Main Payload Tray Module
The Payload fits at the other end of the 400mm Aluminium Enclosure from the Shortened Electronics Tray Module.
It is accessed from the other end from the Shortened Electronics Tray Module so all connections from the Electronics Tray Module to the Main Payload Tray Module are externally routed so that each end (Electronics Tray) can be removed
3D Fusion Model Fusion
The interconnection is envisaged as Bluerobotics Ethernet and Power Cable This cable has separate wires for Ethernet and power transmission, making it a useful cable for many different types of underwater connections! Ethernet is unshielded 26 AWG twisted pairs and the power is thicker 22 AWG to handle higher current applications
Thus, both Power (full battery voltage if 5VDC is required then an additional 5V 6A Power Supply would need to be installed) and Ethernet connection is available to the main payload tray.
It is envisaged that an additional Ethernet Switch would be fitted in this module (daisy chained to one in the main Shortened Electronics Tray Module). I am envisaging mounting a Fathom on my version of the AUV mounted here so I can connect a tether for development and running as a ROV.
This gives a fair amount of free space for additional payloads. I suspect there will be some sort of terminal strip and then space to add whatever payload modules people wish/develop and or a higher-level supervisory computer to provide additional computations.
Sidescan Payload Tray Module
3D Fusion Link https://a360.co/41DM3xl
So, I have somewhat fixed views in what I am looking for in a sidescan. My ideal unit has something low frequency (say 100kHz - 200kHz -I currently use 100kHz for my primary large area searches) and then something on the High Frequency (say 800kHz – 1.2MHz) to document targets and sites. I am happy for this to be a swap over (ideally just the transducers) it does not have to be a full dual frequency unit.
So, I have approached a number of suppliers see below (I did not approach some of the bigger suppliers in the industry as I know their cost and physical size will likely be prohibitive – eg Klein, Edgetech). I am unsure of Kogger
Top Row - Cerulean / Deepvision
Middle Row ImageX / Marine Sonic
Bottom Row Blueprint Subsea on the payload module
I am happy for any of the supplier on the forum to chirp in about the pro’s and cons of their own specific units (Cerulean - @ljlukis) (Deepvision -@uffe) (I’m not sure but @paul-unterweiser may be tied up with Imagenex) (Michael Shekunov @KOGGER)
Cerulean
Omniscan 450 Side Scan Sonar around the US$5.5K – Advantages (Large advantage) already in the Bluerobotics environment, competitively priced, will fit on the standard Payload Module. Disadvantages single (450kHz) frequency transducer
Deepvision
Deepvision OEM Module around the US$7.3K – Advantages standard multi frequency PCB unit (200kHz/340kHz/680kHz plus custom) with single frequency transducers (inc in $’s additional transducers pairs around US$2.8K), will fit on the proposed standard Payload Module, has been integrated into at least 1 BlueROV. Disadvantages No specific Interface written as yet for BlueOS, a step up in cost.
ImageX
Imagenex Ethernet Sidescan Kit – around the US$6.5 – 8.0K Advantages standard multi frequency PCB unit (260 kHz / 330 kHz / 800 kHz nominal frequencies), with single frequency transducers, will (can be made to) fit on the proposed standard Payload Module. Disadvantages May need a little more squeezing to make it fit well on the Payload Module No specific Interface written as yet for BlueOS,
Marine Sonic
Sea Scan ARC Scout Mk II around the US$24K Advantages 150 kHz to 1800 kHz Options, will fit on the standard Payload Module. Disadvantages No specific Interface written as yet for BlueOS has been run in ROS the unit is controlled with either JSON or HTML messages through a user configured IP address through UDP in a packet format SDK available to be integrated
Blueprint Subsea
Starfish Module around the US$6.4K either 450kHz or 1MHz can’t be swapped Disadvantages No specific Interface written as yet for BlueOS and will only provide a SDK to write your own programming under a NDL (ie not opensource “from the looks of it, it is possible for to create and publish a BlueOS extension without breaking the NDA, but you would need to be very careful about not making any of the SDK (or equivalent code derived from it) public in source code form”), Does NOT fit on the standard Payload Module so would have to be housed in an additional Enclosure.
I see no matter the brand of the side scan there will need to be additional operations to make a decent usable result I would see the need for post processing (aside from standard Side scan processing)
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The ability to modify what the AUV recorded track (assumed EFK3 fusion) was of the AUV with a post dive correction (ie where did the unit come up and where the unit thought it came up, to where the GPS actually showed it came up) and integrate this with the XTF file in post process
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During the mission ability to start and stop the unit during different periods of the mission (stop on the end of a scan lane and start a new file)
Scott