max. : Min. Speed Maximum Depth Endurance (min. : max. payload)
Maximum Displacement Maximum Size Communication Link
Transportation Crew Operating Temperature Navigation
PURL II does not meet al1 of the desired specifications. PURL II's maximum
velocity of O.65m/s falls well short of the desired maximum velocity of I d s . The LlRL has
plans to upgrade the t h s t e r s aboard PURL II which will hopefully bring the maximum
velocity closer to the desired velocity of 1 rn/s. Also, the faring and its appendages could be
streamlined to reduce drag and increase velocity. A side scan sonar payload has also not
been added, but the URL has recently purchased an Imagenex side scan sonar and hopes to
add it to PURL II in the coming year. Other than these two shortcornings, PURL 11 meets the
desired operational window and is therefore considered a success.
Goal December 1996 1 m/s : Stationary 70m 2 hr. @ Im/s : 1 hr. @ Im/s
< 70 kg 2m x 0.5 m x 0.5m Ethernet ( via Fibre and 10Base-T)
Minimum Instnimentation
Pay load
12. Trials and Missions
PURL II June 1997 0.65 m/s : Stationary Tested to 50m 3 hr. @ 0.65ds : 1.5 hr. @ 0.65mk < 70 kg (payload dependent) 1.92m x 0.47m x 0.7m Ethemet (Fibre and IOBase-T)
- -,
2 compact cars or a pickup m c k 2 or 3 people -5 to 40 OC Dead Reckoning
In order to prove PURL II as a useful AUV in small lakes, major cornponents of its
Heading, Depth, Attitude, Battery Monitor, and Leak Sensor CTD, Carnera + Lights, Side Scan Sonar, and 2kg ballast.
development were lake trials and lake missions. When a design is placed under the
2 compact cars or a pickup truck 2, but preferably 3 peopIe Field Tested in -2 to 25°C Dead Reckoning with compass, depth sensor, aid an altimeter Heading, Depth, Altitude, Battery Monitor, and Leak Sensor CTD, Camera + Lights and 4 kg ballast.
constraints of finite money, finite labour, finite time, and employing only off the shelf
'
components, the effectiveness of such an AUV is thrown into doubt. All of the subsystems,
software, and sensors were tested in the swimming pool at Simon Fraser University, or at
Loon Lake in the University of British Columbia's research forest in Maple Ridge ( Figure 64
12-1 ). The small ann in the Southeast corner of Loon Lake is where much of the testing was
conducted because of its shailow maximum depth (4 5m), and its smaller size- If PURL II
is lost in the arm of Loon Lake, divers could search the arm and locate the vehicle within a
few working days.
Relative Distance East (km)
Figure 12-1: Loon Lake, University of British Columbia Research Forest
12.1 Swimming Pool and Lake Trials
PURL II was usually tested in the SFU swirnrning pool and then moved to Loon Lake
for field verification. However, towards the end of PURL II's development cycle, the pool
tests were sometimes skipped. Moving from bench testing straight to Loon Lake is an
indication of the confidence we had in PURL II's ability to perform missions successful~y.
The first PURL II missions were actually run aboard PURL 1. PURL 1 performed as
a test platform for software and sensors until PURL II was operationai in September 1996.
Employing PURL 1 as a test platform allowed us to develop software in parallel with the
electrical, electronic, and mechanical components of PURL II. Moreover, Lessons Learned
fiom operating PURL 1 were applied to PURL II, especially in the areas of mission planning,
and vehicle handling and transportation.
12.1.1 October 19,1995
Trial: Constant Compass Heading
Vehicle: PURL 1
Location: SFU Pool
Tests: KVH Fluxgate Compass, Heading Control, and PROTEUS Mission Scripting
While following a constant heading, PURL 1 flew from the shallow to the deep end of
the SFU swirnrning pool. After a tirned wait expired, PURL 1 tumed around and headed back
to the shallow end. PURL 1 maintained a constant altitude above the bottom of the pool by
dragging a c h a h PURL 1 behaved erratically and tumed circles during several of the nuis.
This erratic behaviour was later attributed to a PROTEUS bug which compted the serial port
receive buffer, thus corrupting the heading information.
12.1.2 February 20, 1996
Trial: 5Om Deep Dive
Vehicle: PURL 1
Location: Loon Lake Main Body
Tests: Thruster 50m Depth Rating, Depth Sensor, and Depth Control.
66
PURL I dove fiom the surface to 50m where the vehicle apparently embedded itself
into the bottom and was unable to retum to the surface under its own power. PURL I was
retrieved by pdling up the rope it followed to the bottom. We are unsure why PURL 1 could
not retum to the surface, but it appears that the vehicle could not over corne the lost
buoyancy when the floatation compressed at depth. The thnisters were unharmed by their
descent to 50m, and the depth sensor functioned properly.
Triai: Sawtooth Profiling
Vehicle: PURL I
Location: Loon Lake A m
Tests: PROTEUS Mission Scripting (Looping), Depth Sensor, Depth Control System, CTD
Profiler, First Completely Autonomous Mission
PURL 1 went out and back on fixed headings in the Arm of Loon Lake. While
following the fixed headings, the vehicle saw-toothed up and down through the water column
between 0.25m and 4m depth. The sensors and control loops for depth and heading appeared
to work well, and the error detection added to the sensor interfaces appeared to catch the
corrupted serial port messages. The CTD profiler was mounted on PURL 1 for this mission
and it was able to coilect data. This is the first completely autonomous mission for PUEU 1.
12.1.3 March 12,1996
Trial: Out and Back at Fixed Depùis
Vehicle: PURL 1
Location: Loon Lake Main Body
Tests: Depth Control, CTD Profiler and CTD Pump
PURL 1 went out fkom the dock in the main body of Loon Lake at 5m depth for 35
minutes, and then tumed around and headed back to the dock at 10m depth. PURL I dragged
a surface Boat to ensure that we would not lose the vehicle if it dived unpredictably or had a
system failure. The CTD pump did not work because its power cable had an intermittent
connection.
When the same mission was run a second t h e , PURL 1 dived to almost 9m before
retuniing to the desired out-bound depth of 5m. Mer examinhg the data logging and error
logging files, it was found that the serial port data was corrupted for an extended period of
tirne. PURL 1 did not receive accurate depth data for most of its dive to 9m. The remainder
of the mission was uneventful. Afier contacting ISER, an updated release of PROTEUS was
sent to the URL which contained several bug fixes.
12.1.4 September 4,1996
Trial: PURL 11 Shakedown
Location: SFU Swinimllig Pool
Tests: Heading and Depth Control, Ethemet Link, Vehicle Velocity and Manoeuvrability .
We had a hard time establishing a reliable Ethernet connection with PURL II because
we encountered general protection faults in memory, and the Ethemet cable may have had a
problern with water intrusion. Once launched successfdly, PURL II ran several out and back
missions without any problems. The out and back m s were conducted with either a 0.25m
depth setpoint for the entire mission, or a 0.25111 depth setpoint in the shallow end of the pool,
and a 1.0m depth setpoint in the deep end. M e r the trials, we cleaned and lubricated al1 the
undenvater connectors.
12.1.5 September 17,1996
Triai: PURL II Shakedown and Altimeter Test
Location: SFU Swimming Pool
Tests: Altimeter, Vertical Control System
Tested the altimeter in bottom following mode and depth following mode. The
altimeter and vertical control systems worked well (for additional information see Maier,
1997). Communications with PUFU II was reliable throughout the twelve nuis that this triai
entailed.
12.1.6 September 19,1996
Trial: Altimeter Test and Autonomous Missions For The NSERC Dernonstration
Location: Loon Lake Arrn
Tests: Depth Following Mission, Bottom Following Mission. Sawtooth Mission
Operating autonomously in the arm of Loon Lake, PURL II successfully completed
the constant depth following and bottom following missions. These trials were the first
autonomous missions for PURL II in a lake. Moreover, this was the first bottom following
mission in a lake. Unfominately, the sawtooth mission was unsuccessful because PUEU, II
veered off course and wedged itself under a submerged log. P W II eventually extracted
itself and was lost for approximately 30 minutes before it surfaced for retrievai. The mission
script loop controllkg the sawtoothing entered a state where it seized al1 the available
processing tirne and pre-empted al1 of the other control tasks. This is a senous deficiency in
the PROTEUS mission scripting language. To prevent a seizure from occurring, timed waits
were added to the sawtooth loop.
12.1.7 September 23,1996
Trial: Autonomous Missions For The NSERC Demonstration
Location: Loon Lake Small Arm
Tests: Depth Following, Bottom Following, and Sawtooth Missions.
The Depth Following. Bottom Following and Saivtooth Missions were al1 performed
properly by PURL II.
Trial: Long Distance Mission
Location: Loon Lake Main Body
Test: Endurance
Following a constant heading and constant depth, P~ II travelled out h m the
dock in the main body of Loon Lake. Afier 1500 seconds, PURL II tuned around and
headed back to the dock. PURL II travelled approximately 1.8 kilometres round trip, at a
depth of 2 meters and a velocity of 0.6 mk.
12.1.8 September 27,1996
Trial: NSERC Demonstration Of Depth Following
Location: Loon Lake Arm
Goal: Demonstrate Depth Following, Bottom Following, and Sawtooth Profiles To NSERC
PURL 11 successfully performed Depth Following , Bottom Following and Sawtooth
Profiling missions for NSERC.
Trial: Altimeter Analysis
Location: Loon Lake Ann
Tests: Altimeter Parameters
PURL II ran sixteen missions across the short axis of the Loon Lake m. Different
altimeter parameters and settings were tested at different altitudes. For more information on
these trials please see Maier, 1997.
12.1.9 May 28,1997
Trial: Fibre Optic Cable and Video System Test
Location: Loon Lake Ann
Tests: Altitude For Employing The Video Carnera
PURL II ran a variety of trials across the short auis of the Loon Lake Arm while
towing the fibre optic tether and employing a video camera. The goal of these trials \vas to
determine what altitudes worked well for the Micro Sea Cam video carnera. It appears that
an altitude of between one meter and two meters provides the best results. At higher
altitudes the lights carried by PURL 11 do not provide enough illumination to achieve enough
contrast for general viewing and object identification. The fibre optic cable and the surface
viewing equipment worked well. The fibre optic cable snagged on the bottom during one of
the runs, but we were able to fiee the vehicle without entering the water. PURL II can aiso
be stopped and dragged backwards by the fibre optic cable which allows us to operate in
deep water. If a failure occurs, PURL II can be retrieved by manually pulling it to the
surface.
Trial Fibre Optic Cable and Video System Test
Location: Loon Lake Main Body
Tests: Deep Tests of the Fibre Optic Cable and Lights
PURL II ran dong the bottom of Loon Lake at depths ranging from 30 meters to 15
meters. PURL II was able to pull the fibre optic cable through the water although its speed
was reduced. The lights appeared to work well, there were no "hot spots" and they provided
enough illumination to travel one meter to two meters above the bottom of the lake. It was
difficult to determine how much fibre optic cable was in the water, therefore pay out
markings shodd be added to the cable. PURL II and its fibre optic system was deployed and
operated f'rom the URL canoe.
12.2 Missions
During trials, PURL II performed the three basic mission types that can be combined
to create more complex survey and scientific data collection missions. The trials also
showed that PURL II can be deployed in a remote location with liale logistical support. One
can drive close to Loon Lake, but for the final 100 to 200 meters to the launch site, PClRL II
must be wheeled over rough terrain. To demonstrate that PURL II can actually survey and
collect scientific data, we examined the intemal waves caused by wind action across Loon
Lake..
Interna1 waves are found in stratified waters and have traditionally been investigated
using an array of self-recording sensors such as thermistor chains. M i l e the temporal
resolution of thermistor chains is generaliy excellent, the spatial resolution is often poor
because the chains are spaced far apart (Laval, 1997b). An AUV can provide good spatial
resolution because it moves horizontally through the water.
Internai waves are studied because density stratification is a barrier to vertical mixing
and transport within the water column (Lavai, 1997b). Surface waters tend to be oxygen rich
but nutrient poor, and deeper water tend to be oxygen poor and nument rich. Exchanging
oxygen and nutrients between the surface and deeper water is essential for maintaining a
healthy lake ecofogy (Laval, 1997b). When a pollutant is added to a body of water, proper
dispersal is inhibited by stratification, or when water is withdrawn fkom a reservoir,
stratification determines what type of water is withdrawn. In both cases, knowing the effects
of stratification is important for rnaintaining heaithy bodies of water.
On November 26 (JED 330), November 27 (JED 33 1) and December 2 (IED 336),
1996, PURL II performed CTD surveys along the long axis of the main body of Loon Lake.
In order to measure the position of the thermocline along the length of the lake, repeated
sawtooth profiles were performed. There is no meteorological data for Loon Lake other than
qualitative data collected on the survey dates. On JED 330 and JED 33 1 it was overcast with
a light rain and no wind. On JED 336 there was a strong southerly wind and it was snowing
heavily. In the days between JED 33 1 and JED 336 there was a wind and snow storm
throughout the Greater Vancouver Region including Loon Lake. The wind storm provided
us with the opportunity to collect data that compares the interna1 waves in Loon Lake during
a period of cairn weather with data collected during a wind event.
12.2.1 Mission Tracks
PURL II completed five runs during the three mission days. Figure 12-2 and Figure
12-3 show two of the five mission tracks that were followed (Laval, 1997a). Because PURL
II is not yet equipped with deep water retrieval equipment, a float and string was attached to
prevent Ioss in the event of a system failure. Figure 12-4 and Figure 12-5 show the sawtooth
profiles and bathymetry data generated during the outbound legs of Mission 4 and Mission 5.
The sawtooth profiles were conducted between ten and twenty metes depth unless the
bottom prevented PURL II fiom reaching the bottom of the profile. Table 12- 1 shows the
mission specifics for the five missions with the outbound Ieg containing an "a" suffix and the
retum leg a "b" suffix (Laval, 1997a).
Relative Distance East (km)
Figure 12-21 Mission 4, JED 330, Mission Path
-1 -0.8 -0.6 -0.4 -0.2 O 0.2 0.4 0.6 0.8 1 Relative Distance East (km)
Figure 12-3: Mission 5, JED 336, Mission Path
0.2 0.4 0.6 0.8 1 1.2 Relative Distance North [km]
Figure 12-4: Mission 4, JED 33 1, Outbound Sawtooth Profiles
0.2 0.4 0.6 0.8 1 1.2 Relative Distance North [km]
Figure 1 2-5: Mission 5, JED 336, Outbound Sawtooth Profiles
Table 12- 1 : Mission Specifics
12.2.2 Mission Profiles
An analysis of the sawtooth profile data collected during the five mission series c m
be found in "PURL 11 / Loon Lake Fa11 1996 Raw Data Report" by Bernard Laval. Figure
12-6 and Figure 12-7 show the profiles for the outbound legs of Mission 4 and ~ i s k o n 5.
Afier cornparing these two profiles. it is possible to see the increased wiahility in
thermocline depth caused by the wind event.
Figure 12-6: JED 33 1, Mission 4 a, Profiles Spaced OS°C Apart
IO-
1
12-
- 14- E Y
J= c.
h 6 - -U
Figure 12-7: JED 336, Mission 5 a, Profiles Spaced 0S0C Apart
M e r the missions were complete, Bernard Laval made several recornrnendations
about improving the usability of the data collected by PURL II. It is important to stress that
the desires and needs of scientists should be fulfilled by future A W designs. Scientists will
employ A W s if, and only if, tasks cari be performed at a level of risk and cost acceptable to
the scientists. The following is an abbreviated list of the recornrnendations made by Mr.
Lavai (1 997a).
1) Better positioning can be facilitated by breaking missions into two parts where the return
leg starts at a fixed location such as a buoy, not where the outbounà leg ends.
2) In order to perforrn limnological studies, a meteorologicai station recording parameters
such as wind speed and temperature is essential.
3) Increase the resolution of the data logging t h e starnp to O. 1 seconds. The current t h e
stamp resolution is one second.
4) Record the times when PURL II passes known landmarks as a method of updating its
position.
13. Future Enhancements
The list of PURL II's future enhancements could be extensive if the scope is not
constrained by tirne, money, and the URL's research plans. The following is a Iist of
enhancements that may be pursued in future phases of the PURL II project.
Mechanical Enhancements
New mounts for both the horizontal and vertical thrusters. They should be fared to
reduce vehicle drag.
Reducing vehicle drag by filling the holes and depressions in the faring
Add removable foarn sections in the bow and stem of the faring to increase the payload
capacity .
Electrical Enhancements
Add more powerfül horizontal thmsters with larger propeIlers and lower screw speed.
The horizontal motor controllers rnay also require changes to handle the increased current
draw of the new thrusters.
Software Enhancements
Upgrade the Ethemet utilities available to the operator so that PROTEUS can be
launched without employing Carbon Copy LAN. TCPUP command calls may be the
solution. Carbon Copy LAN should always be maintained for debugging and venfication
purposes.
As ISER upgrades PROTEUS and moves from DOS to QNX, the URL should also move
PURL II to QNX. QNX wouid eliminate restrictions such as a maximum of five serial
ports. QNX can operate as a reai time OS, and DOS cannot.
Increase the data logging resolution fiom one second to O. 1 seconds.
General Enhancements
Add deep water (X 0m) retrievai equipment so PURL II can be relocated and retrieved if
lost in deeper waters.
Finish building up the other fibre optic penetrators and cables that are currently in the
m. Add distance markings to the fibre optic cable so that the pay out length is known.
Develop a payload pressure vessel. The payload pressure vessel should be supplied with
power and an Ethemet connection to the main pressure vessel.
Efforts should be made to reduce the time it takes to change the battery pack. Although
not prohibitive, reducing down time increases mission time.
14. Conclusions
Successfully completing the PURL II missions proved that AUVs c m be employed to
collect data in lakes and other remote locations. PURL II demonstrated its ability to operate
as a rapid deployment search and survey AUV by performing a survey of the intemal waves
within Loon Lake. PURL II also operated in a variety of weather conditions ranging from
calm, warm and sunny days, through to windy, cold and snowy ones. PURL II has many
deficiencies such as the absence of an accurate positioning system, but dead reckoning is
adequate for many missions and inspection tasks.
The utility of A W s is inversely proportionai to their cost and fear of losing them. If
one cannot f iord to lose the AUV, it will never be permitted to perform an autonomous
mission. PURL II operated autonomously in the arm of Loon Lake where SCUBA divers
could retrieve a lost vehicle, but PURL II was always tethered in the main body where
retrievai is not possible at deeper depths. Once deep water location and retrieval equipment
is developed for PURL II, it will operate autonomously in the main body of Loon Lake.
Reducing the cost of a AUV increases its utility because it will be pemitted to perform a
greater variety of missions.
Reductions in the cost, size, and power consurnption of electronic components will
lead to higher levels of physical and electrical inteption, thus reducing the size weight, and
cost of AWs. Smaller, cheaper and faster are the desired attributes of AUVs because as size
decreases, operating costs decrease, and as speed increases, the quantity of data collected in a
specified penod increases. When AUVs demonstrate they can perform tasks at a cost and
level of risk acceptable to users, AUVs will start gaining acceptance in the various
undenvater communities.
Off-the-shelf software such as PROTEUS dramatically reduced the time and cost of
developing PURL II. Interface components specific to PURL II were the oniy software
components that were added to PROTEUS. Employing off-the-shelf software allows
developers to amortise costs over time and among different users. Without PROTEUS it
wouid have taken substantiaily more time and money to develop PUFU II.
PURL II does not contain many redundant systems because human Iife is not
endangered by a failure, and the money, weight and space consumed by redundant systems
reduce the AUV's utility. If a failure is detected, PURL II attempts to return to the surface
for retrieval. If PURL II cannot r e m to the surface, it must be located and retrieved by
extemal means such as SCUBA divers or a grapple. Losing the AUV is an unwanted but
acceptable option because the value of the tasks perfomed are greater than the risk adjusted
cost of losing the A W and replacing it.
Employing the fibre optic system is warranted only for sophisticated tasks that require
a human operator to apply his or her intelligence to the mission. Whenever possible,
autonomous missions should be ernployed because they consume fewer resources; the AUV
8 1
travels faster and surveys a Iarger volume of water, the pre-mission and post-mission times
are reduced, and the opetator(s) can perform other tasks while the AUV is surveying
autonomously. For the foreseeable future, there will always be missions, especiaily visual
inspection and identification tasks, that require a human operator.
Clients should be defining the performance specifications and mission parameters
from which future AUVs are designed. Bounding what an A W m u t accomplish reduces
costs because the design can be minimised. Also, the client will ailow the AUV to operate
autonomously because its risks and costs are outweighed by the value of the tasks it
performs.
PURL II is a first step dong the path of developing srnall, inexpensive AUVs.
Performing autonomous and tethered missions in Loon Lake with little logistical support
demonstrated PURL II's ability to be a rapid deployment survey vehicle. Future
enhancements such as deep water location and retrieval equipment will increase PURL II's
utiiity and expand the scope of missions it performs. PURL II is a continuing project in the
Underwater Research Lab at Simon Fraser University that will build on the utility
demonstrated in this thesis.
References
Alt, Christopher von, Ben Allen, Thomas Austin and Roger Stokey. July 1994. "Remote environmental measuring units," in Proceedings of the 1994 Symposium on A UV Technology. Cambridge, Massachusetts. 13- 19.
Anderson, Jamie M. June 1992. "Mode1 development for control of the autonomous benthic explorer," in Proc. of the International Ofshore and Polar Engineering Conference, San Francisco, CA: Vol. 2,468473.
Bellingham, J. G., C. A. Goudey, T. R. Consi and C. Chryssostomidis. June 1992. "A small, Iong-range autonomous vehicle for deep ocean exploration," in Proc. of the International OBhore and Polar Engineering Conference, San Francisco, CA: Vol. 2,461-467.
Bellingham, J. G., C. A. Goudey and Chryssostomos Chryssostomidis. April 1993. "Economic ocean survey capability with AUVs. Systems overview: intelligent control, navigation, communications, energy storage, propulsion, subsystern power use," Sea Technology 12- 17.
Bellingham, J. G., C. A. Goudey, T. R. Consi, J. W. Bales, D. K. Atwood, J. J. Leonard and C. Chryssostomidis. July 1994. "A second generation s w e y AUV," in Proceedings of the 1994 Symposium on A UV Technology. Cambridge, Massachusetts. 148- 1 55.
Bird, John S., Apnl 1997. "Size Bounds and Survey Lirnits of Autonomous Undenvater Vehicles and Marine Mamrnals," Manuscript in preparation.
Chryssostomidis, Chryssostomos, Henrik Schmidt and James Bellingham. June 1993. i i A ~ t ~ n ~ m ~ ~ ~ underwater vehicles," Research Department Of Ocean Engineering At MIT, 100th Anniversary Issue, Cambridge, Massachusetts: 16-22.
Ferguson, James. 1997. "W Evolution: Exploration to Cornrnercialization," Aviation Week & Space Technology - Association for Unmanned Vehicles Sysferns International, International Guide To Unmanned Vehciles / 199 7- 98.
International Submarine Engineering Research Ltd., 1991. "AUV Mission Planner And Executor,"
Kreider, John R-February 1997. "UUVs for Underwater Work - Innovation or High Tech Toy?," Sea Technology. 25-32.
Laval, Bernard, May 1997a. "PURL II / Loon Lake Fail 1996 Raw Data Report,"
Laval, Bernard, John S. Bird, and Peter D. Helland, 1997b. "Observations Of The Spatial Structure Of Internai Waves In A Smdl Mid-Latitude Lake," presented at Oceans 97. Halifax, Nova Scotia. October 6-9, 1997.
Smith, Samuel M. and Stanley E. Dunn. July 1994. "The Ocean Voyager II: An AUV designed for coastal oceanography," in Proceedings of the 1993 Symposizrrn on A W Technologv. Cambridge, Massachusetts. 139- 147.
Yeorger, Dana R., Albert M. Bradley and Barrie B. Walden. Nov 1990. "The autonomous benthic explorer (ABE): A deep ocean AUV for scientific seafioor survey," presented at Seminar On Autonomous Underwater Vehicles, Tokyo, Japan
Appendix One
The following is a list of the schematics that make up the wiring and printed circuit .
boards inside PURL II.
Wiring Schematics Schematic Name Description
Battery Box Power Distribution BlueABC BlueDEF YellABCD Y ellEF Fibre OpticEthemet Miscellaneous
Wiring and pin out of the battery packs Power distribution for the main power supply buses Wiring and pin outs for the Blue A,B,C penetrators Wiring and pin outs for the Blue D,E,F penetraton Wiring and pin outs for the Yellow A,B,C,D penetrators Wiring and pin outs for the Yellow E,F penetrators Fibre Optic and Ethernet Connections and Cabling Compass, Tilt Sensor and Leak Sensor Wiring
Printed Circuit Boards Schematic Name Description
PC-104 Breakout PC- 104 Breakout Board on top of the PC-104 stack Relay and Fuse Power controi relays and fuses Seriai Breakout 10-pin ribbon cable to 3-wire RS-232 converter Digital Relay Two relays controlled by TTL outputs Leak Sensor Leak Detector board
B A I JUnPi R
3 L 00 O n rua
3 U
C V U O L m L n a L O I
m 3 L -
3 m 3 u O C t & w-
a u O c - c* > d
> a 0 0 a r s c
-m. a m z + - n u u a c m
r l w c nun
1 3 m m ~ connon
d m * 3x9 Or- - l 3 O U
O DO
n K K Z acœ
4- 1 2 (LN 1 2 U O
Appendix Two
The CSP configuration files for PURL II are divided into three groups; cornmon files, surface files, and PURL II files. Generally, commun fiIe n m e s are pre-fixed with stn "x". surface files are prefixed with an "s", and PURL 11 files are pre-fixed with an "pl'.
Common Configuration Files: xconst.csp xtimer.csp xtelem-csp display.csp xstyIe.csp
Surface Configuration Files: sdef.csp sheader-csp sports.csp main - win-csp setpoint.csp stat-win-csp dbg-win.csp auv-mode-csp
PURL II Configuration Files: pdeEcsp pheader.csp pp0rts.csp control.csp sapphire-csp exitscpt.csp puri-win.csp payload.csp mission1 .csp mission3.csp mission3 .csp mission4.csp mission5.csp rnission6.csp log xsp
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Irevrssan r . 2 1396/04/06 14:29:2I COt'ÇTEiiit
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naze-label-style tcreqrcund-black bdcEqz3und-llqhtqray tlllpdtfern-sclrd
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O
a a e o r s z o n 1 . 4 1946/04/:5 OS:?3:li :IWO added Ee len checkzaq s : ~ f t
4 U fceoisaon 1.3 ?996/00/09 ?7:20:25 :EN9 ) chanqed u s e r r n c e z f a c e * O Revzs ion 1 . 2 1996/08/06 L5:39:1? :QUStE;rU * added a l f r m e t e r s r q n a l s t z e n g c h t a =se? ~ n t e r f a c e a
/ / The but:ocs reqr i r red CO s p e c r t y f h c s e c p a t n t s f o r t t ie ALTI keadraq, dep th , f / and velcc:Zy. Tkrs conf:qu:aC~on fric a l s a d r s p i a y s Zhe t eedbacks to: '/ =he ?a r rodS s e t p o r n c s . 1'4 À i l t h e buccsns dnd f e e d b a c k s rt. t k ~ s c = n f r ~ u r a : r o n f z l e a A s p L a y e d / / r n t h e marn q r a p h r = s r r n d c u "ALnd--Control'.
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x-COL-O y-ROM-1 sc r rnq- 'P r lo t S a d e C s n t r o l s *
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~]oq .aver : tde DdmC - -. ---qqer rnpu: ZdtC l e v e l r a n g e cucpuc rn r r ra1r :e e n a b l e
/ / X L O C i t Y SE,POINT ZOG BUTTOt& ~u:cdcu.ztomenrary .bccfor .
t n p u c - '1elocr:ySpJcq c u t p u t - 7 e l r c s ~ y S p J c q a n - i a l u e - -: Labe l - "\x:fO / / 2cur: a r r s ï urndow - Am-Cmt to i u2dt.i - WI-.X5L-%WON-itTH h e r 7 h c - r ; ~ r - x z ~ - x c c t r - l r ~ r ~ ~ . ricpch - XEP-DEF7H b o r d e z - F a S E s f f - s ~ y i e - sur rch-=f f-bu::cn-s:y?e a n - s t y l e - surtch-=n-bucrcn-st- : e f t - COL-O t o p - nuil-?
-wrndou ,acmenta ry . t n p u t c u t p u c an-,raLxe L a t c l u rndou u a d t k hcLqht d e p t h b a r d e r z f f-s:ylr r n - s t y l e :et: t c p
~w:sbîu.acmen:ar~: rnp-2: ;ucpuc Latel r n -:a: se ~ f f - s c y L e s r . - s ty le wrridor m d c h k e r g h t d e p t h b o r d e r Lcf: tap
/ / 'IELDCTTI SETPOIX WERRIDE . zanqc . p a r a n
ndlile - Ye~oCi tyRdnge n r n - -5000 a x - 5000
.bUt'Lin - ZeroDeprhSp ZerOkpChSp - "O" - . - sï : tch~a: :~but:on~s-y?e - swltch-on-bue:in-style - AW-Concral . w-.%n-ourrorr-wïm! - HAt-'(ED-3UI?CN-!fEICH'i - DE?-DEFTH - :ALSE - COL-4 - aow-:3
. : o g . o r e r r ~ d e narle --, -..qger
r n p u t r a t e leveL range c ï c p u t :nir:a:i:e e n a b l e
'wrndow.ncnentary Lnput - .. -L.pUt on-*?dlue :abel u i n d c u wrd th he1q.h: i e p c h b o r d e r : t t - a c y l e a n - s t y l e le:: z c p
.w:ndou.label nrr:nq - "A1:itude [ n i ' v rndou - AW-Cintrai s t y l e - l a b e l - s t y l e = e n t e r - FALSE t i i l - 'PUE X - COL-2 Y - oOW-:7
X - COL-O Y - ROW-23 s t r r n g - 'Àlt5rgSt:ength' z c p u t - ÀW-AicSrpnalStrength wzdth - 6 p r e c l r zon
/ / i ü t r c u d e Çecporn t : C s a r s e .'irndow .somenrary . b u t t o n
rnpuc - Al:z tudeSpJcq cucpuc - Al t t :udeSpJoq on-.:alue - 10 Label - ' \xle\xLea
a:=cws urndcu - ÀtPttCont:ol v rdch - W - H e D - S ~ O r t - ~ ~ D . r l f h e t q h t - KAN-.%D-BiiXON-HEXGHr dep th - DEEP-DEPTIf b o r d e r - F U E of f - r r y l e - s w i t c h - o f f - b u c t o n - s m on-scyLe - swrtch-on-bu::on-styLe L e f t - COL-0 LoP - ROW-17
:npu: a u c p u t on-?al ue l a b e l
a:zcwS r r n d z n ~ ~ 5 t h kezqhc deptt : bozder = f f - s t y l e on-s ty le 'cf: :cp
/ / dcun
.r:ndcu.mcmencar:r.tut:zn r n p u t - h?t:ZudeSp;cq c;utpu: - À l = r t . ~ d e S p J c q ca-':alce . -! i ~ b c l - "\x:t" I I 3cun dZZ=W n:ndcv - AWJ Cza:rcl u i d t h - w;~HEfr-~L?T~~:~-51: ITH h e r g h t - ml !GD BUYT",!l-HEIGHT depc-t: LEES-DE~TH b o r a e r - ~;r tsz c f < - s t y l e - srrc~h-off-but=cn-s:yLe =a-scy?e - s r r t ch-=n-bu t ton-s ty le l e t t - COL-? t c p - FCW-L4
~wrndcï.~cmenta=g.bu::zn t npuc - i i e seGXtr tude9p ===put - Rcse~ALtrccdeSp !abel - *:on3 on-value O 1 :ff s=yLe :n-s:ylc ï r n d o u uzd:..i hergk: d é p t h b o r d e r ?cf: . - --P
- surc=b-off-bu=:çn-sc~le - su::cb-on-Üurton-style - AUV-Contzo 1 - iÿu:-nED-BuTTort-x~~?H - ~; ,KE~-5üT~Ot l -HE~ SHT - DEEF-LEPTH - ?ALSE - COL-1 - ROW-2'
and i n p u t s -TF1UF; rnpucs -Xitr:udeSpJoq oucpuc -EnableAict:udeJcg
r a t e - 1 Level - HEDIVM range - A i t r tudeRange ourpur - ~e1emirlcl :udeSètparnc :ct:talr:e - TeLezr;U:r:udeSecparnt e c a b l r - EnabLeAlcrcrrde.ioq
' c = P Y e n a b l e - 3eseWt i :udeSp rnpu t - YEN 3u:p~t - T e ~ e a A L f ~ t u d e S e c p o ~ n t
-wrndou.rnt.data uindou-scacus input-SurfaceidleXete: -urndou. -nt .data uzndorstacus rnput-ScrtaceTxStatua .rtnduw.:nt.daca vzadow-ststus rnput-SurfaccRxSea~rs -urndcu.int.data u~ndauls:acus rnpu:-Su: t a c e ~ ~ n c c ~ t s O ~ c x ~ r e d *urndou. :nt. data srrndcwstnfus :.?pu:-Surfaceas tuHete: . usndou. t!cat. da:~ uredovlstatus srrdtk-6 pzectsrarr-0.01 rnput-S~:taceFreenen .urndcw.rn:.daca u:ndo.es tafus rnpur-7ei3rsg
bnqaplrropnw. bnqsp-aopïrn bnqaplrropu rr. Snqe+plrropcrn bnqaplrroprm bnqaplrrnpurn
'Xaa13S OU1 U i / /
P a . 4 Q ~ d s r ~ a c i i r n anjp:. P aza;aq oawpdn arpc:xod Q a s raaa : oa ;TQU a s n r / /
aaQ;;ns aq: pue 12PqPaa; i P l C OU 5: )=a91 d n l z c a s COdn .aJQ;zns aq: c; /,
r a y i q 1 nzz; p o a t i ~ c l r u ~ z a L;in;ssaaans SQn apq; U~T:PE--~;FT a p î n i u a a a z
:soc aqa sxqs za indnaa aaQ;zns a$: uo pa/.P;dsrp 1:~qaa; apex 1-qy a u 1 / /
- a b u ~ q : a l Q i s Q Uo i 3 h 7 ~ ~ 3 ~ p a : i a d
a3Q;Jns a$: C: a iP1S 2uaiin: 5:: .plas a q r / /
' s aaqaed L z l P n a ~ D i : ïanbasqnr c i 1.m ou: q x a z ?TI*. a:els p a z r s a p aqa .qu:; j /
p ~ q P c: a n p i so : SPU L:aamaya: a b u v q ~ a i p i s ;p:::ï: aq.: ;r -p..- - " A s a i n s u a 1 1
' U i s i- s i u i q 1 .my au: / / ~ P O C i ' ~ ~ q r . . € U T > O : T P ~ ~
XJQqPaaj DU2 bu1.4~7dsrp PU? u o ~ i ~ z a d 3 f a y ;O a p m 11
Dqi ~ U T Z J ~ T P S =O; DaSP S ~ U P U O ~ ~ ~ ~ D ) SFTQ3UC3 .TT; u a r a ~ z n b T J U 0 3 S i q L ,,! .....................................
ds:,.soox-:.n~ ...................... .-/, I r
U0TS:r.a; TST2:V: t fasnsop i t : ~ t : i ; I O / Û O / O ~ ~ ~ Ï I.: unrs:aaE t
* ' Pm -:)(3 P3PPP :-* O
n-isno) i t - b r : ~ ~ ~ o / J D / ? ~ ~ I 7.1 uo:sfr.*e e *
aaw;;.au: ; a m pabuvq3 0ii31; ;i:D::L1 80/?0/?66: r - 1 UDTSTAaU #
cn-value off-style an-style uindow WldCh heiqhc depth border lett :op
- 1 - su:cch_o:f-button-style - yreen-buctcn-on-style - AUJ-Conctol - ~ 1 ~ B I G ~ E ~ O B ~ Y : D T H - W-SIG-BUTTON-BEIGKI - OEEP-DEPTH - FXLSE - COL-LI - SOU-7
'copy esable input oucpuc
~wrzdcn.ccççie.bu:-cn rnput SUtPUt LabeL cn-value at L-style cn-style vlndcw radth helght jtpt.. border ?Cf' tJP
.COPY enable - Mias:on6HodeRequesC inpuc - MISSION6 oucpuc - Telem4odeSelect
/ / Lisplay Che currenc xssion step and the Lcca: scr:pc irep .AAjY-Cînt:ol.uladcw.r.usber
X-COL-9 yROW-9 string-'bistep:" lzpuc-HlsslonScep uldth-2
'cap Y enable inpuc output
.rLndou.tfgqLe.tuCccn ;npuc oucpuc iahel on--rd1 ue ?et-~t-ie cn-a: yle uindon .dldth heig5: depch barber :ec: cap
/ / Mode Feedbdck 1ndicat:nq 'Xnac Wade The XüV ihxnis :Cs rn / / The inlt-ai salue of AUWOde rs DEBUG so ncne of :te bUCZ0r.s are / / i:?maated. che surface conpucer ausc received a s?ccesstul telemecry / / aessaçe ccncain che AU;' aade h e h r e rr air: show Che Ar:'=. currenc -iode
~Uha~t7ncde.se1eccion.cucpu: cholce - PILOT -7ez: - :nPrlce!cdc
Wh~En~~odc.selecc:cn.outpu: C ~ O L C C - ~ I S S : O ~ evcnt - :.nnisrroh~ede
.c:py enable '1puE cutpu:
.urndou. tuczan lef: :cp =z_.:aLue triput Labe l ur.dow rrdcb hergh: depth border c f f - s c y l a ~ n - s t y l e
-+r:ndcu. butcen ?cf: t o p rn-value '3PUt l a b e l nrndov v r i t h tie:ghc depth border o f f-s:ï:e zn-s ty le
'u:ridou. bu:ccn le f t :ap =n--:aLuc Lnpuc Lsbe? w: ndaw 3: "ch hetjh: depch berder c f f - s t y l e 23 scyie
enable - ?:la~YadeSeLcçted :.-.PU: - ?RUE cutput - ArJ-Telcufi.ecitS:4tu,
/ * SLag: pbeader.csp 5
Rev:slon : . L i :397/0?/00 14:Lj:35 ?USZ Pefer tt: Resec:nq r h e ï a = c h k q ' ~ a L u +
$
* I e v r s r c n 1.?1 : 3 9 6 / 0 9 / ~ ? :0:27:13 P I I i I L I ?ece: K i n d h v r n X: M d e d ::=a :CI :n:eqrlt:nq zhe a l t i n e c e r r n r s :he s c o n t r o l syscem * * Rev:s:=n L.12 :996/04/30 IO:39:5i X R i * ? e t c f i : Re-c:-cd ih- l tscerZnter :cck 4
Re'r:rr?c :.il 199€/0f/,4 i[1:40:59 ?üRL s 2ecer H: W d e u a1c:mcter t c r c o n f r c ? R
* L e ï r s l a n 1 . : 5 1996/03/IC c13:11:55 PVaL n ?et*: H: â W R ? zcx!:crcn dddiC:cns n
ReYxrzon :.9 i396/03/14 LC::?:ZE PUR2 znanqed s-me z i t h e parus. c t te : d e b a q j i n q ckanqcs
* a Rciis:cn : .5 : 5 9 8 / 0 ! / 0 3 1?::6:55 P 9 R L d AH: chan7ed :he :n:cclg~k:nq !Cgrc t 3 u s t n q ?la:c:Mcde 1
8 Re?ls:aa : . Y 195€/0'3/09 09:34:51 :OUSTEX I addcd abocr uhen Lcsk:ng/ lar bacrezy o c x r s I
# 3e.1:srcn 1.6 149€109/09 .3@:05:!0 PURL n t e t e r H: M d e d Che cinve:s:cn : r m cent;aere:3 c;i a e t c r s . * M d e d a ~ q n a l s asd c+rcn:s Cc: Lsrchrr.Q Kht bnCtc.ry and :=air senrc: a iaczs . s
Re?:s:cn : . 5 :99E/G5/07 >9:34:G6 PLaL Peccr i f : Xdded :Sc cînatar.: tl-r ion.recz:r.g lrcm 5spphr:c A
Ta D conversrana * 5 5 ApprcpzLdte ~31:s :OF 'use :i.L cke :est =: C5e I'JRL systen.
M d c d :ha u a c c n r r s l l c d ;nfs :or the piC:h, szL1. r s d ta::e:y :oltaga :îcvecss. * 0 3et':s~cc :.i :396/0?/06 :f: j4 : l ; fDL'52iE3JJ
AH: addcd IYIT a ~ d e * s Rev:sron i . 3 1346/03/Pb :J:30:lü 'OUS1Eir'J 1 :exove4 xnused s ~ a n a l s I
* aev:si:- L.: :496/05ri31. I;:~?::E ?EL * :ema?cd t h r ' l s t c r :nprc e-:*3:s
n R e ï l r ~ c n 1.: i 3 - 9 / 0 : / 7 4 ??::3:55 ?!Xi: * :nrr:ai ce-s-sren
.I , . - " - ' - ' ~ ~ ~ " " ' * . ' . " . t t ~ f ~ rgp.""""'."..-..** . -
-.xnc=nrrs?:ea. 'Los: :sL:>aL-O.o , u c c n a r r c l l t i . t ? o a c :nit:31-G.7 .uncîn:r= l?ed.rnc :a:K:ai-FWE ~ ~ n c e n c r c l l e d . > n t ;~LC:~L-FALSL .uncoa:rs:lcd. in: :nlt:al-F%SZ
/ / "..'.*"""-*- XVr +%de 3rzcthrng ?drame:eri ...------.*.*...*...-.- .:nt n ~ e - :dleHodeSelec:cd - i n r nase - PlLot ! !cdeSele~~ed .:sr :axe A b o r ~ V ~ d e â e l e c r e d .:nt nai l t - N o j i b o r M ~ d e S e l e c f e d . in r nme - 6xl=.deSclec:ed . :nt a d ~ e - S ~ t E x l ~ ~ 0 d e S e L e c : e d ' l n t 3AmC - :ioL!~sa:cnH~deSe:cc:ed
sale ~ss1cnSSodeStlec:ed
na3e ?-dPC
na3e ldne
naze ZA3e
ndme 1dZC
ndml ndae
/ / / / Zelesetry Porcs iUDP c r S e r ~ a ? :
,udp.por: :eïel - H l G i i ndme - TeLemPorc local-socket - 4000 :esoie-socket - 4130 re~fe-hosc - -ccïs:eau'
/ / re~ce-3osc - "zerno* s'gnal-size - 4096 3axgackec-srze - :56
/ / / / / / ; / / / / / / / / / / / / / / ; / / / / / / / / J / / / ! f / / / / / / / / / / r / / / / / ; / / / / ! / / /,' K'.H Cl00 Cornpals Interface / / Ca41 -cos.serraL.porz
name-CcspassPcrt baud-rare-9600
1 ;' data-or es - 3 i l stop-br:s - _ / / parrty-a
delrnlter-l5 port-nusber-l butfer-sire-5L: / / 2 5 6 1: Seadcd for 2 - 5 : : 2POTECS
! com.ser:al.por: ndme baud-rare Jaca-bats stop-blts paraty delrnuzer :rq-level porcbase buf ter-site
~ / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / ! / / / , ' . ~ ! / / / / . ' : / / / .Utlmecer / / c m 4 .cim.ze::al .porc
name-X1t~acze:Port baud-:are-4600
I / data-bits - 9 :/ SCop-b:ES 1 II parrcy-S
de1:x:er-0 ::q-level-7 por~-base-O~2e~ cu:fcr-s;re-512 11256
/ - SLaq: c a n t r a 1 . c s p S w R e v r s i o n : . l9 1957/P5/1C 16:20:39 ?VRL * P e t t r H; checked i n :o r e s t a b l z s h t h e SofEware a n t h e new h a r d dr:?e I
8 XeirisiOn 1.13 1996/11/24 l i :06 :2€ COUSTEAU * P e c e r H: Chanqed HiV<1HRUS?5R-\ZLeCI?Y r o M-NEC-THRUSTER-'ELOCITY * * Xevrssan 1.17 199€ /11 /22 12:3e:16 PURL
? e t c K: Chanqed d e p t h co r . t r c1 co u s e t h e CTD p r e s s u r e s e n s o r 1
R e v i s i c n 1.:6 1996 /09 /13 20:37:43 PCRL 1 P e t e r K and Ke-lin X: Updated PIS g a i n s and r n c e q r a c e d alcimece: l n t o t h e * c o n t r o l s y s t e n 1
1 X e v i s r o n 1.:5 i356 /09 /07 I3:39:?6 PURL 8 P e t e r 5: Chanqed t h e ?ID g a i n s f o r z h e d e p t b and head lnq 1 * Re'risaon 1 . i J 139€/09/24 12:O7: 15 ?URL * P e c e r H: Hoved t h e v e r t i c a l t h r ï S t e r :c a d d r e s s 3 * I R e v i s i o n l.:3 :996/00/:3 14:56:G3 COUSTEAU s P e c e r H: Àdded t h e t h r u s t e r i n t e r f a c e ccmponen: and a iommented o u t : r lqqe redcopy .
R e v l s r o n 1.12 1996/08/15 û8:12:37 PURL P e t e r H: Added a n e x t r a a O R 7 c a n d i t i o n .
R e v i s i o n 1 . l i :99i /09/14 iT : i J :19 PUXL debuqq inq and s u c h
R c v ~ s r c n 1.10 :996/0?/C9 :7:57::5 ?U?L Tece: H: 30cd a u e s c r c n
Re?rs:== 1.9 1 ? 9 € / 0 ~ / 0 9 :1::6:55 3P.L Ait: chdnqed t h e r n t e r l o c k : n q Leq ic r î x i 3 4 ' tccîrHode
R c v t s r a n 1.9 199&/Od/09 05 :04 :5 i CoUs'i~%Lü addcd a t c r t whcn Ieak:aq/ low b a t e e z y : c c ï o
P.evisrcn 1 .7 :996/0$/09 0 ! ! : 0 1 : 5 € FUPL P c c e r li: Unc==cnted r h e r l l r m e t t r s e i p o n e n % dnd goc ::
x o r k r n q p:oper;y. 8
i Ra.,isrsn 1.5 i 9 5 6 / 0 ? / 0 € 1 7 : 3 i : ; i C W S T C U i x4: added EXIT mode * r 3 e v i s : m 1 .5 1 9 9 € / 0 ? / 0 6 17:lJ::: CCUS'iFnÿ i M : addcd a L r i n c L r r . = P e x s i o n 1.4 !99E/OB/OE :f:ZO:4i C3USTEX * z e a r r n n g e d s c n e 1 - q i c and r e a r r a n q e d r 2 e ::der 2 :
c-mponenrs t c improve t h e f l c u O: :ke f i l e .
R e x s i c n 1 .5 ?556/Oe/02 !9:28r:I ?ü?L 1 P e r e r !!: t l c rh inq accompl izaed t h e c c n p a s s s e r i d : p o r t s:i?l d c e s noc u o r k . *
9 e v t s i o n 1.2 195€ /00 /Q2 i 4 : 4 f : i 4 PURL * i d d e d neu r h r u s c e r compcnenr Sesc r :pc rca and x o d i t i e d n a n e s
C L Che : h r ï s t e r i n p u t s and o u t p u t s i
i a e v i s l c n 1 . 1 1950 /01 /04 03:?4:27 PLiAL * I n i t ; a l r e v r s r c n L
/ !/...*.......*............ CONTPOL. ISP ..................................... / / T h i s c o n f i q u r a c r o n f i l e L a t e r t a c e s u l c h t h e mocors , Ki?( Zcmpass, / / Oepth S a n s o r s . and Ve1cc::y s t u t f . àNù 1s e e s p o n s i b l e t o r g e n e r a c l n q / / t h e cîmmdnds r h a c u r l l b e sen: c c r h e ch rus te : m',ors t o c o n c r o l / / t h e X i J
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I / h e a d i n g s e n s a r
I . -.. .-.qqe:ed.zopï
? a y e r c n a t l e c r i q g e r l n p u z ourpu:
'CCP- e n c b l e r zpLc oucpuc
!sui:ipLy e n a b l e :npuca i n p u c s o u t p u t
! ca lc . ccpy e z a b l e le ' re l c r r q q e r i n p u r a u r p u c
e n a s l e rnpu: =ut pur
e c a b l e Lnpurs :>put3 rnpucs ;npu:s 3u:pl:
rapu-.: input: autpur
! copy
.c:py
copy
/ / noc usznq c o n c i a l l e r n l u c s :oc aborr enable - Abor-SicdeSelected inpuc - ÀbcrrBeadrnqSc:po:r.r ourpu: - !iead:sqSecpoinr
enable - E x : ~ . c d e S e i e c r e d input - XN-;a-passKetd:ag oucpu-. 3 BehdrzqSeCporn:
I / l ~ l / i / / / l l / l : l / / / l / I I / I / I / / / / I / l / / I / I f / f / / l / / / / / / / / ~ ~ / / / l / l / / / / ?.rbi:rar~on i c g : ~ be rdeen Ceprh sensc: and A:cime'.er C l n t r o L / I 3 t ~e r : r caL f h r u s c e r s . Uses t h e ' idlues :n z e t e r s - no clme scamp / / r e q ï l r e d . OÏcpu: - i'e:cicai c=n t rcL uhch is :n 3. / / Takes BcrtcnFollowLnqEnabled a s an i n p u t
La i s -equa l e n a b l e :npu:1 i n p u t 2 o u t p u t
- raw - ArPr_ni:itude - Ai:icudcSecparn: - !clowAlzr:ude~e:porzc
/ / T e I p d r a r y f l x h e c a ï s e :hc depch :o=pcnen: cï:puri 1%
c e n t i n e t e r s no: nctcrs - u n C o n t r o l l e d . f l c a C n a m e - D e p t h 5 t : p a l n t 2 ~ : n r t i a l - 0.0
.cons:. :::a: naue-H-TO-X 7P1Et - :ao.û
.=ulc:ply +ndbLe - TRUE i z p ~ ~ r , ~ - J e p : h S e ? p c l ~ ~ rnpucs - X-TO-m r~utpu: - 2ep:aSeCpa~n:-a
e n a b l e i n p u c o u t p u t
e n d b i c :npLits Lnpuss :npucs 0-:put
/!///,'//////////i/////l/!////////:!///!,'/////;:,'////////////; / /! A1:isecer ElD C a n t r c l l c r . r a c q e .pa:aa
zd~e-aleimerer-erccr-:azqe nrn--I;OûJ.3 , r -:G0.0 max-23000.9 :/ z q 0 . 3
. p ld .pa ram ndne-p:d-3i::aecer-3alns p:Cpcr:::?.a?-5O 4 ) neqaci're
.:alues because der:v::~...e--EC ,/ als:=ecer
b a s e a: E e t e r e n c e ir.:eq:&'.-L . . , , apprsr'.e . - dept.'. s e c s c r ad%-:nceg:ai-iS0
/ / :erpcra:y t t x b e c a u s r t h e a1r:meter cc-pcncn: cu:pu:s :n : enClsece r s na: ae:ers / / :n o r d e r :a h e p i h e ::me s r a r p .wz izh t zesn ' : p r c p a q a i e :h:ouqh a u l E l p 1 y l .!! Che s e c p a l n c mus: b e 2cnier:ed :Acker t h a n t h e al ' . taecer feedtdck. / / The f r a c s r a n p 1s r c q u r r e d i n orbe: cc r s c the z inc -based :nteq:n: / / a z d zier:va:iee cnmpocencs c f :ht PIC c:nrrel;$r.
- iu i : rp iy :npuzs ' / e r : r ca l i în r r= l i n p u r s - DEPTS-?C-RiX o u t p u r - VertlcaiCo?.zz=l-3?H e n a b l t - 'iFiE
-mul:iplp i n p u t s - HeadinqConcrol
I I r n p u t i - zEXO : n p ï t s - !iMDI:lC-70-?FX c ï t p u t - HcadlnqC3n:r::-?.iH e n a b l e - TRUE
rnputs - VELOCXTï-TO-RFX cutput - %lacrcyCcn~rol~RFH eeab le - TRUE
~HctarHodeSelectron.select:on.~utpuc chorce - HOTORS-OFF e-renc - Kacorsoff
for the lett and :rghc chruscers
.xl:tp? y tnpucs rzputs sutput rnabie
//::qhr chruscer 'copy
enable x p u t output
.COPY enable rr.put Output
.cap.( cnable :nput rutpuc
Xotorsof f ZERO AW-RlghtThrus=InterLacked
add taputs raputs rutput enable
HotorsConCrolled Rrqh t?h:us c AWI-Rr jhtThrustIn:e:?ociea
1.1 let: :hruster - CCPY
enable znput =ucput
accpy enable rnput 5ucpu:
-=cpy *riable tnput cutpur
HotcrsOf f ZERO AW-Lef:ThrustXnccr?ccke~
. add znputs rnpues oucput enable
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . / / / / / / / / / --. 2a:uscc: Xotcr Satety/:nterLock - - - * *
/ / 9a:?w::es Che m t o r s :O O vhen tn I D L E sode, or uhcn the plssrcn scrrpcs / / set the zussron rsterlcck. Prevears d:-:ers csmplaznrng about alssinq / / ltpbs and al1 that :cc. / / W A R f i N G ! ! ! 'rJ&.WING!!! X i ü y I I S G ! ! ! W&'IiX!!! WXRLiI:fC! ! ! / / MARXIBG: :: :s tssent~al chat ar Che bagrrintng cn each H I S S I O N acr:pt or ;/ MORT scrrpc :bc :hruszerZn:erLock rs set sc :ha: z= 1s zn a k n c m s',are. / / TbtzscerTnterlock cîuld enter as ündcterzxzned staze r f =!ria AWJ qccs
/ ;7e:::~12 :bruster .CCPY
enable :.iput 3utput
' CCP y rnable tzput cucpu: . cop y enable :nput zutpue
'crpy enable rnput rutpuc
' c=p y enabLe snpur, output
' CCPY enable :npr;: zutput
.ccpy enaole znput Output
.'='=PY enable :..put output
IdleHodeSc1ec:ed HOTORS-CFF Hocer.Yode
ExlL.adeSclec:ca HOTORS-OFF Ho:crXode
Hrssror~odeStLec:ed HOTORS-OFF Ho torX3de
//mrss~or.s sec chez: a m =hruster lock status after rnrcral set',:nq
.~ctcrHodeSelecrton-seLect:on.ourpur chotce - HOT3RS-CG:iïROLLED ee:ent - MctorsControl Led
curpuc - ;urv_p~rch b a h a r r c r - Contro1Behav:cur
.c=py e n a b l e - Enab1eLouBac:ery i n p u t - :RUE autpu: - ÀLTl-LouBat~e~y
/ / CJn?e:: Che Lea!LScnsor D1q::ai Input =a a h lqh r : jna? Lnd:CaElnq 1 k a k . I I The .:opy a c f s a s a I a r s h unerc once :he l e a c senso: 5 x 1 s a Leair, / / RISI-Lenk~nq :ead:ns ?PUE c'>en :f rke :eak s e n i c r -0 I n p e r s l q n a l s a l e a k . '20:
e s a b l e - TRLX rnpuc - LeakSenso:Diq:n au:puc - LnabLeLcakAlarm
' capy e n a b l e - EnabieLeakAii'arn rnpuc - T R E ~ucpu: - AW-Leak-nq
SLoq: p u r i - u r n . r s p 5 V Revrs ron 1.6 ?996/09/?9 >0:37:4? PEiL * Pecer H and Xeu:n H: t ebuggzcq t h e d l c r m c t e r t r Revrszcn 1.5 1396 /0e / iS 0!:32:45 PURL t Pecer H: AEORT cond-tzcn t e s t r n q and debcqqrrt 8
r R e v r s z m 1.4 1996/0%/09 08:33:57 PURL r Pecer H: Added d e t c q g r n q f o r leak s e n s o r and Lon b a t t e z 7 f l a q s . t ir R e v r s r m 1.3 1996/0e/OÏ 1O:'O:JS COUSTEAU * E x r t =en:: s e l e c c r z n nou secs s o d e Co EXIT 8
r Ra?:srca 1.2 :956/05/Q7 59:3é:22 ?UA; r ? e t e r H: a d e d s e v e r a l d r s p l a y s t acements i=z drsp?ay:nq =Se S a p p h r r e r n p u s v r R c r r s r o n :.: ?39ü/OI/OJ 5 3 : 1 ? : 3 6 PUnL * i n l t s a l re7:srcn r - / //""-..-*-...*...----*-.- PuaL-WI:z. CSP ...-**....-.*-.-- *.**--...-*.-...*.
s t y l e - l a b e l - s t y l e
. subsenu
.AW-Csr.tr=?. urr.dcu.nïrrber x - COL-L '/ - ACW-2 anput - telerz!!cdeSe?ec: s~rrnq-"Tçle=*tcdeSelec::" urd:h-lO
!sbei9 :ciel - HIGK Fart - f l z - f ~ r t jelrneter - :O escape - 2 7 ?uZ-:caperaZ3~re - RU;'-Tcapera=zre ,. ,t.-conductr-:r:y .. - F\r.C~c$uc:~-.-:zy
su:gzessure - AL";-Pressure szaadard-cariduc%:?~:'j - ;5'uUi-~:~~.Zrii:3Ca~.ductr~:=y
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ~ / / / / : / / / / / / / / 'qloba1,sc:rpc
enable-GcHiasi=nf laye:-RIGH rtpeat-EXSE nane-i4assic:l
/ ; / / / / / / / / / / / / / / / / / / / / / l l / / / / / / / / / / / / / / / ~ / / i / / / / / / / / / / / / i l / / /
/ / / / / / / / / / / / / / / / / I I STEF 1 / / '&al: t a r Zhe seradl lLni =c:he: ?c be disc=nacc:ed and :ht :.eh:cle / / p l b ~ e d i n m the 'dater. :!ILS vhc!e procedure should no: raite ac:e / / :han 63 secînda
script - Xiss~iï? :u:put - Kl~qEnabit 73:ze - T5CE
script - '<lnsaonl output - WdtthDoqS'dlue valce - 250 scep-1 Chread-?
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . / / / / / / / / / / / / / / / / / / / X E ? 2 / / :nirL&L::c the beadrnq aecpcx: r c rte les-red tradixq / / Inir:allte Che ciepth setpo:nc :a rhe deszzed Jepih / / 1n:rrali:e :he al:rcude sccporn: ca rhe deslzed ~lri%de and se: cichce / / botrcm :il:cwlnq mode 3: depch fc?!cuaïq r a e / / In~',~aLr:e the .rclocr:y serpolïts 22 :cr=
cu:p!~t - lrssi:n6~p:hSetpoan- value - GL?ZEPll?L step-2 chread-1
.f?oa:.seZ sc::pc - Xassian? sucpu: - Hass:~rAt~?~deSttpcin: -.-al-• LGW-ALZ1 step-2 chread-l
.,- -..~.sec scrip: - XlssLcn: ~iutput - AT;-F:1I=uangEc~:an 1dlue - FALSE scep-2 :tread-1
f / / / / / 1 / / / / / / / / / / / / / / / / / ; / / / / / / / / ; / / / / / / / ! / 1 / / / / ~ ! / / / ! / / / / / / , ' / / / / 1 / / / / / / / 1 / / / / l / STE? 3 f / Go out for a predererained rime 1500 seci
s c r r p c - U i s s i o n l m t p u t - H I s S l ~ n S c e p Talue - l scep-3 rhread-l
/ / Chanqe t h e d e p r t secparn t r a 5ACK-3EiTK1 I f Chanqe Zhe al:rtude seCpo:z: / /
'f:Ddr.Ser s c r l p r - .Wsszon: oucpuc - Hzss lczHeadlnq5e~poin t 7aLue - SACiïHC\DING1 step-5 chread-I
. t l o a t . c o n t 1 r n s c r i p c - ' I lssionL rnpu: - ALJ-C~nipas3Head:iq vaLue - 9 X K - W i Y G I range - i . O scep-5 chread-L
, . . loac . :ont~m ' s c r i p t - XissrozL :npu: - AW-Dep:h v a l u e - 9i\CK-ïJLSTX1 cange - O.: scep-5 thread-:
/ / / / / 1 / / / / / / / / / / / / / / / / / / / / i / / / / / / / / / i / / / l / / / i . ' / i . ' / / i i l i . ' I ~ / I l
/ 1 / 1 / 1 / / / / / / / / / / / $TEP '
/ / S::p rhe vehzcle and recorn :a the s c z t a c c
.in:. s e t scrlp: - .WsszCnl aucpu: - H:sslocScep va lue - 3 step-6 thread-1
-:nt.set sc::pC - Xisstonl output - HlLcgEcsble value - F X S E srep-6 rhread-L
.rn:.rec s c r r p t - WrssrsnL outpur - Aü"I-CTD-PwapOn value - FXLsE step-S chread-1
/ / A t ! Hode and Stacus ~da~al.log.Iloat.datd -datal.hq.rnc.3ata -dacaL-loq.:nt.daCa .da:al.l~q,rnc.da:a *dacal.loq--nt-dard
.rr.c,. sec scrlp: - XLssLonl output - 7eieE?(odeSelac: -.?aluc - f3LE srep-3 tbread-L
/ / 'lehxcle Senso: Fecdtacka and icnrrcl :ceas .daral.lcg.tlcac.data xpu: - HeadzngSetpsrnc data;. Lcq. : Laat .da:a :nput - Am-CcmpassHead~ng .datai.Log.:nt.data :npuc - SeadrngCcatrc?-4PN
1 :cru znpu: - AVf-3atrergVoltaçc :riput - Atfi_Lcakz~p rnput - Ai\Pi-Nade Lnpur - HfsslonStep rcput - LacaLSCep
ln:. s e t sc=:pc - 33rss:ca: cucpuc - HrssrcnStep ':a'ue - ! step-L chrcac- I
. . C C s e t s c r r p c - !4rss:cn2 aucpc: - ?!f Lcqfzabl c =alue - TRUE s t c p - 1 : tread-l . . n * ....- s e c s c z r p t - W:ss:anL o u t p u t - Wa=chkq';alse va iue - ,50 s t e p - ? th read-1
't'xed.ua2: s c r r p t - K l s s r o n 2 C r , ,,,qger-trncTrck :nccc*:a1-45000 s rep-1 zhread-1
/ / STEP 2 / / 1 n z c i a l ~ : e t h e head:ag s e t p o r n t t a t h e deszzed âeadraq / / : n r t r a l F r e rhc deprS s e c p o l z t ccr SHlifLOw2 / / :n~cra l r :e :he v c i o c r t y s e t p o r n r s cc zero / / SSarc r n t r l :ha A W 13 an =he d e s r r e d headrnq a,?& depth :hen aove r o t h e :/ a e x t s t e p
- r a c . s e c s c r r p c - 'Zrssrcn2 o u t p u t - XrssronSrep -zalse - 2 sccp-2 rhreab- L
. r n t . s e t s c r r p t - Mrssson2 7 u t p u t - !4oco:Hcde ':a l u e - HOTORS-COtiTPOLLED s tep-2 chcead-L
f L o a t - s e t s c r r p c - X i s s r c r 2 uu tpur - ~ s s : o n H e a d ~ ~ g S e c p o r r i t -.-alue - OüT-HLXDIKCZ scep-2 th read-?
,fn:.set s c r r p t - ?rrssronZ su:put - . ~ s ~ l o n ' ~ e ~ o c : : ~ S e t p o r n = -lalue - O scep-2 thcead-1
. f lca t . se : s c r r p t - Xrssron? au tpuc - X z s i o n C e p t h S e t p o ~ n t - lalue - SIrXLCW7 step-Z rhread- t
m i n c . s e c s c r s p t - Hisszcn2 OU:PUC - Hrss icnStep vaLue - 4 step-4 th read- i
- f?oa t . sec , s c r r p c - Hrssron2 cutpuz - HrssisnGèpthSçcpcsnt .:alue - SURFACE2 s ~ e p - 4 th read-?
. i n t . s e t s c r i p : - $fisSIon2 aUKpu: - ~is5lan'JeLoc~rySerpoin: .Idlue - O s t e p - 4 rhread-L . t : c a C . c c n f z n s c r i p t - n r s s i o n 2 LCPUC - AW-lep:* v a l u e - SURFACEZ r a n g e - O.: s:ep-4 zhread-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . / / / / / / / / / / / / / / / / / / / STEP 5 / / / / PURL h d s acw reached r h e s u r t a c e and is qoinq :O :u:n around and v a i r / / f o r d v h l l e b e r o r e q c i n g t a t h e deep p a r t ? L Che r u s s i o n and r e t u r a r n q / / home Co Che s c a r t . , / .in:.sec
s c r i p : - ' I iss icn: outpu: - Wss10ns:ep Oralue - 5 scep-5 Chread-:
. f l a a t . s e c s c r i p c - Wlssion2 outpu: - XisslanXedd;nqSetpo1n: v a l u e - RACK-XEWI!lG: s:ep-5 t h r e a d - 1
. f l o a t . ; c n f i m s c r i p t - n i s s l c n ; i n p u t - AVJ-CcnpassHcadir.q 7 a l u e - RACK-BUI!IGZ zanqe - 3.0 acep-5 t h r e a d - 1 . z i - a e d . v a x SCZ:PC-Hissionf r r l g g e r - T i m e i r c k ia:er?ai-30000 s:ep-5 thzead-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . / / / / / / / / / / / / / / / / / / S E ? 6 / / G c d o m :O t h e deep rlcpth :a: Zhe r e t ï r n t r i p :o r h r SCd::.
/ / STOP ' :/ S f d z t UP Che c !x=scers and ::aïli i: 5 0 . speed :or 1 2 7 5 s e c o r d s wh-ch / / w i l l t a k c u s apprcx lmate l j r -50s rr 1>.4n/s c r 6 5 6 . 2 5 0 i c 0.35a./s.
/ / S E P 9 / / Ciange ~ ! e dep th sc rpoznc r a SüWXZ: and qo cc t h e s u r f a c e 'oz t h e / / end cf :!ae ausa ion . / /
.zn:.set s c r l p t - W s s i c n 2 o u t p u t - W l s s ~ c n s t e p i a l u e - !? step-d *read-l
. Z l o a t . s e r s c r i p t - m a s i o n 2 CUCPUC - .YLssmnDeF:2S~Cpm 7 d l u e - S.üXFXE2 s-ep-8 chread-l
. i n t . s e r s c r l p s - Xlss tan2 au:puc - I(isliion'leLocrcySetpo~n: Value - 3 s tep-8 zhread-L
~ t : a a t . c o n f i r n s c r i p t - W s s l a n 2 i n p u t - A(r'l3epth ? a l c e - SüRFACEl ranqe - 0.1 scep-a ~ b r e a d - ?
/ / / / / / / / / / / / / / / / / / / / / / / / / ! / / / / / / / / / / / I / i / / / / ~ ~ / / / / f ~ , ~ ' ~ ; , ' / / . ~ f l////!/////////ll .// STOP 3 / / 3 i s a b l e t h e d a t a lc3;ir.q
/ / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / ~ I / / I / ~ ' i ' , ' ! ~ ! 1 / / / ~ i ' i ! . ' i . ' I / . ' i < / / / / , / / / , ' / / / / / / / , / STE? :O I / P u t '.ke AL-1 -P.:= :DLl %de
/ / ".""'.."......*...*- [Aïd LOG CIHOONEX -.*.*----*...........**..-
:spu: - AW-Left-?.EX-% i s p ï r - AVÏ-R:gtt-RP!i-.% :npuc - AL-:-'lert=eFt-RPH-:> :apuT - AW-'lertR:q.ir-RPH-Fb :..pu: - Atr,.-LtfT-PWK-Fb :nput - àl":-R~jhc-%?4-Fb i n p u t - AL-:-';er=Let'.-?'SH-Eb inpï: - Atr;-.:ercR:gn:-PW-~
value - TRtE srep- 1 thrcad- 1
,' SLog: =irssron3.csp S r f lcvrs rcn : . y L997/05/10 ?6:22:02 Pb35 s Pete: 3: cbecked r n :O :e-eçcablrsh scf:ware on t h e =eu ha:d d r r s e
Revrsron 1 . 6 !996/il/22 15:.18:50 COUSTEilU ?etc: H: Mded :he CTD -:a:~ablea azd c o r x r a l
3eu:sscn 1.5 1996/09/20 !6:10:40 PVRL ?etc: H: .%ssson3 Sautoe th c f Lcon Lake
Sevrsrcn 1 .4 :336/09/1€ 20:37:.12 t 'DL P e t e r P and K e n n H: Lccn Lake Hlsszzr. : Z r Sep: L9,:99é
Rezsro .? 1 . 3 1596/00/30 20:?a:J9 P'fflL Pecer B: Pool t z r a l s
Re-::sron L.: :39€/03/23 i 1 : ïOUSTFSiU P e t e r H: a d e d neu loqgrng ::cm. changed t h e onable and
/ / Waz: f c r t h e se:ral l r z k t e c h e r :J be 3 r s z ~ n n e c c e d and t h e .:ehzcle / / placod t n t c zhe r a t e r . Thzs vhcLt prccedure s h o ï l d ncc :nke a c r e / / than €0 seccnds
s c r r p t - .Yissrcr,3 ciutpu: - AW-CîD-PmpOn m l u e - ?RUE s:cp- 1 thread-1
/ / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / : / / / / / / / / / / ; / / / / f / / l / / / /
/ / / / / / / / / / / / / / ; / / / / STEP 2 / / 1 n t : ~ a l r r e t h e headlnq s e t p o r n t t 3 t h e 4esr:ed hcadrnq / / ! n i c ~ a l r z e t h e depth secpornc :o zhc deszrcd depth / / :n%:ra l~=e t h e ve1ze:ty s e t p o i n t s zû :et= I / Hart u n t z l che À W LS a n Zhe d e s l r e d headinq and dcpta :Sen oove eo t h e / / -ex= s t e p
r a t . sec s c r r p r - Xlss;on3 :u:puc - MrssronStep -:alce - = s tep-2 thredd- 1
. f ? = a t . s e c s c r r p t - Mission2 9u:prt - HtssrcnHeadrcqSetpcrn: va lue - SUT-XEADIiiG3 step-2 thrcad- L
. f L s a t . s e t sc::pt - Mrsslon3 output !îrss:onDepthSe:po:at va lue - S F X L O W 3 srep-2 chread- l
.in:.set s c r r p t - Erssran3 output - ÀW-F~l lowrngSa~tc=i vaLue - FÀLS1 step-2 thread-L
t l o a t . c î n f r r m s c r r p t - H i s s ~ o n 3 :Epac - ;iW_tcmpassHendraq -lalue - OUT-iiEADiNG3 range - 2 . O step-2 rhread-L
! t l s a : . c = s f r , ~ s c r i p t - Missron3 x p u t - AITJ_Uepth -:alue - SWLOU3 range = 0.3 scep-2 Chread-1
! fLoat .==nf :z~ s c r r p t - .Wssroni Input - At1;-Al t r t u d e 7aLue - LGW-ALT3 range - 2 . 5
'LX. sec s c r z p c - Xrss=cn3 curpc: - Wzsszon'~*elccrrySctparn= -,-aiut - dao0 s t e p - 3 rhread-I
. C?oat .se: s c r r p c - OucSautoot5 cutput - WaSL?nCep=kSctpcrnt -talue - S W i L O W 3 s tep-: t lread-L
- f l c a e - s e t s c r r p t - Xrssrcn3 oucput - XrssrsnDepthSczpcrnt *:alue - SURFACE3 s tep-4 tSread- 1
/ / C=npLete the t o r a and Zhez naie :c Zbe ncxc s:ep
<Laar . coatrrzi s c r i p t - b s s r c n 3 input - RF-CompassHeddrng -:&lue - üACK-IfEADING3 range - 3 .G s tep-5 thread- l
/ / / / / / / / / / / / / / / / / / l ! / / / / / / / / / l i / / / ! / f / / ~ / / / ! / / / / / / / / / / / l / / / / / / / / / / / / i / / / / / / / l / / +TE? 6 ;/ Fscrsh q c m g :O rht s u c f a c e .
146
.:n:.set scr rpc - Hlss icn3 a ï t p u r - ' r r s s ~ o n ~ c e p .:aL%e - 6 scep-i chread-l
/ / S I E ? : !/ Set the 'relcc:cy secpcrnt and beg:n sawtocchinq aqaln. / / Tra?eL back fa: :?O0 aecocds a; 4000 RP!4 shaf: speed
/ / There :s a :ocal scr:pc h t r e f o r saucscthinq an :he uay bdCk ,'/ """""'*.""....*-.**-..**..*...
/ / / 1 / : / / / ! / / / / ! / / / / / / / / ! / / / / / / / / / / / / / ! / / / / / / / / / / / / ! / / / : ; / / / : ! / / / / / I l / / / / / / / / / / I I 5TEF 3 / i Clsahle the dacd L3gy:n.q and stop ?URL
' int .see s c a p c - Wss:cz3 :utpu: - W:s%lOnscep 7ali;e - 9 STep-9 rhzedd-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . * ' / / / / / / / / / / / / / / / / / / SiE? IO I I Pu: :?Le dü'i i n t c IDLE u d e
. i n c . s e c a c r x p t - Hzss:anl o ï t p u t - n l s s l c n s c e p r a i u e - l O step-IO %read-:
. i n t . s e r scrrp: - n i s s ~ c n 3 output - Zelea%deSe lec t 7 a l u e - IDLZ step-IO 'bread-1
/ / ..................... 2acd Loçgi;g Fi: l l S s L m 3 ..................... / / .."........ '-."...... T:*.frSyk,'YP ?:,=ER ........................... 'CCPY
enabie - n3LcqEnaL=le inpur - SYS-ZsicH:Tz~qqer cu:pïc - nl5:çir>qçcr
Lnput rnput - - XfI-tcde ?IrsslonScep
rnput - :ocalSrep
/ - SLcg: .Zssxor.4 .csp S
n e v z s r î n 1.3 L597/05/:0 : : O PrjiRL * ?etc: 3: :hecked r r to r e - e s ~ a b t r s h s o f t w a r e CE :he neu kard Ar:-:e
~nme-OClT_S~T:fG: .?ale-EACK_SEASI:iG; nane-TJFUl-HEAD INGI na^ie-GrZT-i i=di:IG. i
/ / p l a c t d rnco :he u a t e r . 3:s u h c l a p r c c e d x e s h c u l d no: =aite mort / / :han 4 5 s e c a a d s
Ln:. s e = s c r r p t - XLssroc4 aucpuc - H:ssronStcp *ralue - i step-C chread-1
- f l c a t . s e c s c r r p t - Mzss ton i cutpu: - XzssrcnHeadrzqSetpor:.: .:alze - OUT-XEÀDINGI s tep-2 Zhread-1
. f : c a t . s e t s c r r p t - X r s s t c n J c u c p u t - Mrssrsn:epth.Sc:pctn: v a l u e - X E 3 4 srep-2 zhread- 1
.i?oat.se: scrrpr - X t s s r c n I 3 u t p ~ t - M r s s i c ~ A t r : ~ d e S e t p c r ~ t v a l s e - LOU-AL:; scep-2 Ekread-1
! fl=at.ccaf :cri s c r t p r - Hrss:cni tnpu: - A - ü a p c h *:a?ue - S W L O W ; range - ,3.2 step-L :hread-1
I f ? o a t . c c c f r r m s c r r p c - Xlssronf rnpu: - km*-A1:~:uàe v a l u e - L O U - U T 4 r a n g e - 0 . 5 s t c p - 2 c k r e a d - 1
c u t p u t - W s s r a n S t e p oal?rc - 3 scep-3 thread-L
- 2 n c . s e t s c r r p c - XrssronJ o u t p u t - Xrssraa7eloc:zySetposnc m l u e - 4500 scep-3 :hread-l
:nt. set s c r r p c - SirssranJ oucpu: - . Y r s s s s n ' - ' e l c c r = y S e = ~ =
/ / v a l u e - O v a l u e - -4000 s tep-4 tb rcad-?
f Loat . se: SCrLpt - !4rsslcn4 o ~ t p u t - Y;sstcnteptkSc:pcra: .:alce - SURFACE4 s t e p - 4 t h r e a d - ?
. f ? c a t . s e t s c r t p c - Hrssrcn4 c u t p u t - Hrss:;nHeadrcgSecpotnc ~ a l u e - SACK-HEACTXG; s t e p - 5 Lhread-L
- r a t . s e t s c r r p t - Ktssl0n-i s u t p u t - XrsszonStep va lue - 6 step-6 chread-L
* f h a c . s e t s c r l p t - ' l i s s icn5 cucpuc - .YissronVeloczcySe:pornt vaiue - 4500 $tep-6 thread-L
/ /
- :n:. s e t
. Ln:. s e t
scrzpt - Wrss~on4 c u t p u t - H l s s l o a S t e p :.cilue - s tep-7 thread-1
. t l o a t . s e c s c r r p c - Xrssrcn4 outpue - HissrcnDepthSecpornz v a l u e - SUXACE4 s tep-7 chcead-L
/ / / ! / / / / / / ! / / / / / / / / ! / / / / / / / / / / / / / / / / / / / / / / ! , ' / / ' . ' / : / ! ; . ' / / / ' ; ' / / I 1 / , l , f j l .l l ,, ,! +t ,l +l ,i . . . .
/ / 5TEP / / 3 ~ s a b l e the d a t a :oqg:ng
' n t . s e t s c r r p c - Xissron4 S U ~ P G : - u z s s r c n s t e p -.-alue - 5 s t e p O thread- 1
. rnc. s e t sc-rp: - Xzssran4 rc:puc - X4LogEnable v a l u e - F X S E s tep-5 Ehresd-1
. = s m e d . r a r t sc r rp t -Mtss ronJ cr;qqec-Trsefrck tnters:al-1000 s tep-9 thread- L
' L R t . s e t s c r r p t - H ~ s s r o n 4
output - .%ssronStep value - 9 step-9 thcead-1
' :n:.dec scr:pt - Z(lssi~n4 au:pur - TeleeYodeSelect 7aixe - I O L E s:ep-3 chzead- L
/ / 'Ie*.rcle Sensor Feedbaeks and Con::?i I:emr
.daCaa. icq. :nt.da:a inpu: - 7e::cicySe:polnz
. data4 .log. :lcac.dacd input - Dep:hSe:pcln:
.dl:&;. Log. flCdf .ddtJ inpLt - AWI-L,epth
.ddfd4.i3q.z~t.daca x p u t - 7er::caiC~n:rîi-RPX
put - AUI-LeCr-RPX-Fb :nput - RVï-Pigbt-3PH-E% :-put . Aïr;-'1errLct:-RPM-Eti input - IWl-ïcrtR:qkE-PPII-b ::put - Alr.T-ie:L_Phn-ëb rnpur - AW;-Prg?.: -PW-Fb input - mi-ïerlLef :_?W-Fù :npuc - AW-~Ie:tRtçhc-?'~-~
I / bW ?(ode and S t d c ~ s 1cens .da:d4 .loq.:ioaC .db:d Lnpur - AL-1-9dtter'~'icicaqe .aacd:.?cg.~nz.Satd inpu: - AW-Leakr=q .dACd4. :Oq.LnC.ddtd input - AUIH0d@ ~dd:al.lcq.tni.d~:a input - X:ssronScep .ddCd;.l~g. tnL.dd:d L ~ ~ U C - LocdlStep
/ / I n r t r a l t r e :he a l t i t u d e s e t p o r n t t a che d e s r r e d a l t r t u d e anci s e t e t t h e r
s c r r p t - H:ssLcnS = ü r p u t - A1ii-~Z-TTi-P~npOn -=a?ue - FAEE s :e~- : raread-!
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . / / / / / / / / / / / / / / / / / / / SYEP Z / / 8n;tral l :e the headrnq s e c p c r c c cc rhe d e s s r c d headrnq / / :n r t ra? :ze :be deprh secpcrn: ir :be d e s r r e d dep th
/ / bartozt f o l l a u t n g =de or depch fo? lowtng w d e / / I n r t r a l r r e :he v e l o c r t y s e t p a r n r s r z :ero
/ / Znable :he m t o r s . . -- -..-.sec a c r r p t - P(rssion5 o u t p u t - HotorMode *:alut - W3TOP.S-COPTTRCLLED s:ep-2 t h r c a d - l
/ / r f d e s i ced headrnq and 5epc.Ci have neen reached the.? scïe t o t h e / / a e x t s t e p . fLsa t . conf :m
3 c r r p t - H r s s r m S :-put - 8ü '~CcnpassHesdraq
/; r f d e s r r t d headrnq and aL:t:ude bave c e e n reacxed then mo:'e c c :he / / n e x t s t e p ! f loac.crafr . ra
s c r z p c - Xrss ron5 rnpur - AVJ-CsmpassHeadrw .:alut - HEAEi:fGS range - 3.0 s tep-2 Ehtead-2
I C I . , , ,a t .confrrm - s c r r p t - Hrss ron5 rnpu: - AL't'-;clt::ude v a l u e - LOW-nLT5 range - 0 - 5 s tep-2 tk read-2
s c r r p t - MrsszonS o u t p u t - K l s s t c r , s t e p -ralue - 3 s tcp-3 S i r e a d - 1
sc:spt - ?irsszcn5 a u c p u t - c<:ss:on*~'elocr:ySetpc:nt ?alce - 4000 seep-3 t h r e a c - i
! f l a a c . t o a f i m s c z r p t - mss:onS :nput - AUV-CcspassHeldrng v a l u e - ü A C K - H W I X G S range - 3 . 0 s tep-5 :h:ead-1
s c r r p c - Xiss runS rnpuc - A-3ep:h *:alut - ailCK-DEPTH5 range - O . 2 s tep-5 :krcad-1
! f ? o a z . s e t . . -at. . s e t s c r r p c - X r s s r c n 5 s c r ~ p t - MlssrcnS o u t ~ u t - w s s r3nHtadxr.qSe:pori.t ~ c p u t - X~ssronS:ep ':a l u e - FJSL'i-HEX 1 :;CS v a l u e - 6 $tep-4 t b r e a d - 1 s t e p - € chread- 1
/ / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / , ' / / i / / / / / / / / / / / f / / / / / / / / / / /; STEP f / / Change the headrng s e t p c r n t :a 9XCK-E2;UI:ZG5 :/ Ha:: ur.:r? t h Am' r e a s n e s t h e d e s r r e d l e a d i n g , Cben no?e cc the nex: s t r p
! f ? = a t . s c : sczrp: - X r s s r z z 5 o u t p u t - Hrss :czBeadraçSe~pcrnc
- f ? o a r . c c n f t r = i s c r s p t - M ~ s s ~ o n S rnpuc - ALrI-3epch -:alue - SURFACES ranqe - 5 . 3 s z e p - 7 :hread - ?
/ / Dasable t h e da:a l s q q r n q
. r n t . s e t s c r r p : - X l s s i o n 5 o u t p u t - HrssronS:ep v a l u e - 9 s t ep- f :h:ead=l
' ln:. se: s c r r p t - Hiss ron5
Ln:. sec sczip: - 8rss:ocS :u:put - 8rssrcnScep v a h e - 3 step-9 thread-;
a :nt.set scrrpt - Xissrcn5 output - Te~eizMobeSelec= value - iDLE step-9 zkzead-?
/ / 'iehrcle Serisor e e d ~ d c k s and ï c c = r z l :rem
-data5.1cq.f?cat.aata -dats5.isq. float-data -dsCaS. lcq. rat. data
rnput - Al trtudeSctporst x p u c - Aïr:-&i:rcude ~ n p u t - AC-AltSrgnaLStzenqtk rnput - AL*;-?::ch input - ÀW-acLl
/ / Psyload Z:eas .dataS.log, fLoa:.data input - XU;'_Conduc=:-:rcy .daca5.l?q.float.data rnpuz - AWI-Tenpe~atuze .data5.loç.tLoac.data :npuc - AW-Prcsrute .data5.?og.~nt.dara rriput - AVJ-ScdndardConducrrV:r:y 'data5.Lcg.=nt.dara :nput - A W - L T D - P ~ ~ F C ~
SLsq: a s s s r c n 6 . csp 5 * / / / x z s s i o n E : CTD C ? ? l t c t r o n //Px:pcse: t o co? lecZ CïD data ove: t h e s r i ; t C Lccn Laite =û
deCe-ne r f /!there r s r s a upueLlrng o f cc ldwate r ::cm =Re n a r n Laite z a t c zke a,=. I / ï h e r e z s a = b e r = s t c r c S a m tbcu: 100 n e f e r s rn t r î n c 3f - h ,..c a,- rn :he / / m r n Lake. ? s r i kas t c s:ar: nea r :Cie :tiarn. d r ~ e and t r a v e l cn a headrnq / / ',owards :he r r l l Pa rnra r r r t ag a tro mece: bc t t am f c l l ù w r n g a i c r c u d e . At a I t ' s p e c r f r c :rme a-.-er =Se s r l L a c c u r s e correcf:on Ras r o be =de :c al?ow ;/PURL cc c o n t r n u e doun t n e a m a s ta: a s p c s s r S l e a r :Re : z e r r e a1:ltude. ;/ A: =he end c f t h e :un :-me PCRL s t c p s and s c z f a c e s .
i a lue -10 . û -:alse-:O .O value-cl. 0 -:aluc-DEPTEE
f / SnabLe t h e a o c c r s in: .sec
/ / S e t :he r n c z c r a l headrnq, dep th , v c l c c t c y and aLcrcuae s e t p o r n z s . / / S e t S c t t c m Fa l lowrng := :RUE f z r s i c ~ c z d e fziL:ourrq, arx! F U E f o r / / d e p t h f o l l c u r n g . / / These p a r a n e t e r s s h x s l d b e :nr:rs i ised a: che b e q x n r n q =L e7er.f r u s s r o n
Lloa:.sc: s c r t p : - X l s s r o n i a u t p u c - 3f:ss:on!?eadraqSetpcl-c -:sLue - Hfnr)ItfGE stcp-Z ~ h r e a d - l
' - n t . se: s c z r p t - Hzssr=n€ zutpu: - Xzssr~~Yelocr: :~Se:pcra= -?aiut -0 s tep-2 chread-1
f l c a c . s e t s c r r p t - X ~ s s r l n 6 a u t p u c - K~ssronDep:lSecpcin: o a l u e - DEES6 s tep-2 :h:ead-l . :ioa:.set s c r r p z - H:ss:anE zu:puc - M l s s z c n i l c r =meScrpczn: v a l u e - LOW-ALTE s:cp-2 thzead- 1
. rr.:. s e t s c r r p r - Mrss toné 3u:put - AüV-Fcll=rsaq@oc:st i a l r c - TROE s tep-2 :h:ead-1
/ / s t 3es:red headrzq and a ' c r tude haS:e t t e n rèached :ber. m-.-e t o t h e / / nex: s t e p -fLcat .conft--a
s c r r p t - K+ssrcn6 :cpuc - XtiJ-CcupassHeadrnq v a l u e - IfEADfPlGE tariqe - 3.0 s t e p - ? chread-2
-25: . s ec s c r r p t - ' r r s s l c ~ 6 o u t p u t - 9:ssrÛrStep -:alut? - 4 step-4 t h r e i d - 1
! :?oa t .c~nt r r r i SCZIFC - HrssrsnE rnpu t - A-Ciepzh -:aLue - 35PIH6 ranqe - 0 . 2 s:ep-4 thread-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . / / / / / / / f / / / / / / / / / / / SSEP 5 / / Change t h e head tng xefparr i t ta NEW-HEIrCI:XGi / I W a ~ z un:rl :he Àü'J reaches :Le des-:cd headrng. t h e n s a v e t c t h e n e x t s t c p
.:nt.sec s c r r p t - Xlss ron6 z u t p u c - H i s s r o n S t e p -:31ue ' 5 s t e p 4 t h r e a d - 1
.f?oa: .con:r,3 s c r l p t - ' < i s s r=nf r n p u t - AW-CompassBeadrnq -:nLue - NEY-HEADINGO cange - 5 . 0 scep-5 th read-1
/ / / / / / / / / / / / / / / / / / STEP 7 / / Stop =Se vekzc?e and r c t u r n
. r z t . s e t s c z l p t - '.rrss:onO c u t p u c - SI l s s lons ' , e~ i a l u e - 7
scep-7 t h r e a d - 1
':r,t.see s c r z ~ t - Xrss rcn6
- f l o a = . s e t s c r r p c - XrssrsnE SU=PUE * X r a s r o n û e p t h S e c p c r t t v a l u e - SURFACE6 s c e p - 7 chxead-1
. f loat .confr-na s c r r p c - XrssronE :,?put - AUY-Depth v a l u e - SURFACE6 range - 0 . 3 s t e p - 7 c t r c a d ?
/ / Drsable Che data ieqqrnq snput - AW-Prtch rapuc - Am-ao?L
-rnt.sec scrrpc - .%ssicné output - 1Lrss:orStep value - 3 stop-8 thread-l
mrn=.set scrrpc - Mtssr:nE aucput - HrssrcsSrep :.alrie - 3 step-9 thread-l
/ / """"""C...""' 3afa Lagqirrq fcr *ssron ! .....................
/ / Kotor Peedbacks -datdE.Loq. tnt-data adata€.loq.rn:.data .data6.lsg.;nt.dacs .dala6.loq.tnc.daca .datr6.log.znt.daca .data6.log.rnc.daca -data5.?cq.rnt.data *daca6.log.sn:.daca
/ / X W Hodc and Status -data€.loq.tloac.data *dataÜ.Log.rnt.data .iata€.?cg. rnc.5ata .daca6. Lcg. rnt .data .data€.Lcq.int-da=&
f* 5Log: 1 0 3 - c s p 5 e Revzsrcz 1 . 3 iJ56f09fIS :0:37:43 PURL * P e t e t H and K e ~ r n H: RendJicd a l c q r tem co AW-'A?rcThruar-XPX t * Revzsron 1 . 2 :396/Oe/13 LJ:35:22 PURL * P e t e r H: M d e d d a r a Lcqprr.q i t e m and chanqed t h e e n a b l e r n d :r:gqer 6 e Revrs ron L.L L9?0/G:/r)3 5 3 : ? 4 : 5 9 ?UR1 * S n r t r a l t e v r s z o n 1 - / / / L W - C S P / / / / t h r s f l l e p e r f s r n s C h e qene:al l o q g r c q c h a t a n te curned z t t arrd or. / / by t h e s u r f a c e ccnpucer. TZ :s q e n e r a l i y ESed foz debuqgmq o r measçr rnq ;/ t h e perforzidfice 3 f a p a r t t c a l a : a c r r c s ( 2 . e . the s c e p
. d a t a . l c q 3dme - dacd pach - "LOG.:AI' c n a b l e - YRVE trae-s:anp-:r rqqer - hçTr rqge: I e v e l - LOW ::me-s:a=ip-byza - 2 5 ;
/ / .......................... LOG :TM LIST ............................. ;/ ' I eh rc le S e n s o r Feedbacks a e d Concro l l c c m
/ / .Io:or Feedbacks
rnpuc - Lnpuc - r n p u t - r n p u t - Lnput - r n p u t - rapuc - rnpuc - 1apuc - t n p u c - rnpuc - rnpuc - inpu: - rnpuc - rnpuc - i n p u t - rnpu: - rnpuc - i n p u r - snpu: -
/ / Xi-; Hode and S c a t u s I =ens .dat i .Lcq. :Lcac-data rspu: - - d a c a . l o q . r a c . d a t a r n p u t - . daca .Lcq . r s t .daca r n p u t - - d a r a . ? o q . r r i ~ . d a c a rriput - - d a t a . l o q . znc.daca rnpuc -
Appendix Three
Reflcction Source Ba& Reficction (dB)
Cdc
SplitteriCoupler -55
WDI3ISU -55
Temination -60
FCIAPC -60
FCIPC -50
FO Cable None
Back Rcfleaion Relative To a 0 dB input
Spliner
Termination
WD1315U
Cable Connector
Cable Connecror
Cablc Connector
WD13IjU
Spliner
Video Connector
Ethernet Comector
TOTALS
Total lncoherent h r
lnmherent dBm
Total Coherent Pwr
Coherent dBm
Video Transmission
Power Tx (dBm)
- I I
SIR 32.83997
Ethernet T ransmission
Power Tx (dBm)
-12
SIR 36.83997
Max
-5 5
-55
-60
-60
-50
None
(dB)
-55
-66.8
-61.8
-68
-68.6
-692
65.7
453
-67.1
-67.1
Aitenuation (dB)
-9.35
CaIc
-3 7
-3 0
Min
-60
-55
-60
-48
-56
None
(mw)*O.j
0.00 1778
0.000457
0.0008 13
(5.000398
0.000372
0.000347
0.000582
O.OMij43
0.000442
0.000442
0.006173
Max
-37
-30
Anenuntion (dB)
CaIc Min
-3.4 -3
-0.6 O
O O
-03 O
-0.2 O
-0.25 -0.15
Mau
-3.6
-0.8
O
-0.5
-0.2
-0.25
Power RK (dBm) Mau Sensitivity (dBm)
-2335 -37
Power RK (dBm) Mau Sensitivity (dBm)
-21.35 -3 O
IMAW tVALUATlON TEST TARGET (QA-3)
C r &g Li - t::
1.8 IIIIL
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