LIQUID ROBOTICS Wave Glider SV3 Guide de configuration

Customer Training Guide

Pre-Launch Wave Glider® SV3

08033 Rev A i

Customer Training Guide

Pre-Launch

Wave Glider® SV3

Part Number 08033

Revision A

June 2016

Customer Training Guide

Pre-Launch Wave Glider® SV3

08033 Rev A ii

Customer Training Guide

Pre-Launch

Wave Glider® SV3

Legal Notices

Confidential and proprietary information. Valid license or other authorization from LRI, Inc. required for possession, use or copying.

Trademarks

LRI®, LRI, Wave Glider, Wave Glider Management System, WGMS, and SHARC are worldwide trademarks of LRI, Incorporated.

Other products and company names mentioned herein may be the trademarks of their respective owners.

Patents and Inventions

The Wave Glider product is subject to the following patents: Chile (48.628), China (2011 101405179), Egypt (25194), Indonesia

(P0027767), Israel (192828), Japan (2009533257), New Zealand (570562 and 592743), Singapore (144487), South Africa

(200806769), U.S. (7,371,136, 7,641,524, 8,043,133, and 8,287,323). Additional U.S. and non-U.S. patent applications are pending.

All aspects of the Wave Glider product have been developed at private expense by LRI, Inc.

Warranty

The information contained herein is subject to change without notice. The only warranties for LRI, Inc. products and services are

set forth in the express warranty statements accompanying such products and services. Nothing herein should be construed as a

warranty. LRI, Inc. is not liable for technical or editorial errors or omissions contained herein.

Customer Training Guide

Pre-Launch Wave Glider® SV3

08033 Rev A iii

Table of Contents

Chapter 1. Definitions.............................................................................................................. 1

Chapter 2. SV3 Pre-Launch Checklist..................................................................................... 2

Date: Auto filled...................................................................................................................... 2

Tech(s):................................................................................................................................. 2

Payload(s):............................................................................................................................ 2

Ship/Op Area: ....................................................................................................................... 2

Glider Name: Auto filled ........................................................................................................ 2

Organization:........................................................................................................................ 2

Project:.................................................................................................................................. 2

Chapter 3. Software Information............................................................................................. 3

Id: Auto filled.......................................................................................................................... 3

Chapter 4. Communication...................................................................................................... 3

WiFi Connection: Auto filled ................................................................................................. 3

Virtual Relay: Auto filled........................................................................................................ 4

WGMS Iridium: Auto filled..................................................................................................... 4

Vehicle Telemetry received: ................................................................................................ 4

Tracker Telemetry received:................................................................................................ 4

Chapter 5. Configuration......................................................................................................... 5

Topside Radio Direction Finder (RDF) Frequency:............................................................ 5

Hull RDF Frequency:............................................................................................................ 5

Drybox/CCU WGMS name: .................................................................................................. 6

Float name:........................................................................................................................... 6

Glider name: ......................................................................................................................... 6

Thrudder Serial Number: Auto filled..................................................................................... 6

Event definitions: ................................................................................................................. 6

Vehicle and tracker op area defined: .................................................................................. 7

Escalation list created/populated:....................................................................................... 8

Chapter 6. Vehicle Status........................................................................................................ 8

Battery [Wh] > 700 Wh: Auto filled........................................................................................ 8

Solar Power Indicators: > 0.00: Auto filled........................................................................... 9

AMPS Domains: Auto filled..................................................................................................11

Adaptable Modular Power System (AMPS) ...................................................................................... 11

Customer Training Guide

Pre-Launch Wave Glider® SV3

08033 Rev A iv

G1, G2, G3 - General Purpose Expansion Port Connectors ............................................................... 11

D1 - Debug Port Connector ................................................................................................................ 12

Domain_Name=Host, Node=1: Auto filled...........................................................................12

Domain_Name=Thrudder: Auto filled..................................................................................12

Domain_Name=Bat: Auto filled............................................................................................12

Domain Status:....................................................................................................................13

Chapter 7. Float.......................................................................................................................13

Wet-mates connected/lubed:..............................................................................................13

Connector covers secure: ..................................................................................................14

Drybox secure: ....................................................................................................................15

Contact info secure:............................................................................................................15

Hull:......................................................................................................................................16

Skeg/Fin:..............................................................................................................................16

Chapter 8. Sub.........................................................................................................................17

Hardware secure: ................................................................................................................17

Umbilical visual inspection: ...............................................................................................17

Roll pins inserted:...............................................................................................................18

Wings:..................................................................................................................................19

Thrudder: .............................................................................................................................19

Chapter 9. Vehicle Functionality............................................................................................19

Thruster Spin:......................................................................................................................19

Rudder Range of Motion:....................................................................................................20

Rudder right, left, center:....................................................................................................20

Fixed heading test (spin):...................................................................................................22

Waypoint course test (spin): ..............................................................................................22

Octopus Cable 01: Auto filled ..............................................................................................23

Octopus Cable 02: Auto filled ..............................................................................................23

AIS Status: Auto filled...........................................................................................................24

Photo Document:.................................................................................................................24

Chapter 10. Vehicle Communication and Telemetry ............................................................24

WX reporting: Auto filled......................................................................................................24

Airmar GPS: Auto filled ........................................................................................................26

Torpedo GPS: Auto filled......................................................................................................26

Customer Training Guide

Pre-Launch Wave Glider® SV3

08033 Rev A v

Water speed readings: Auto filled........................................................................................26

Obstacle Avoidance Status: Auto filled...............................................................................26

RDF beacon tested w/receiver:...........................................................................................27

Check alarms:......................................................................................................................27

Chapter 11. Comments...........................................................................................................27

Chapter 12. Technician Signature..........................................................................................27

Chapter 13. Save & Submit.....................................................................................................28

Chapter 14. Print.....................................................................................................................28

Upload photos to gallery website with album name YYYY-MM-DD:................................28

Log vehicle modifications in notebook: ............................................................................28

Chapter 15. Post Launch Procedures....................................................................................29

Clear alarms:........................................................................................................................29

Vehicle on mission:.............................................................................................................29

Create LAUNCHED comment in WGMS:............................................................................29

Customer Training Guide

Pre-Launch Wave Glider® SV3

08033 Rev A 1

Chapter 1. Definitions

This checklist is designed to provide trained personnel with a framework for preparing a

wave glider for autonomous operation. Simply filling out this form does not insure that a

wave glider is ready for launch.

The Pre-Launch checklist can be found on the OBSP under: Checklist< SV3 Pre-Launch.

Note: It is recommended that at least two OBSP pages be opened to conduct the Pre-

Launch. Refreshing the OBSP Pre-Launch page will clear any information already

entered, There is no refresh of fields, so values you grab at the time of starting onboard

Pre-Launch are a snapshot. In order to capture all relevant information, be sure that all

payloads, sensors and services are turned on. Finally, when you print a hard copy or pdf

of the pre-launch, the comments section will only show five lines.

AIS: Automatic Identification System

AMPS: Adaptable Modular Power System

APU: Auxiliary Power Unit

CCU: Command and Control Unit

MPU: Modular Payload Unit

OBSP: On-Board Server Page. This is the Wave Glider web page that users can access directly

via WiFi connection or via cellular communication if the user connected to the LRI VPN

(Virtual Private Network) and the wave glider is in cell range. .

PDC: Power Domain Controller

RTF: Radio Tracker Frequency

SN: Serial Number

STP: Standard Temperature and Pressure

Wet-mates: Alternate term for Wave Glider connectors.

WG: Wave Glider

WXS: Weather Station

Customer Training Guide

Pre-Launch Wave Glider® SV3

08033 Rev A 2

Chapter 2. SV3 Pre-Launch Checklist

Date: Auto filled

Date of inspection.

Tech(s):

Name of individual(s) responsible for Pre-Launching the Wave Glider.

Payload(s):

Types of payloads and sensors connected to the system.

Ship/Op Area:

Name of vessel deployed from and where the Wave Glider will be operating (e.g.

Po’okela/Kawaihae).

Glider Name: Auto filled

Name of Wave Glider.

Organization:

Name of WGMS organization that the Wave Glider will be operating in (e.g.

training.wgms.com).

Project:

Name of the current project that the Wave Glider will operate under (e.g. Training).

Customer Training Guide

Pre-Launch Wave Glider® SV3

08033 Rev A 3

Location: Auto filled

Auto filled with the system GPS coordinates.

Chapter 3. Software Information

Id: Auto filled

Auto filled report of wave glider name, Serial Number (SN), Software Version and

Production Build.

Chapter 4. Communication

WiFi Connection: Auto filled

This is to test if the vehicle is broadcasting WiFi. Open Network and Sharing Center –

View available networks and see if desired vehicle is an option.

Logging onto the vehicle webpage:

Click on the WiFi icon and select desired Glider

Password for WiFi connection will be, for example:

1. SV3-010:password = sv3-010-50m

2. Aquaman: password = aquaman-50m

Open a web browser (preferably Google Chrome) andenter 192.168.100.1 in the

address bar to access the vehicle log in page.

1. Username: Individual Specific - Pass: Individual Specific

WGMS –SV3 Commands –VehicleID –Expert –Add User –New user Id (Enter desired user

ID) –Password (Enter desired password) –Virtual Cell/Iridium –Click Add User –Once added

you can now enter ID and Password on login page.

Note: The username and password will be visible in the command log. Insure that this password

is not a common personal password.

Customer Training Guide

Pre-Launch Wave Glider® SV3

08033 Rev A 4

Note: If you do not see a vehicle on WiFi, you can turn it on with SV3 Commands

WiFi ON/OFF = SV3 Commands - Services - wirelessAccesPoint - Com channel

Cell/Iridium - WIFI On - WIFI Off

Virtual Relay: Auto filled

WGMS –Click vehicle icon –Click Raw Outputs –in left hand column check for VR Cell.

WGMS Iridium: Auto filled

WGMS –Click vehicle icon –Click Raw Outputs in left hand column –Iridium will be in

the same section that VR Cell is. It will be labeled IridumStatus under Structure Type.

Under the IMEI section it will be labeled by a combination of numbers.

Note: Iridium will always be on. This way if the Wave Glider goes out of Cell range it will

maintain communication

OBSP - Setup –All Vehicle Parameters –Enable –Look for Iridium Modem –Box

checked = ON

OBSP –Status –Amps –Host Domain –Slot 32 #1 –View if ON or OFF

Note: Always power up the Wave Glider outside (Clear view of sky). When an SV3 is powered

on Iridium is defaulted to ON. This will also allow the default GPS system to boot up properly.

DO NOT SET DEFAULT COMM CHANNEL. THIS WILL CAUSE VERY SERIOUS ISSUES!

Vehicle Telemetry received:

WGMS- First information box when scrolling down (Communications) –If all 0.00 It will

be an alarm. –If there is information double click it to see if it was sent via Cell or

Iridium. This information can also be viewed from the vehicle icon - telemetry tab.

Tracker Telemetry received:

Xeos Resilient Tracker: (White & Black tracker in bow, also known as the Resilient

Tracker) WGMS –Click the drop down menu (searching for gliders and trackers) - By

default; Resilient Trackers will be labeled with a “Res. Tracker”. The numbers are the

last four of the tracker’s IMEI, which can be found printed on the tracker. Information

Customer Training Guide

Pre-Launch Wave Glider® SV3

08033 Rev A 5

within parentheses indicates which vehicle it is on [e.g. Res. Tracker 4510 (SV3-017) or

Res. Tracker 5730 (Quick Silver)]. Etc.

Note: All trackers can have individual names. It is the responsibility of the operator to name the

trackers appropriately.

Battery Power –Click on the “Vehicle” icon – Telemetry - Battery level will be in the

Battery column.

1. It is recommended that the Resilient Tracker battery pack power level is at least

13.4 volts.

2. Battery will be depleted “around” 9.0 volts.

Report Rate can be set on Xeos (online.xeostech.com). Resilient Tracker GPS and

battery status is reported over Iridium at regular pre-configured intervals. The Liquid

Robotics factory configured Resilient Tracker reporting frequency is every 720 minutes

(12 hours), but you can set the reporting rate at 5 minute intervals from 10 minutes up to

1440 minute (24 hour) intervals, depending on your mission requirements.

1. WGMS

2. Click on the “Vehicle” icon – Telemetry –view report rate history to calculate

report rate.

3. It is recommended that youonly use Energizer Industrial (AA) batteries

4. Upon start-up, a tracker reports every 10 minutes for the 1st hour.

5. After the first six reports it will return to its default report rate.

Chapter 5. Configuration

Topside Radio Direction Finder (RDF) Frequency:

Radio beacon that was used in the past to track Wave Gliders with a Yagi antenna at

ranges of 10’s of kilometers in cases where all other communications methods failed.

This equipment has been phased out in most applications.

Hull RDF Frequency:

See Topside RDF Frequency.

Table des matières

Manuels Robotique populaires d'autres marques

STEMCenter USA

STEMCenter USA Pi-Bot v2.00 Manuel utilisateur

SunFounder

SunFounder PiDog Manuel utilisateur

Universal Robots

Universal Robots UR5 Manuel utilisateur

Universal Robots

Universal Robots E Series Manuel utilisateur

YASKAWA

YASKAWA MOTOMAN-MPL80 II Manuel utilisateur

EFORT

EFORT ECR5 Manuel d'instructions

Epson

Epson C8 Series Manuel utilisateur

WowWee

WowWee ROBOQUAD Manuel utilisateur

Milvus Robotics

Milvus Robotics SEIT 100 Manuel utilisateur

RoboMaster

RoboMaster AI Robot 2020 Standard Version Manuel utilisateur

fischertechnik

fischertechnik Mini Bots Manuel utilisateur

YASKAWA

YASKAWA MA2010 Manuel

Abicor Binzel

Abicor Binzel iCAT mini Manuel utilisateur

ABB

ABB OmniCore E10 Manuel utilisateur

YASKAWA

YASKAWA Motoman DX200 Manuel utilisateur

pitsco

pitsco Tetrix Max Manuel utilisateur

ECOVACS

ECOVACS DEEBOT R95 Manuel utilisateur

Feng Yuan

Feng Yuan Interstellar Warrior Manuel utilisateur