tag:blogger.com,1999:blog-72602316820123927812024-03-12T22:09:26.007-04:00MIT AUV LabIanhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comBlogger77125tag:blogger.com,1999:blog-7260231682012392781.post-79689191512668858782010-06-03T22:50:00.002-04:002010-06-27T17:44:25.982-04:00First Day of Deployment, 2010Here's our first day of deployments in 2010, as told in pictures:<br /><br /><iframe align="center" src="http://www.flickr.com/slideShow/index.gne?group_id=&user_id=&set_id=72157624252202466&tags=AUV,deployment" frameBorder="0" width="560" height="500" scrolling="no"></iframe>Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-28343418715315337862010-04-16T16:15:00.003-04:002010-06-27T17:46:44.043-04:00Compass Error Calculation<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/S9iWHFzhHMI/AAAAAAAAAdE/HJSSpauzx_U/s1600/OIV_INS_error.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 233px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/S9iWHFzhHMI/AAAAAAAAAdE/HJSSpauzx_U/s320/OIV_INS_error.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5465283196375604418" /></a><br />The results are in, and the compass did not do well. If the compass was reading correctly, then even with some level of error in each measurement we should see no trends.<br /><br />These do not appear to be random errors. We will have to try this again with another INS and see if we get a similar result.<br /><br style="clear:both;" />Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.com0tag:blogger.com,1999:blog-7260231682012392781.post-77793928143078816042010-04-14T16:09:00.001-04:002010-04-28T16:15:18.349-04:00Compass Error Measurement<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/S9iWRv2yWvI/AAAAAAAAAdU/5PJvCIisHlU/s1600/2010-04-14+12.08.17_pulling_wagon.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 241px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/S9iWRv2yWvI/AAAAAAAAAdU/5PJvCIisHlU/s320/2010-04-14+12.08.17_pulling_wagon.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5465283379462298354" /></a><br />Today we started investigating a possible error in our compass measurements by recording the INS heading and GPS coordinates. Basically, we mounted the INS and GPS on a piece of plywood, hooked up a laptop and car battery, and threw the whole setup into a non-ferrous plastic radio flyer wagon.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/S9iWOFZQ-dI/AAAAAAAAAdM/NdKyb1uJDTs/s1600/path.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 290px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/S9iWOFZQ-dI/AAAAAAAAAdM/NdKyb1uJDTs/s320/path.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5465283316524579282" /></a><br />This is the path recorded by the GPS as we went around and across the football field. The goal was to get data in as many directions as possible, but long enough runs in each direction so that we'd get good averages.<br /><br style="clear:both;" />Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-8804234119127182112010-04-05T12:37:00.003-04:002010-04-05T12:44:08.523-04:00Interactive AUV Mission Planning with Google EarthIn winter, we develop.<br /><br /><object width="560" height="340"><param name="movie" value="http://www.youtube.com/v/vK0wWH9Ijnk&hl=en_US&fs=1&rel=0&color1=0x2b405b&color2=0x6b8ab6&hd=1"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/vK0wWH9Ijnk&hl=en_US&fs=1&rel=0&color1=0x2b405b&color2=0x6b8ab6&hd=1" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="560" height="340"></embed></object><br /><br />For best results, watch the HD (720p) version in full screen.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-8755140137206713842009-10-15T19:26:00.003-04:002009-11-05T14:12:22.421-05:00The Search for Didemnum: Day 5 (Now THAT'S More Like It)<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SvMe14WPhMI/AAAAAAAAAco/uWBVEzRGxj4/s1600-h/000509.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SvMe14WPhMI/AAAAAAAAAco/uWBVEzRGxj4/s320/000509.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400694289154933954" /></a>We got off to a great start!<br /><br />Clear water, proper bottom type, and great lighting. Today is a day to find didemnum!<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SvMe2AGc5WI/AAAAAAAAAcw/wRrphzhRqn0/s1600-h/P1020637.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 240px; height: 320px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SvMe2AGc5WI/AAAAAAAAAcw/wRrphzhRqn0/s320/P1020637.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5400694291236185442" /></a>With the vehicle fully functional after the previous day's repairs, Seth and Mike began fishing in earnest.<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SvMeNEPcjKI/AAAAAAAAAcg/A-BMkFQkx9U/s1600-h/000618.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SvMeNEPcjKI/AAAAAAAAAcg/A-BMkFQkx9U/s320/000618.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400693587973016738" /></a>We're no experts on identifying tunicates, but we had no problem finding spectacular examples of sea life amongst the volumes of images that Odyssey brought back. <br /><br />This is a sunflower sea star.<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SvMeM3UmM4I/AAAAAAAAAcY/yT4h9Uyimb8/s1600-h/000944.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SvMeM3UmM4I/AAAAAAAAAcY/yT4h9Uyimb8/s320/000944.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400693584504959874" /></a>A skate...<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SvMeM_jsfFI/AAAAAAAAAcQ/Lqoy1-bIoEc/s1600-h/000988.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SvMeM_jsfFI/AAAAAAAAAcQ/Lqoy1-bIoEc/s320/000988.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400693586715769938" /></a>A flounder, doing a good job of blending in...<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SvMeMuq4uZI/AAAAAAAAAcI/BAKB2L040YQ/s1600-h/001258.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SvMeMuq4uZI/AAAAAAAAAcI/BAKB2L040YQ/s320/001258.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400693582182529426" /></a>A tiny solaster (literally, a sun star)...<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SvMeMYjQEXI/AAAAAAAAAcA/FMltiihELt8/s1600-h/P1020641-P1020667.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 154px; height: 320px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SvMeMYjQEXI/AAAAAAAAAcA/FMltiihELt8/s320/P1020641-P1020667.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400693576244924786" /></a>After taking a few thousand pictures, we decided to seek out more rocky bottomed waters by moving further east.<br /><br />Our recovery was complicated by the rocking of the boat, but as a team we are getting used to handling the swinging vehicle.<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SvMd_MyTo-I/AAAAAAAAAb4/FvKarY7O6vs/s1600-h/002559.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SvMd_MyTo-I/AAAAAAAAAb4/FvKarY7O6vs/s320/002559.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400693349748548578" /></a>(There were also some good pictures of the water column!)<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SvMd-4v_5lI/AAAAAAAAAbw/z3un0uhyetE/s1600-h/P1020668-P1020677.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 241px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SvMd-4v_5lI/AAAAAAAAAbw/z3un0uhyetE/s320/P1020668-P1020677.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400693344370157138" /></a>Our second deployment went very smoothly.<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SvMd-tF5bgI/AAAAAAAAAbo/-VgjEVg4MIQ/s1600-h/002891.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SvMd-tF5bgI/AAAAAAAAAbo/-VgjEVg4MIQ/s320/002891.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400693341240782338" /></a>Unfortunately, the water was far more turbid in our second area of operation. Sponges, anemones, and redfish dominated the images.<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SvMd-dnclUI/AAAAAAAAAbg/AgyFXxdcdiU/s1600-h/002900.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SvMd-dnclUI/AAAAAAAAAbg/AgyFXxdcdiU/s320/002900.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400693337086530882" /></a>The sponges look like potatoes in these images.<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SvMd-KbPr4I/AAAAAAAAAbY/TJczQ-lDne4/s1600-h/003394.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SvMd-KbPr4I/AAAAAAAAAbY/TJczQ-lDne4/s320/003394.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400693331935080322" /></a>Although beautiful to look at, anemones are not what we are after.<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SvMdZ_RJ38I/AAAAAAAAAbQ/9WSgmswXKBo/s1600-h/P1020679-P1020693.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 256px; height: 320px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SvMdZ_RJ38I/AAAAAAAAAbQ/9WSgmswXKBo/s320/P1020679-P1020693.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400692710464675778" /></a>As the light faded, we made our last recovery for the week and prepared to head back.<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SvMdZmrbJyI/AAAAAAAAAbI/Ez87gm1gw40/s1600-h/starfish.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SvMdZmrbJyI/AAAAAAAAAbI/Ez87gm1gw40/s320/starfish.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400692703863973666" /></a>We had pictures of too many starfish to count, in all shapes and sizes.<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SvMdZeeHjVI/AAAAAAAAAbA/qoRFDWg8p3Y/s1600-h/starfish-mussel.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SvMdZeeHjVI/AAAAAAAAAbA/qoRFDWg8p3Y/s320/starfish-mussel.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400692701660679506" /></a>This one was hanging out inside a mussel shell. I can't tell if it's eating or just resting.<br /><br style="clear:both" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SvMdZZBOFpI/AAAAAAAAAa4/CyPxjTW3BXk/s1600-h/sea_stars_and_crabs.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SvMdZZBOFpI/AAAAAAAAAa4/CyPxjTW3BXk/s320/sea_stars_and_crabs.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5400692700197295762" /></a>There were also quite a few crabs, hermit crabs, and sunflower sea stars.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-23708516459186547672009-10-14T23:30:00.003-04:002009-10-27T11:26:41.466-04:00Divide and Conquer<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SucQd3ZZNEI/AAAAAAAAAaw/D4TUwrjTvlc/s1600-h/OIV_deconstruction_on_deck.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 214px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SucQd3ZZNEI/AAAAAAAAAaw/D4TUwrjTvlc/s320/OIV_deconstruction_on_deck.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397300783699539010" /></a>While Mike performed a miraculous teardown and rebuild of the vehicle on the deck of the Isabella & Ava, <br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SucQdpU1XjI/AAAAAAAAAao/gv8uupzq86k/s1600-h/P1020628.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 298px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SucQdpU1XjI/AAAAAAAAAao/gv8uupzq86k/s320/P1020628.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5397300779922316850" /></a>Seth, Kyle, and I travelled back to Cambridge to put new oil into the thruster that had spent some time <a href="/2009/07/against-all-odds.html">at the bottom of Gloucester harbor</a>.<br /><br />We met back up late that night.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-84289869911027417852009-10-14T17:52:00.002-04:002009-10-27T11:19:29.816-04:00The Search for Didemnum: Day 4 (One Good Mission, and Downhill From There)<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SucKu73tqeI/AAAAAAAAAag/hPa4nn72Sgk/s1600-h/P1020588-P1020595.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 241px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SucKu73tqeI/AAAAAAAAAag/hPa4nn72Sgk/s320/P1020588-P1020595.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294479888460258" /></a>Today we were accompanied by Rachel from the <a href="http://www.northeastconsortium.org/index.shtml">Northeast Consortium</a> (NEC), the organization responsible for funding this trip. <br /><br />We decided to survey near the outflow pipe from Boston because we figured that it would be warmer and more likely to sustain didemnum.<br /><br />Deployment was rough. We immediately lost the vehicle behind the stern and had it pop up near the starboard bow. That can't be good.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SucKuuw9nwI/AAAAAAAAAaY/HYo6EeVsIm0/s1600-h/chart-nav-560.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 245px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SucKuuw9nwI/AAAAAAAAAaY/HYo6EeVsIm0/s320/chart-nav-560.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294476370484994" /></a>However, everything seemed to have survived intact, so we started our day of testing. After a few false starts, we ran a survey mission to see if the warmer water from the outflow pipe would make a difference in our images.<br /><br />It did...<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucKuYmFqrI/AAAAAAAAAaQ/WcfLShtPuEM/s1600-h/004024.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucKuYmFqrI/AAAAAAAAAaQ/WcfLShtPuEM/s320/004024.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294470419294898" /></a>Whether from the pipe or from the gale force winds during the previous night,<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SucKuO1_nDI/AAAAAAAAAaI/OmmPmLSkAEc/s1600-h/004025.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SucKuO1_nDI/AAAAAAAAAaI/OmmPmLSkAEc/s320/004025.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294467801652274" /></a>...the turbidity in the water made for <i>terrible</i> image quality. <br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucKt3Qz3JI/AAAAAAAAAaA/d5W3odUMPdw/s1600-h/004026.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucKt3Qz3JI/AAAAAAAAAaA/d5W3odUMPdw/s320/004026.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294461471677586" /></a>This lobster trap was one of the few recognizable objects in all our photos.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucKkUDNzqI/AAAAAAAAAZ4/ZTvBFkcJAJU/s1600-h/seth_fishing_rough_seas.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 214px; height: 320px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucKkUDNzqI/AAAAAAAAAZ4/ZTvBFkcJAJU/s320/seth_fishing_rough_seas.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294297400594082" /></a>Seth had no luck finding any fish, and the sea state didn't help.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SucKkM9Vd0I/AAAAAAAAAZw/zgIaBt6zYDY/s1600-h/005240.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SucKkM9Vd0I/AAAAAAAAAZw/zgIaBt6zYDY/s320/005240.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294295496881986" /></a>Jellyfish, on the other hand were found in abundance<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SucKj1AmbFI/AAAAAAAAAZo/Mfe-tvQN3aI/s1600-h/005262.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SucKj1AmbFI/AAAAAAAAAZo/Mfe-tvQN3aI/s320/005262.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294289068125266" /></a>throughout<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SucKjqFD43I/AAAAAAAAAZg/M50vHAnVbR0/s1600-h/005427.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SucKjqFD43I/AAAAAAAAAZg/M50vHAnVbR0/s320/005427.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294286134043506" /></a>the<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SucKjlqWhNI/AAAAAAAAAZY/1Enco7lewbU/s1600-h/005439.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SucKjlqWhNI/AAAAAAAAAZY/1Enco7lewbU/s320/005439.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294284948276434" /></a>water <br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucKUcrNzUI/AAAAAAAAAZQ/IOC-mbK628U/s1600-h/005443.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucKUcrNzUI/AAAAAAAAAZQ/IOC-mbK628U/s320/005443.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294024837942594" /></a>column.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucKUZfROdI/AAAAAAAAAZI/rz1LrCuI-Ek/s1600-h/005518.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucKUZfROdI/AAAAAAAAAZI/rz1LrCuI-Ek/s320/005518.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294023982528978" /></a>So <br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SucKUPkD4rI/AAAAAAAAAZA/yWKYkK-lLSw/s1600-h/005521.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SucKUPkD4rI/AAAAAAAAAZA/yWKYkK-lLSw/s320/005521.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294021318271666" /></a>many <br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucKT4cjePI/AAAAAAAAAY4/VJhINVyKolI/s1600-h/005592.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucKT4cjePI/AAAAAAAAAY4/VJhINVyKolI/s320/005592.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294015112771826" /></a>jellies!<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SucKTrczctI/AAAAAAAAAYw/eW2MyPlzEvw/s1600-h/P1020596-P1020619.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 175px; height: 320px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SucKTrczctI/AAAAAAAAAYw/eW2MyPlzEvw/s320/P1020596-P1020619.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5397294011624157906" /></a>We decided to haul up the vehicle to try another location. It was especially difficult with the waves being higher than they were yesterday. <br /><br />Odyssey swung quite a bit while we guided it to its cradle.<br /><br />That's when things got worse.<br /><br />"We're all done, guys" said Seth.<br /><br />"What?"<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SucJvBR1iII/AAAAAAAAAYI/ON3u9l1P5I8/s1600-h/P1020621.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SucJvBR1iII/AAAAAAAAAYI/ON3u9l1P5I8/s320/P1020621.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5397293381828577410" /></a>Besides the fact that the titanium thruster guard had been hit hard enough to crack one of its welds, <br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucJvaaJwKI/AAAAAAAAAYQ/oklqm_hwvho/s1600-h/P1020625.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucJvaaJwKI/AAAAAAAAAYQ/oklqm_hwvho/s320/P1020625.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5397293388574343330" /></a>and the fact that the fiberglass CTD shroud had taken a beating, <br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SucJvv39rtI/AAAAAAAAAYY/gfgtfOjPB3A/s1600-h/P1020622.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SucJvv39rtI/AAAAAAAAAYY/gfgtfOjPB3A/s320/P1020622.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5397293394336526034" /></a>it was the broken-off oil filling port in the thruster that got our attention.<br /><br />We had been oeprating with slowly-leaking oil all day! Worse, we had no way to refill and re-close the hole; the show was over.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucJv08DtDI/AAAAAAAAAYg/VAjwYTtyxCk/s1600-h/P1020624.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SucJv08DtDI/AAAAAAAAAYg/VAjwYTtyxCk/s320/P1020624.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5397293395695875122" /></a>You can see the red paint that scraped off the bottom of the boat and onto our thruster.<br /><br />There was no choice but to end the day early and attempt to do some emergency repairs. <br /><br />Back to the lab!<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SucJwIxjt6I/AAAAAAAAAYo/-JGKU_QUikc/s1600-h/P1020627.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SucJwIxjt6I/AAAAAAAAAYo/-JGKU_QUikc/s320/P1020627.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5397293401020544930" /></a>On the way back to shore, John caught a bird that had found its way into the wheelhouse (miles from shore) and turned it loose outside.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-39423413140117221572009-10-14T08:31:00.001-04:002009-10-26T05:55:27.314-04:00Battery Recharge<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SuVxTh3O4AI/AAAAAAAAAX4/lIHVyUZ-8ZU/s1600-h/chart-batteryvoltage-546.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 244px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SuVxTh3O4AI/AAAAAAAAAX4/lIHVyUZ-8ZU/s320/chart-batteryvoltage-546.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5396844308794892290" /></a>Our battery continues to have a much tighter difference between its max and min cell voltages than we did before we replaced supercell #10. <br /><br />This is what a healthy battery looks like.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-90785475844963624602009-10-13T22:58:00.003-04:002009-10-27T06:58:53.181-04:00The Search for Didemnum: Day 3 (Survey Patterns and Pictures)<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SuURhIwo9XI/AAAAAAAAAXw/6E_SykaiGRs/s1600-h/chart-nav-506.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 245px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SuURhIwo9XI/AAAAAAAAAXw/6E_SykaiGRs/s320/chart-nav-506.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738989458257266" /></a>Today we worked on our survey pattern behavior. We seem to have some troubles when heading due south.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SuURg3y0cFI/AAAAAAAAAXo/BtFInAOOr68/s1600-h/chart-nav-508.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 245px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SuURg3y0cFI/AAAAAAAAAXo/BtFInAOOr68/s320/chart-nav-508.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738984903995474" /></a>Aside from that, the surveys look pretty good.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SuURgkpDwaI/AAAAAAAAAXg/8AejogS-408/s1600-h/508-2m-000265.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SuURgkpDwaI/AAAAAAAAAXg/8AejogS-408/s320/508-2m-000265.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738979762782626" /></a>The images we are getting at 2m altitude are a little too pale. You can make out a scallop in this image, but not a lot of red channel is coming through.<br /><br />We will have to fly lower to get good quality.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SuURZSB9UhI/AAAAAAAAAXY/aNhK7BCtHrQ/s1600-h/chart-nav-511.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 245px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SuURZSB9UhI/AAAAAAAAAXY/aNhK7BCtHrQ/s320/chart-nav-511.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738854507860498" /></a>At 1.4 meters altitude, things are considerably better!<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SuURZCClN0I/AAAAAAAAAXQ/WsxbsQzYqK0/s1600-h/511-1.5m-000838.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SuURZCClN0I/AAAAAAAAAXQ/WsxbsQzYqK0/s320/511-1.5m-000838.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738850215507778" /></a>A crab.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SuURYywjlWI/AAAAAAAAAXI/EOffiWTtHNo/s1600-h/511-1.5m-000966.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SuURYywjlWI/AAAAAAAAAXI/EOffiWTtHNo/s320/511-1.5m-000966.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738846113371490" /></a>A sea star.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SuURYsBR3sI/AAAAAAAAAXA/475XxXDMh7M/s1600-h/511-1.5m-001041.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SuURYsBR3sI/AAAAAAAAAXA/475XxXDMh7M/s320/511-1.5m-001041.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738844304465602" /></a>A lobster.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SuURYuc6HZI/AAAAAAAAAW4/GSr14jVpi0E/s1600-h/511-1.5m-001043.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SuURYuc6HZI/AAAAAAAAAW4/GSr14jVpi0E/s320/511-1.5m-001043.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738844957220242" /></a>A sunflower sea star, a sculpin, and a "regular" sea star.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SubRbTE91aI/AAAAAAAAAYA/d0o4D5reB9w/s1600-h/P1020550.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SubRbTE91aI/AAAAAAAAAYA/d0o4D5reB9w/s320/P1020550.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5397231470357894562" /></a>We prepared to make the day's first recovery. Working as a team makes what would be an awkward (and somewhat hazardous) process go quite smoothly.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SuURB7dUzRI/AAAAAAAAAWo/oRE4c1TETN0/s1600-h/P1020554-P1020563.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 242px; height: 320px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SuURB7dUzRI/AAAAAAAAAWo/oRE4c1TETN0/s320/P1020554-P1020563.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738453311638802" /></a>John (the first mate) is very good at coordinating the recovery process.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SuURBj88FnI/AAAAAAAAAWg/rEmBzHYwZzE/s1600-h/P1020568-P1020582.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 241px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SuURBj88FnI/AAAAAAAAAWg/rEmBzHYwZzE/s320/P1020568-P1020582.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738447001785970" /></a>As the seas get rougher (from 25 kt gusts), deployment gets more "interesting". We try extra-hard to get the vehicle far from the boat before we let it go.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SuURCHG_OMI/AAAAAAAAAWw/ri5yr0VaN3w/s1600-h/chart-nav-542.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 245px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SuURCHG_OMI/AAAAAAAAAWw/ri5yr0VaN3w/s320/chart-nav-542.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738456439175362" /></a>After putting Odyssey back in the water, we weren't able to accomplish much. There were some transient control issues in our way.<br /><br />We did get a good sense of our minimum turning radius (at cruising speed) when we tried to hold a position.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SuURBchsCHI/AAAAAAAAAWY/AIjeZKQX7cw/s1600-h/001644.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SuURBchsCHI/AAAAAAAAAWY/AIjeZKQX7cw/s320/001644.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738445008439410" /></a>All in all, we confirmed that the camera system is working reliably that our survey patterns actually look like survey patterns (even if dead reckoning is still a little behind). <br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SuURBGPPuDI/AAAAAAAAAWQ/3_ZTNlY_4zA/s1600-h/001459.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SuURBGPPuDI/AAAAAAAAAWQ/3_ZTNlY_4zA/s320/001459.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5396738439025506354" /></a>Every trip to the surface has pictures filled with these jellyfish.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-50334008321636396812009-10-09T16:09:00.001-04:002009-10-19T18:13:58.255-04:00Ready to Re-deploy<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/StzkQnknHjI/AAAAAAAAAWI/ikRnSDwrOOI/s1600-h/P1020525.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/StzkQnknHjI/AAAAAAAAAWI/ikRnSDwrOOI/s320/P1020525.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5394437427834592818" /></a>With the RTU overhaul complete, we are ready to get back to hunting Didemnum.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-86837877929717262432009-10-08T11:29:00.001-04:002009-10-19T13:09:00.885-04:00RTU Stress Testing (again)We did some more stress tests on the RTU after re-tightening the bolts.<br /><br /><object width="560" height="340"><param name="movie" value="http://www.youtube.com/v/soRaD-xsuR4&hl=en&fs=1&color1=0x2b405b&color2=0x6b8ab6"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/soRaD-xsuR4&hl=en&fs=1&color1=0x2b405b&color2=0x6b8ab6" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="560" height="340"></embed></object>Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-90575164211621092112009-10-07T12:21:00.000-04:002009-10-19T07:29:03.414-04:00Another RTU Overhaul<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/StxMPPtIeNI/AAAAAAAAAV4/iYIAZUwtOp0/s1600-h/P1020522.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/StxMPPtIeNI/AAAAAAAAAV4/iYIAZUwtOp0/s320/P1020522.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5394270278480591058" /></a>Back at the lab, the <a href="http://seagrant.mit.edu/auvwiki/index.php/Odyssey_IV_RTU">RTU</a> had to be removed so that we could service it.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/StxMPbAHetI/AAAAAAAAAWA/wrFeYLbygZM/s1600-h/P1020523.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 228px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/StxMPbAHetI/AAAAAAAAAWA/wrFeYLbygZM/s320/P1020523.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5394270281513007826" /></a>After draining the oil and opening the housing, it was clear that some of the bolts holding the stator had worked themselves loose again. This is a known issue, caused by a shortcoming in the design of the RTU. <br /><br />For now, the only thing we can do is re-tighten the bolts and re-assemble the unit.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-42406850204545458722009-10-06T20:11:00.002-04:002009-10-25T23:07:46.304-04:00The Search for Didemnum: Day 2 (Double Success, Double Failure)<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/StHoWz5hvBI/AAAAAAAAAVw/ZXspCkbqjAo/s1600-h/P1020461.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/StHoWz5hvBI/AAAAAAAAAVw/ZXspCkbqjAo/s320/P1020461.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5391345707525454866" /></a>On our second day out, we went a few miles further offshore to try some surveys in roughly 100 feet of water. From this far out, we could see the Boston skyline relatively clearly.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/StHoSfYOW1I/AAAAAAAAAVo/0THCLRoWpRw/s1600-h/P1020464-P1020479_composite_s.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 241px; height: 320px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/StHoSfYOW1I/AAAAAAAAAVo/0THCLRoWpRw/s320/P1020464-P1020479_composite_s.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5391345633297587026" /></a>The day's first deployment went smoothly. <br /><br />The goals for our second day out were to find out what altitude is best for taking pictures, and to see if Justin's changes to the survey behavior could help straighten out the tracklines when the vehicle is at depth.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/StHoNbQJosI/AAAAAAAAAVg/ZvJ4dD9VTlI/s1600-h/contactsheet-467.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 85px; height: 320px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/StHoNbQJosI/AAAAAAAAAVg/ZvJ4dD9VTlI/s320/contactsheet-467.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5391345546290635458" /></a>In this test, we stepped through altitudes from 1.8 meters to 1.1 meters in increments of 10 centimeters. The results are exactly what we had hoped for: consistently good images, and a better idea of what range of altitudes will produce them.<br /><br />Notice the difference in the amount of red channel as the vehicle approaches the bottom. To get good information from red light, we have to fly very close to the bottom. A difference of a few tens of centimeters makes a big difference in light quality!<br /><br />We also had one flash misfire, the cause of which is unknown. <br /><br />Overall, this set of images is a huge success; we can start doing image surveys in earnest now that we know the physical focus and aperture settings are in the right place.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/StHoIY5gnuI/AAAAAAAAAVY/zYh7sBXItys/s1600-h/chart-nav-472.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 245px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/StHoIY5gnuI/AAAAAAAAAVY/zYh7sBXItys/s320/chart-nav-472.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5391345459759455970" /></a>The new survey behavior also worked well... mostly. The tracklines are much straighter, but what happened at the 4th corner? <br /><br />Before we could wonder too much, Justin noticed that the vehicle was running in circles under remote control and had a problem with rolling over. <br /><br />Uh oh.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/StHn9_phafI/AAAAAAAAAVQ/Mt_Jxre2NJk/s1600-h/P1020484-P1020492_composite.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 227px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/StHn9_phafI/AAAAAAAAAVQ/Mt_Jxre2NJk/s320/P1020484-P1020492_composite.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5391345281182820850" /></a>Mike and Seth sprang into action to check it out.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/StHn0HcOfbI/AAAAAAAAAVI/sCGbzTAjL1k/s1600-h/P1020506-P1020509_composite_s.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 238px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/StHn0HcOfbI/AAAAAAAAAVI/sCGbzTAjL1k/s320/P1020506-P1020509_composite_s.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5391345111475846578" /></a>Both thruster cables were still attached. So, we decided that recovering Odyssey would be the only way to fully determine the cause of the problem. Kyle got to try his hand at recovery.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/StHnsoxFGaI/AAAAAAAAAVA/zorW7N1UIlw/s1600-h/P1020510.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/StHnsoxFGaI/AAAAAAAAAVA/zorW7N1UIlw/s320/P1020510.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5391344982982728098" /></a>Once the vehicle was on deck, the problem was fairly evident. We had lost one of the ninja pins that holds the thruster in proper orientation on the <a href="http://seagrant.mit.edu/auvwiki/index.php/Odyssey_IV_RTU">RTU</a> shaft, and the thruster had worked its way to the opposite direction.<br /><br />Only 3/4" of the thruster was still within the coupling. Had it worked its way fully loose, we would have lost it permanently!<br /><br />Unfortunately, there was a second problem as well: the RTU had fallen out of alignment, and was unable to produce adequate torque on the shaft to properly position the thrusters. This is a game ender; we have to take the RTU back to the lab for disassembly.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/StHnm7F1zLI/AAAAAAAAAU4/8D-kM1r2gPU/s1600-h/P1020511.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/StHnm7F1zLI/AAAAAAAAAU4/8D-kM1r2gPU/s320/P1020511.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5391344884822428850" /></a>Catching a dogfish lifted our spirits somewhat. We threw it back.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/StHndih2ypI/AAAAAAAAAUw/WRc2POwOqiU/s1600-h/mission_467_mosaic_third_attempt.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 154px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/StHndih2ypI/AAAAAAAAAUw/WRc2POwOqiU/s320/mission_467_mosaic_third_attempt.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5391344723610225298" /></a>On the steam back to the harbor, I was able to put together a small mosaic of a few good images using the <a href="http://hugin.sourceforge.net">hugin panorama stitcher</a> (not to be confused with the <a href="http://www.km.kongsberg.com/ks/web/nokbg0240.nsf/allweb/b3f87a63d8e419e5c1256a68004e946c?opendocument">Hugin AUV</a>).<br /><br />When the RTU is fixed, we should be in very good shape to get more like this!Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-26374117291397248842009-10-06T09:03:00.001-04:002009-10-09T17:08:54.330-04:00The Proof: We Actually Did Fix The Battery<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/Ss-ltn0RyWI/AAAAAAAAAUo/9jzuvjOXeCw/s1600-h/chart_battery_recharge_456.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 245px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/Ss-ltn0RyWI/AAAAAAAAAUo/9jzuvjOXeCw/s320/chart_battery_recharge_456.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5390709482186721634" /></a>It looks like despite <a href="/2009/10/battery-scare-in-11th-hour.html">the battery problems we had last week</a>, our battery is healthy and doesn't have <a href="/2009/09/visual-servoing-at-unh-day-3-style.html">the one divergent supercell that we noticed during UNH testing</a>.<br /><br />You can also see the point at which we returned from dinner to find that the power supply had switched off.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-47323434968865993552009-10-05T21:45:00.004-04:002009-10-19T07:21:13.707-04:00The Search for Didemnum: Day 1<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/Ss8_23fNHTI/AAAAAAAAAUg/RMC6V5-wTkY/s1600-h/P1020352.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/Ss8_23fNHTI/AAAAAAAAAUg/RMC6V5-wTkY/s320/P1020352.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5390597490826091826" /></a>Today we started our hunt for the invasive species <a href="http://woodshole.er.usgs.gov/project-pages/stellwagen/didemnum/">Didemnum Vexillum</a>. Our equipment was packed and ready to go<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8_xdq07HI/AAAAAAAAAUY/OcdJqGUETyw/s1600-h/P1020354.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 240px; height: 320px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8_xdq07HI/AAAAAAAAAUY/OcdJqGUETyw/s320/P1020354.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5390597397996170354" /></a>We left at 7am to beat the traffic on our way to Scituate.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/Ss8_tSlpG3I/AAAAAAAAAUQ/hJmDv1HDn-U/s1600-h/P1020356.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 240px; height: 320px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/Ss8_tSlpG3I/AAAAAAAAAUQ/hJmDv1HDn-U/s320/P1020356.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5390597326302157682" /></a>Once we arrived, we spent the next 2 hours moving our stuff onto the F/V Isabella & Ava and getting it stowed properly.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8_o1LqcbI/AAAAAAAAAUI/1nY68oK5jHs/s1600-h/P1020369-P1020384_composite_s.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 274px; height: 320px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8_o1LqcbI/AAAAAAAAAUI/1nY68oK5jHs/s320/P1020369-P1020384_composite_s.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5390597249689088434" /></a>The boat's crane was big enough (and the tide was high enough) to lift <a href="http://seagrant.mit.edu/auvwiki/index.php/Odyssey_IV">Odyssey IV</a> out of the pickup truck and place it safely on deck.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8_ko0LX9I/AAAAAAAAAUA/elU1s65iXdU/s1600-h/P1020387.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8_ko0LX9I/AAAAAAAAAUA/elU1s65iXdU/s320/P1020387.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5390597177649881042" /></a><a href="http://seagrant.mit.edu/auvwiki/index.php/REx_II">REx II</a> came too.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/Ss8_hnPoIsI/AAAAAAAAAT4/9hX1jLKhcos/s1600-h/P1020390.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/Ss8_hnPoIsI/AAAAAAAAAT4/9hX1jLKhcos/s320/P1020390.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5390597125688533698" /></a>Mike, Seth, and Andrew re-assembled the vehicle: fins, thrusters, and thruster guards.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/Ss8_eHTfBqI/AAAAAAAAATw/mSjNHGVzdX4/s1600-h/P1020391.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/Ss8_eHTfBqI/AAAAAAAAATw/mSjNHGVzdX4/s320/P1020391.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5390597065575171746" /></a>I pieced together the quick-release and recovery pole with appropriate hardware to attach to the boat's crane.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/Ss8_ZJnszcI/AAAAAAAAATo/y7uEXqg1I8A/s1600-h/P1020394.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/Ss8_ZJnszcI/AAAAAAAAATo/y7uEXqg1I8A/s320/P1020394.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5390596980297485762" /></a>And away we go!<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/Ss8_VYXHCUI/AAAAAAAAATg/tQQj1O6Em_A/s1600-h/P1020402-P1020407_composite_s.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 228px; height: 320px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/Ss8_VYXHCUI/AAAAAAAAATg/tQQj1O6Em_A/s320/P1020402-P1020407_composite_s.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5390596915534956866" /></a>We didn't take any chances on our first deployment; we used the zodiac to pull the AUV away from the side of the boat. Better to err on the side of caution! Our first set of missions was now under way.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8_RqWDQeI/AAAAAAAAATY/Lnkwgpq3aIE/s1600-h/contactsheet_450.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 265px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8_RqWDQeI/AAAAAAAAATY/Lnkwgpq3aIE/s320/contactsheet_450.jpg" border="0" alt="" id="BLOGGER_PHOTO_ID_5390596851642876386" /></a>The first few dive missions were very disappointing -- the camera only able to capture overly dark images. It was clear that we would have to recover and adjust the aperature.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/Ss8_Mm6tvNI/AAAAAAAAATQ/H-dyrpIXYDw/s1600-h/P1020408.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/Ss8_Mm6tvNI/AAAAAAAAATQ/H-dyrpIXYDw/s320/P1020408.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5390596764823567570" /></a>Rather than recover immediately, Justin took the opportunity to do some survey missions to test the vehicle's "survey behavior" functionality.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/Ss8_Di0Q2VI/AAAAAAAAATI/nfYXJC_ex5Q/s1600-h/chart_nav_438.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 245px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/Ss8_Di0Q2VI/AAAAAAAAATI/nfYXJC_ex5Q/s320/chart_nav_438.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5390596609103944018" /></a>The first survey (done on the surface) was a poor performer. The vehicle didn't really stay on each of its tracklines before reaching the next of its waypoints.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/Ss8-_ZuN-hI/AAAAAAAAATA/fmEikDU-bc8/s1600-h/chart_nav_440.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 245px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/Ss8-_ZuN-hI/AAAAAAAAATA/fmEikDU-bc8/s320/chart_nav_440.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5390596537943194130" /></a>Making the tracklines longer (again on the surface) produced a much cleaner lawnmower survey pattern.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/Ss8-8iKZCZI/AAAAAAAAAS4/kIrL1hhj9ME/s1600-h/chart_nav_442.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 245px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/Ss8-8iKZCZI/AAAAAAAAAS4/kIrL1hhj9ME/s320/chart_nav_442.png" border="0" alt="" id="BLOGGER_PHOTO_ID_5390596488669235602" /></a>Running the survey at depth showed us that we still have a few control bugs to work out. With that, it was time to recover the vehicle and adjust the camera.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8-2KfB7aI/AAAAAAAAASw/gKyMDVAvoq4/s1600-h/P1020410.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8-2KfB7aI/AAAAAAAAASw/gKyMDVAvoq4/s320/P1020410.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5390596379234135458" /></a>Instead of taking the entire vehicle apart, we were able to simply remove the bottom fairing and open up the bottom end of the camera bottle with a strap wrench that they had on the boat. We were able to re-adjust the camera in record time!<br /><br />Not shown: the recovery process. I got to try out my new <a href="/2009/10/new-recovery-pole.html">recovery pole</a>, and it worked like a charm! I snagged the vehicle on the first try.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/Ss8-wciBnmI/AAAAAAAAASo/NPrH_7tkNbc/s1600-h/P1020418-P1020423_composite.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 284px; height: 320px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/Ss8-wciBnmI/AAAAAAAAASo/NPrH_7tkNbc/s320/P1020418-P1020423_composite.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5390596280999321186" /></a>With the camera adjustment done, it was time to re-deploy. We were much more confident the second time around. <br /><br />If you look closely, you can see the horizon tilt as the boat heels over due to the weight of the AUV. This helped keep spacing between the AUV and the gunwale. <br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8-rfs8gPI/AAAAAAAAASg/nodnh3coVAg/s1600-h/P1020425-P1020428_composite.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 242px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8-rfs8gPI/AAAAAAAAASg/nodnh3coVAg/s320/P1020425-P1020428_composite.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5390596195951083762" /></a>Our quick-release hook makes life very easy.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/Ss8-mMN8vOI/AAAAAAAAASY/0twXIExzAcA/s1600-h/contactsheet_452.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 246px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/Ss8-mMN8vOI/AAAAAAAAASY/0twXIExzAcA/s320/contactsheet_452.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5390596104821456098" /></a>The next camera test was also disappointing.<br /><br />"I think my eyes <i>are</i> getting better. Instead of a big dark blur, I see a big light blur."<br /><br />These pictures were taken at a 2-meter altitude, and you can see hints of the sea floor if you squint. <br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/Ss8-frXIc5I/AAAAAAAAASQ/qvro6IsikJA/s1600-h/contactsheet_453.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 286px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/Ss8-frXIc5I/AAAAAAAAASQ/qvro6IsikJA/s320/contactsheet_453.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5390595992922387346" /></a>We decided to go even lower -- to 1 meter -- which puts us at the limit of what our DVL is able to sense for altitude.<br /><br />But we finally captured some good images of the sea floor with our new camera system! This is excellent!<br /><br />The only problem is that the best image in this set (frame 236) was taken without a DVL lock, so we have no idea what altitude produced it. The images before and after it are no help either.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8-aBQ9lTI/AAAAAAAAASI/EmFns37SEGU/s1600-h/P1020429-P1020451_composite_s.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8-aBQ9lTI/AAAAAAAAASI/EmFns37SEGU/s320/P1020429-P1020451_composite_s.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5390595895722874162" /></a>Since we had to get back to the harbor before low tide, it was time for the second recovery of the day. <br /><br />If you look closely at the top row, you'll see the new recovery pole in action. The boat captain was an excellent crane operator and the vehicle was back in its cradle in just a few moments.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/Ss8-VPEg7bI/AAAAAAAAASA/wXvVgj5Qxio/s1600-h/P1020454.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/Ss8-VPEg7bI/AAAAAAAAASA/wXvVgj5Qxio/s320/P1020454.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5390595813529415090" /></a>We steamed back to Scituate.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8-QUGwLBI/AAAAAAAAAR4/SE_hvrA8Az4/s1600-h/000236.ppm.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8-QUGwLBI/AAAAAAAAAR4/SE_hvrA8Az4/s320/000236.ppm.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5390595728981634066" /></a>This was our one good result of the day. It's not much, but it proves that the camera's physical settings don't need to be changed; all we need to do is tweak parameters tomorrow to get more images like this one.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8-EGApIOI/AAAAAAAAARw/t7x_nYMJxDA/s1600-h/P1020458.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8-EGApIOI/AAAAAAAAARw/t7x_nYMJxDA/s320/P1020458.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5390595519039480034" /></a>We set up the charger before dinner, but after eating we checked on it and noticed that the power supply had tripped. This was probably when the boat's power was switched over to the auxiliary generator.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8-A5BqAqI/AAAAAAAAARo/nQlpIy3n4yg/s1600-h/P1020459.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/Ss8-A5BqAqI/AAAAAAAAARo/nQlpIy3n4yg/s320/P1020459.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5390595464014463650" /></a>Back to the hotel! One day of testing down, 4 to go!Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-19765501209787090402009-10-02T15:48:00.001-04:002009-10-07T15:41:44.718-04:00New Recovery Pole<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/Sszub4DiOJI/AAAAAAAAARg/1gWJp2NhN_E/s1600-h/P1020294.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/Sszub4DiOJI/AAAAAAAAARg/1gWJp2NhN_E/s320/P1020294.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5389945016726730898" /></a>I put together a recovery pole for Odyssey IV out of some spare steel tubing, some hose clamps, a carabiner, and a length of 3/4" EMT conduit.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SszuYk5Ad4I/AAAAAAAAARY/n8cJyuJcqEU/s1600-h/P1020296.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SszuYk5Ad4I/AAAAAAAAARY/n8cJyuJcqEU/s320/P1020296.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5389944960042694530" /></a>The carabiner will be attached to the ship's crane, and will slip out of the pole once it has been clipped to the vehicle's lifting bail. We will find out how well it works next week!Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-18117154378084511642009-10-02T14:59:00.002-04:002009-10-07T15:37:49.970-04:00Battery Scare in the 11th Hour!<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/Sszlzk684CI/AAAAAAAAARQ/zyn-7Ha52so/s1600-h/P1020284.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 240px; height: 320px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/Sszlzk684CI/AAAAAAAAARQ/zyn-7Ha52so/s320/P1020284.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5389935528302665762" /></a>While we were re-installing the <a href="http://seagrant.mit.edu/auvwiki/index.php/Odyssey_IV_Battery">battery</a> into its glass sphere (after replacing <a href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SrOZSPKes0I/AAAAAAAAAQY/0DH79FlrRD0/s1600-h/Battery+Voltages+Recharging.png">the under-performing cell #10</a>), there was a soft pop, a crackle, and then a hiss as clouds of tan smoke filling the air.<br /><br />Some part of the battery had short circuited; something was seriously wrong!<br /><br />We had to take the battery apart again to see what happened and to try and fix it. We are especially under the gun to fix this, because we are supposed to deploy on Monday to look for <a href="http://woodshole.er.usgs.gov/project-pages/stellwagen/didemnum/">didemnum</a>! Yikes!<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/Sszlwe3tZpI/AAAAAAAAARI/_gpVX-L00TU/s1600-h/P1020286.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/Sszlwe3tZpI/AAAAAAAAARI/_gpVX-L00TU/s320/P1020286.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5389935475138848402" /></a>The source of the crackle became apparent; it was the sound of a wire sparking and melting itself out of its jacket. You can see the bits of melted black jacket on the red wire.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SszltmAJ4fI/AAAAAAAAARA/TAvmsyp9QlE/s1600-h/P1020287.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SszltmAJ4fI/AAAAAAAAARA/TAvmsyp9QlE/s320/P1020287.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5389935425513710066" /></a>There were some burn marks on the outside of the battery too.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/Sszlqg9fBgI/AAAAAAAAAQ4/Nd_5fP7dHPQ/s1600-h/P1020288.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/Sszlqg9fBgI/AAAAAAAAAQ4/Nd_5fP7dHPQ/s320/P1020288.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5389935372620727810" /></a>But, the real damage was on the corner of the cell where the smoke forced its way out.<br /><br />We count ourselves very lucky that only one supercell was damaged and that nothing caught on fire. In the end, we had to use the supercell that had been removed as the replacement for the one that was damaged (although we recharged it). A net gain in the end, but only a small gain.<br /><br style="clear:both;" />Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-87119623185225634372009-09-25T14:30:00.000-04:002009-10-07T14:43:42.669-04:00Around the AmericasThe folks on the <a href="http://www.aroundtheamericas.org/">Around the Americas</a> cruise <a href="http://www.aroundtheamericas.org/story/Crew+Log+97+-+Boston%2C+Massachusetts">stopped by</a> to build some <a href="http://seaperch.mit.edu/">sea perch</a> and get a demo of our <a href="http://seagrant.mit.edu/auvwiki/index.php/REx_II">REx II</a> vehicle.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-17665826241682007352009-09-14T11:36:00.003-04:002009-10-07T14:58:34.080-04:00Power Supply Crate<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SsYCFwymGsI/AAAAAAAAAQw/m7gms4tjj1s/s1600-h/P1020249_s.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 200px; height: 136px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SsYCFwymGsI/AAAAAAAAAQw/m7gms4tjj1s/s200/P1020249_s.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5387996302215092930" /></a>One of the annoyances of transporting our support gear has been finding ways to carry and stack the power supply that we use to recharge <a href="http://seagrant.mit.edu/auvwiki/index.php/Odyssey_IV_Battery">Odyssey IV's battery</a>. The charging cable is 50 feet or so and 1" in diameter -- a bit difficult to wrap your hands around when it's all coiled up. The power supply itself is large and flat with protruding pieces on all sides (rackmount ears, knobs, and terminals).<br /><br />To kill 2 birds with one stone, I made a crate that uses the power supply for its bottom.<br /><br style="clear:both;" /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SsYCC64XqUI/AAAAAAAAAQo/_bbc2RKNyz0/s1600-h/P1020252_s.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 200px; height: 150px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SsYCC64XqUI/AAAAAAAAAQo/_bbc2RKNyz0/s200/P1020252_s.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5387996253384059202" /></a>One of the constraints I put on this project was to be able to get the power supply out without using tools. So, I made some notches for the ears to fit into instead of using the rack-mounting holes. This keeps the power supply from sliding around and also keeps a gap around the edge so that air can get into its vents.<br /><br style="clear:both;" /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SsYB-4QSAHI/AAAAAAAAAQg/9TchNO0_Mas/s1600-h/P1020253_s.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 200px; height: 150px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SsYB-4QSAHI/AAAAAAAAAQg/9TchNO0_Mas/s200/P1020253_s.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5387996183959568498" /></a>The front part was a bit more interesting. I had to be able to access the knobs as well as leave enough room to lift the power supply out of the notches. On the other hand, I had to prevent the cable from spilling out. The solution was to have a large wooden latch that would rest on top of the supply to retain the cable but could be flipped up to remove the power supply.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-76419746992959159462009-09-11T20:19:00.000-04:002009-09-18T10:30:53.507-04:00Visual Servoing at UNH, Day 3: Style points<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SrOZSPKes0I/AAAAAAAAAQY/0DH79FlrRD0/s1600-h/Battery+Voltages+Recharging.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 245px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SrOZSPKes0I/AAAAAAAAAQY/0DH79FlrRD0/s320/Battery+Voltages+Recharging.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5382814518225056578" /></a>I had written a new web-based GUI for the vehicle's onboard database, with some <a href="http://teethgrinder.co.uk/open-flash-chart-2/">open flash chart</a> graphing capabilities. When we recorded the overnight recharging of the <a href="http://seagrant.mit.edu/auvwiki/index.php/Odyssey_IV_Battery">Odyssey IV battery</a>, my code got its chance to shine.<br /><br />As you can see, cell 10 seems to be defective and it will probably be replaced soon.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SrOXb72v99I/AAAAAAAAAQI/qAEt92eJnSc/s1600-h/Closed+loop+sway.png"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 245px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SrOXb72v99I/AAAAAAAAAQI/qAEt92eJnSc/s320/Closed+loop+sway.png" border="0" alt=""id="BLOGGER_PHOTO_ID_5382812485817464786" /></a>Since we were able to closed-loop control our position and yaw based on the camera, and our altitude based on the DVL, it made sense to close the loop on sway based on our heading. <br /><br />This means that we can say "look at the south side of the pipe", and it maintains a position on the south side of the pipe. In this nav plot, we visited the east, south, west, and north sides.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SrOXYRK_xwI/AAAAAAAAAQA/DerNME4o1BU/s1600-h/P1020219.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 240px; height: 320px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SrOXYRK_xwI/AAAAAAAAAQA/DerNME4o1BU/s320/P1020219.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382812422820054786" /></a>We packed up and headed back to the lab. Another very successful trip!Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-88401723442446929602009-09-10T19:53:00.004-04:002009-09-18T10:08:19.350-04:00Visual Servoing at UNH, Day 2<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SrORQtYafYI/AAAAAAAAAP4/EBoG5MPQx8o/s1600-h/P1020208.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SrORQtYafYI/AAAAAAAAAP4/EBoG5MPQx8o/s320/P1020208.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382805695883804034" /></a>The day started off very well, with us checking out the mounting pole for a piece of multibeam sonar equipment that was being tested earlier in the week.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SrORLbh0nGI/AAAAAAAAAPw/b_07cluliFM/s1600-h/P1020218.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SrORLbh0nGI/AAAAAAAAAPw/b_07cluliFM/s320/P1020218.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382805605192080482" /></a>Satisfied that the image processing component was working properly, we switched to the 13cm pipe that we would be using for our demo.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SrORFptJfHI/AAAAAAAAAPo/imgjmp9YHYE/s1600-h/P1020216.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SrORFptJfHI/AAAAAAAAAPo/imgjmp9YHYE/s320/P1020216.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382805505918467186" /></a>Almost immediately, we ran into trouble... all of our calculations for distance were off. We ran and re-ran our calculations for the angular resolution of the camera, and for calculating our distance from the pipe based on its width in pixels on the video.<br /><br />An hour or 2 later, we noticed that we had accidentally declared our angular resolution as a boolean instead of a double. That's a pretty big error! Surprisingly, it only affected our distance calculation by a factor of ten. But once we fixed it, we were <b>spot on</b>.<br /><br style="clear:both;" /><br />The results are dramatic! <br /><object width="500" height="405"><param name="movie" value="http://www.youtube.com/v/Kz0IleKTtt8&hl=en&fs=1&rel=0&color1=0x2b405b&color2=0x6b8ab6&border=1"></param><param name="allowFullScreen" value="true"></param><param name="allowscriptaccess" value="always"></param><embed src="http://www.youtube.com/v/Kz0IleKTtt8&hl=en&fs=1&rel=0&color1=0x2b405b&color2=0x6b8ab6&border=1" type="application/x-shockwave-flash" allowscriptaccess="always" allowfullscreen="true" width="500" height="405"></embed></object>Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-1313313048198728412009-09-09T18:07:00.001-04:002009-09-18T09:45:13.777-04:00Visual Servoing at UNH, Day 1<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SrONLf3KV7I/AAAAAAAAAPg/v-zzv8ShkNE/s1600-h/P1020189.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 240px; height: 320px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SrONLf3KV7I/AAAAAAAAAPg/v-zzv8ShkNE/s320/P1020189.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382801208308815794" /></a>Today we are at UNH to work on some visual servoing code that Justin wrote. The goal is to be able to follow a vertical pipe, controlling yaw and position based on image processing.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://1.bp.blogspot.com/_Hgp1nzunDXk/SrONIxpEcyI/AAAAAAAAAPY/BM4cfZE97jM/s1600-h/P1020190.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 240px; height: 320px;" src="http://1.bp.blogspot.com/_Hgp1nzunDXk/SrONIxpEcyI/AAAAAAAAAPY/BM4cfZE97jM/s320/P1020190.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382801161541940002" /></a>Mike has mounted the camera on the bottom of Odyssey, facing forward so that we will be able to track an object in front of the vehicle.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SrONGl0eckI/AAAAAAAAAPQ/UPSmm6NCHho/s1600-h/P1020191.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SrONGl0eckI/AAAAAAAAAPQ/UPSmm6NCHho/s320/P1020191.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382801124008817218" /></a>Early on, we had to re-adjust the aperature on the camera. We had made it as small as possible to increase our depth of field, but it was just too dark in the facility to see anything on that setting. So, we opened up the aperature and double checked the focus.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SrONCITIxhI/AAAAAAAAAPI/CKgZj3PITSo/s1600-h/P1020199.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 240px; height: 320px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SrONCITIxhI/AAAAAAAAAPI/CKgZj3PITSo/s320/P1020199.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382801047364879890" /></a>With the vehicle on an ethernet tether, we were able to use <a href="http://damien.douxchamps.net/ieee1394/coriander/">coriander</a> to tweak the settings of the camera once it was underwater. This program makes the tuning stage go very quickly!Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-84545468511698772522009-09-03T15:03:00.000-04:002009-09-18T08:10:37.734-04:00REx II is Back in Cambridge<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SrN3ipArn0I/AAAAAAAAAPA/Y1lY84G0oyM/s1600-h/P1020055.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SrN3ipArn0I/AAAAAAAAAPA/Y1lY84G0oyM/s320/P1020055.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382777416645844802" /></a>Today, we got the <a href="http://seagrant.mit.edu/auvwiki/index.php/REx_II">REx II vehicle</a> back from Hawaii. <br /><br />Due to restrictions on shipping, we didn't bother to send the lithium ion battery by mail. Instead, we just built a new one.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SrN3cDfqB8I/AAAAAAAAAO4/Bk6evVkTC3Q/s1600-h/P1020056.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 240px; height: 320px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SrN3cDfqB8I/AAAAAAAAAO4/Bk6evVkTC3Q/s320/P1020056.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382777303496001474" /></a>Unlike the battery for Odyssey IV, this battery is designed to fit into the bottom half of a pressure tube. The individual supercells are not wrapped in plastic, but instead squished together to form the full battery.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SrN3UufOSVI/AAAAAAAAAOw/ahWrpG-a3wM/s1600-h/P1020057.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 240px; height: 320px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SrN3UufOSVI/AAAAAAAAAOw/ahWrpG-a3wM/s320/P1020057.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382777177597954386" /></a>The electronics fit on top.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-61278791634873186412009-09-01T11:20:00.002-04:002009-09-18T07:24:50.022-04:00Potting: A Mini-Howto<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SrNtn_4fHfI/AAAAAAAAAOo/hM93UB5D11Y/s1600-h/Potting_cable_step08.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SrNtn_4fHfI/AAAAAAAAAOo/hM93UB5D11Y/s320/Potting_cable_step08.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382766513568554482" /></a>I put a <a href="http://seagrant.mit.edu/auvwiki/index.php/Howto:_Potting">mini-howto on potting</a> on <a href="http://seagrant.mit.edu/auvwiki/">our wiki</a>.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.comtag:blogger.com,1999:blog-7260231682012392781.post-23244286321590676992009-08-21T20:36:00.001-04:002009-11-05T12:56:03.356-05:00Nantucket Sound Testing, Day 5<a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SrKtPKiO39I/AAAAAAAAAOg/h3qodWQOdGU/s1600-h/P1010856.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SrKtPKiO39I/AAAAAAAAAOg/h3qodWQOdGU/s320/P1010856.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382554980698742738" /></a>Today we did some tests to characterize the effects of our horizontal stabilizing fins on our depth while under way. The goal was to see if we could fly the the vehicle like a plane, changing altitude by changing forward velocity. As it turns out, there isn't a huge effect, even when we pointed them down significantly. <br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://2.bp.blogspot.com/_Hgp1nzunDXk/SrKs72keFzI/AAAAAAAAAOY/eIUamIJIMtU/s1600-h/P1010871_composite.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 238px;" src="http://2.bp.blogspot.com/_Hgp1nzunDXk/SrKs72keFzI/AAAAAAAAAOY/eIUamIJIMtU/s320/P1010871_composite.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5382554648921904946" /></a>The final recovery worked like a swiss watch. <br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://4.bp.blogspot.com/_Hgp1nzunDXk/SrKswS2-u3I/AAAAAAAAAOQ/e5P-5Ozh9oI/s1600-h/P1010896_composite.jpg"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 293px;" src="http://4.bp.blogspot.com/_Hgp1nzunDXk/SrKswS2-u3I/AAAAAAAAAOQ/e5P-5Ozh9oI/s320/P1010896_composite.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5382554450357304178" /></a>Taking Odyssey off the boat when we got back was also a very smooth operation.<br /><br style="clear:both;" /><br /><a onblur="try {parent.deselectBloggerImageGracefully();} catch(e) {}" href="http://3.bp.blogspot.com/_Hgp1nzunDXk/SrKsSucwaqI/AAAAAAAAAOI/xDWM9OGsAFE/s1600-h/P1010904.JPG"><img style="float:right; margin:0 0 10px 10px;cursor:pointer; cursor:hand;width: 320px; height: 240px;" src="http://3.bp.blogspot.com/_Hgp1nzunDXk/SrKsSucwaqI/AAAAAAAAAOI/xDWM9OGsAFE/s320/P1010904.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5382553942367431330" /></a>So long, Mike and Drew! <br /><br />All in all, a very productive trip.Ianhttp://www.blogger.com/profile/17989052071342906224noreply@blogger.com