WP 7: System Integration and Validation

1st Project ReviewMarch 21th 2014 – Lisbon - Portugal

AuthorsUniversity of Girona

MO

RP

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VEHICLE HARDWARE AND SOFTWARE ADAPTATION AND INTEGRATION

Task 7.2

Work

Pack

age 7

MO

RP

HOmnidirectional camera

Work

Pack

age 7

• PMMA dome

• Aluminum alloy (lower housing)

• Point Grey Ladybug 3

• PC-104 computer (Intel core i7, 2.2 GHz, 8Gb RAM)

• PCIe/104 Firewire module

• HDD

• Power source

• Ethernet interface

MO

RP

HLight beacons for relative positioning

Work

Pack

age 7

• Four blinking LEDs mounted in a cross-shaped frame.

• The on/off cycles of the four LEDs are sequenced differently to make possible determining the correspondences

• The system has been installed on the SPARUS AUV for testing

MO

RP

HMultibeam mapping payload

Work

Pack

age 7

• 19 Nm torque (each axis)

• Near-zero backlash gearing

• High accuracy optical feedback positioning (0.3º resolution)

• Selectable rotation speed from 16 º/sec to 0.5 º/sec

• 24 VDC @ 1.2 A max (each axis)

Sidus SS109APT P&T unit

MO

RP

HMultibeam mapping payload

Work

Pack

age 7

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

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

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

MO

RP

HOperative AUVs

Work

Pack

age 7

The Girona 500 and SPARUS AUVs took part in the Toulon trials.

Soon, the Sparus vehicle will be replaced by its renewed version, the SPARUS II.

MO

RP

HSoftware updates

Work

Pack

age 7

• A driver has been developed to make the Ladybug omnidirectional camera work with ROS and Ubuntu.

• A driver for Linux has been developed for the Sound-metrics ARIS sonar.

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

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