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SEASTICK summer updates
Update #10037  |  11 Sep 2013
 

During the summer we continued to work on the project seastick and we have made significant changes to the system.

The changes are numerous, from the integration of GPS navigation interface within the software. Through this you can load a mission carried out by the software mission planning ( presented in the previous update) and observe the path of the vehicle in real time.
Another important improvement is the parametric control of the two propulsion motors , by means of which it is possible to perform all kinds of curves until the rotation on the place.
A very important update has been made with regard to batteries . Indeed, we have replaced the old lead-acid batteries with new NiMH batteries. With the batteries NiMh we found enormous advantages as regards the reliability and longevity compared to LiIon batteries and a significant weight reduction and increased capacity compared to lead batteries. This type of batteries confer autonomy of Seastick mission of 6 hours which is more than enough . Of course this led to changes in weight distribution  and some balancing work of the vehicle was needed.
The last update made on the software interface of the Seastick .
Inside the Colibri board we have created a software interface between the WiFi/3G network and hardware . In order to make the Seastick also accessible from mobile devices , we have developed an internal web server that would allow access to the control software via the web.
We thought it was very interesting to disclose information in real time on the web via a TCP socket , so that a user logged on as an administrator could control the vehicle and many other users logged on as a guest could observe in real time the unfolding of the mission. The Seastick structure now is as follows:     

 

As you can see we have a router with Ethernet interface WiFi and 3G, which represents the interface of the Seastick to the rest of the world. The Colibri platform integrates a TCP server that works as an interface to the hardware. Furthermore the Colibri contains a webserver able to publish the webapp required for control of the vehicle with mobile devices. The PC104 is another TCP server for sending the images Sonar and camera.
The platform Colibri T20 enters into communication with the card autopilot, which in turn communicates with other boards connected to a CAN bus. We have control of the brushless motors for propulsion, the GPS and other proprioceptive sensors such as the IMU, temperature sensors and internal and external pressure. Cards such as those that control the motors or rudders represent the last frontier of the software, where the data becomes physical. At this level, the hardware and the software is completely designed and built by us, as the rest of the mechanics.


Returning to the user level, the webapp is optimized for use via iPad, great for the control of the vehicle in extreme conditions, being able to work without a computer.

iPadSSCS

It 'always possible to connect via a software for Windows / Linux / OSX, which requires a "stable" location but provides tools more detailed than the Webapp. Even with the use of the software you can always log in as Admin or a Guest via the web and continue to observe the unfolding of the mission.

SSCS Java

 

SSCS Java

Of course we also did a lot of sea trials with the seastick, we have many movies and publish them soon. For now, we give you this glimpse of Seastick that scan with the Side Scan Sonar!


SS sonar scanning

We hope you like it!

 

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