wp 7: system integration and validation 1 st project review march 21 th 2014 – lisbon - portugal
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WP 7: System Integration and Validation 1 st Project Review March 21 th 2014 – Lisbon - Portugal. Authors University of Girona. Task 7 .2. Vehicle Hardware and software adaptation and integration. Omnidirectional camera. PMMA dome Aluminum alloy (lower housing) Point Grey Ladybug 3 - PowerPoint PPT PresentationTRANSCRIPT
WP 7: System Integration and Validation1st Project Review
March 21th 2014 – Lisbon - Portugal
AuthorsUniversity of Girona
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VEHICLE HARDWARE AND SOFTWARE ADAPTATION AND INTEGRATION
Task 7.2
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Omnidirectional cameraW
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Pack
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• PMMA dome• Aluminum alloy (lower housing)• Point Grey Ladybug 3• PC-104 computer (Intel core i7, 2.2 GHz, 8Gb RAM)• PCIe/104 Firewire module• HDD• Power source• Ethernet interface
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Light beacons for relative positioningW
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• Four blinking LEDs mounted in a cross-shaped frame.
• The on/off cycles of the four LEDs are sequenced differently to make possible determining the correspondences
• The system has been installed on the SPARUS AUV for testing
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Multibeam mapping payloadW
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• 19 Nm torque (each axis) • Near-zero backlash gearing • High accuracy optical feedback positioning (0.3º resolution)• Selectable rotation speed from 16 º/sec to 0.5 º/sec• 24 VDC @ 1.2 A max (each axis)
Sidus SS109APT P&T unit
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Multibeam mapping payloadW
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• The Pan & Tilt unit has been installed on the Girona 500 AUV
• Two payload sensors can be mounted, the Imagenex Delta T and the Soundmetrics ARIS sonars
• Preliminar tests using the ARIS and a concentrator lens for microbathymetry
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Operative AUVsW
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The Girona 500 and SPARUS AUVs took part in the Toulon trials. Soon, the Sparus vehicle will be replaced by its renewed version, the SPARUS II.
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Software updatesW
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• 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