https://autonaut02.it.ntnu.no/ 2026-04-17T09:39:17+00:00 https://autonaut02.it.ntnu.no/ https://autonaut02.it.ntnu.no/lib/tpl/bootstrap3/images/favicon.ico text/html 2023-09-06T11:21:44+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=autonaut_live&rev=1693992104&do=diff AutoNaut Live Last captured frame ;#; ;#; Last recorded video The video must be started in order to update. ;#; ;#; text/html 2023-09-06T11:21:43+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=comm_sens&rev=1693992103&do=diff RockBLOCK+ Iridium [RockBlock+] RockBlock+ Brochure. <https://www.rock7.com/products-rockblock-plus> RockBlock+ Webpage. The RockBLOCK device is IP68 rated and hosts an Iridium 9602 unit, an antenna and a voltage regulator. The 9602 unit is interfaced with RS-232 using AT commands. Depending on the conditions, the unit can send or receive a message approximately every 40 seconds. The cost is 0.1 to 0.05 GBP per 50-byte message, depending on the bundle that is bought. In addition, th… text/html 2023-09-06T11:21:45+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=gettinstarted&rev=1693992105&do=diff Getting started with DUNE, Neptus and IMC Prerequisites You need to use a Linux computer. I prefer Linux Mint on a Dual boot computer, but a virtual computer is also an alternative. In your linux terminal, you need to get some basic tools. (The commands are for debian-based distros like Ubuntu) text/html 2023-09-06T11:21:42+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=hw&rev=1693992102&do=diff System Architecture The high-level structure diagram in the picture below shows how the three system layers are connected to each other and the devices they interface. The diagram is simplified and only shows the main system structure. Level 1 takes care of monitoring the system and, if the main navigation system for some reason cannot control the USVs rudder, fallback autopilot. In level 2, navigation and collision avoidance are implemented. Level 3 is intended for scientific use and does … text/html 2023-09-06T11:21:49+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=intro&rev=1693992109&do=diff Concept of Operations AutoNaut is 5 metres overall length, is propelled predominantly by wave energy and so moves slowly (1-3 knots). It has a steering system that can be integrated into a command and control system. An Auxiliary Thruster is fitted, designed to provide propulsion in calm conditions, to ‘get out of trouble’, and to maneuver away from a slipway. text/html 2023-09-06T11:21:49+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=iridium&rev=1693992109&do=diff IridiumSBD Remote Control List of Hardware Components Hardware ID Level 2 Subsystem l2 Level 3 Subsystem l3 Level 1 IridiumSBD iridium 4G/LTE Modem modem Bilge Pumps pumps OWL VHF Radio vhf The relays string is made of 6 booleans that indicate the relay setting: 0 = ON, 1 = OFF, 2 = REBOOT. The user can control the state of the sensor by changing the appropriate boolean in the array. Example: 011011 means l2 is ON, l3 is OFF, L1 iridium is OFF, 4G modem is ON, pumps are OFF, VHF … text/html 2023-09-06T11:21:47+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l0_schem&rev=1693992107&do=diff ;#; ;#; text/html 2023-09-06T11:21:44+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l1_comm&rev=1693992104&do=diff Communication with the Operator There are several communication links between the USV and the remote operator station. Between level 1 and the remote operator station, there are two communication links: An Iridium system and a short-range radio system. The Iridium system is intended as a fallback solution in case of failure of the level 2 system. Iridium is the only satellite communication system provider with global coverage and is known for high-reliability. The selected Iridium transceiver i… text/html 2023-09-06T11:21:42+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l1_schem&rev=1693992102&do=diff L1 Hardware Schematics text/html 2023-09-06T11:21:46+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l1_sens&rev=1693992106&do=diff Vector™ V104 GPS Smart Antenna Vector™ V104 GPS Smart Antenna Manual.<https://www.hemispheregnss.com/product/vector-v104-gps-smart-antenna/> Vector™ V104 GPS Smart Antenna Webpage. Vector V104 GPS Smart Antenna offers superior navigation including accurate heading and position performance. V104 uses SBAS (WAAS, EGNOS, MSAS, etc.) for differential GPS position allowing Hemisphere GNSS to provide a low cost and highly effective heading and position based smart antenna. text/html 2023-09-06T11:21:48+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l1_sw&rev=1693992108&do=diff L1 Software Implementation Implementation of software on the CR6 is done with the use of PC400 Datalogger Support Software and CR Basic Editor. The PC400 Datalogger support software serves several functions. First of all, it enables the user to send program code and retrieve data from the unit via USB interface with a Windows computer. It also lets the user set the internal clock of the CR6 easily. With the Windows program, publicly declared variables can be read at real-time from the device vi… text/html 2023-09-06T11:21:46+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l2_adis&rev=1693992106&do=diff text/html 2023-09-06T11:21:46+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l2_comm&rev=1693992106&do=diff Communication Links Level 2 and Level 3 are linked to the operator via 4G modem and Iridium. This will allow the remote operator to send and receive data and control instructions to the USV. The broadband connection will also be able to handle data streams from AUVs linked via the USV. text/html 2023-09-06T11:21:46+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l2_schem&rev=1693992106&do=diff text/html 2023-09-06T11:21:43+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l2_sens&rev=1693992103&do=diff Hardware/Software Setup ;#; ;#; Vector™ V104 GPS Smart Antenna Vector™ V104 GPS Smart Antenna Manual.<https://www.hemispheregnss.com/product/vector-v104-gps-smart-antenna/> Vector™ V104 GPS Smart Antenna Webpage. Vector V104 GPS Smart Antenna offers superior navigation including accurate heading and position performance. V104 uses SBAS (WAAS, EGNOS, MSAS, etc.) for differential GPS position allowing Hemisphere GNSS to provide a low cost and highly effective heading and positi… text/html 2023-09-06T11:21:45+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l2_sw&rev=1693992105&do=diff Collision Avoidance System For the ASV to obey the rules-of-the-road during when encountering other manned and/or unmanned vehicles, and perform the correct and predictable actions in haz- ardous situations the CAS needs to be COLREGS compliant. From the Mission Planner the CAS receives a desired course and speed based on a sequence of waypoints. These waypoint could for instance be generated by a human operator in Neptus. Meanwhile, the Sensor System composed of e.g. Radar, AIS, Lidar, etc. co… text/html 2023-09-06T11:21:45+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l3_schem&rev=1693992105&do=diff text/html 2023-09-06T11:21:43+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l3_sens&rev=1693992103&do=diff Signature500 ADCP <https://www.nortekgroup.com/export/pdf/Signature500.pdf> Signature500 ADCP Manual. <https://www.nortekgroup.com/products/signature-500> Signature500 ADCP Webpage. The Signature500 ADCP is designed for flexibility. It measures current profiles at up to 8 Hz sampling frequency. It can also measure direct vertical velocity profiles, wave height and direction, and ice thickness and drift. The center beam also functions as a biological echosounder, enabling high-reso… text/html 2023-09-06T11:21:45+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=l4_schem&rev=1693992105&do=diff ;#; ;#; text/html 2023-09-06T11:21:44+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=man&rev=1693992104&do=diff AutoNaut Manuals [ Maintenance Manual] Maintenance Manual. [ Technical Manual] Technical Manual. [ Management & Operations Manual] Management & Operations Manual. [ Rudder Calibration Manual] Rudder Calibration Manual. [ Sensor Installation Manual] Sensor Installation Manual. [ Sensors Specifications] Sensors Specifications. text/html 2023-09-06T11:21:45+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=media&rev=1693992105&do=diff Pictures & Videos ;#; ;#; text/html 2023-09-06T11:21:48+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=mission&rev=1693992108&do=diff Research Missions & Data Collection Data Units of Measurement Air Saturation Unit of measurement: % Dissolved Oxygen Unit of measurement: µM Water Temperature Unit of measurement: degrees Celsius Conductivity Unit of measurement: S/m Depth text/html 2023-09-06T11:21:45+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=missions&rev=1693992105&do=diff <olmap id=“olMapOne” width=“550px” height=“450px” lat=“50.0” lon=“5.1” zoom=“12” statusbar=“1” controls=“1” poihoverstyle=“0” baselyr=“OpenStreetMap” gpxfile=“” kmlfile=“” geojsonfile=“” summary=“ text/html 2023-09-06T11:21:47+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=mon&rev=1693992107&do=diff <olmap id=“olMap” width=“600px” height=“400px” lat=“52.0” lon=“5.1” zoom=“12” statusbar=“1” toolbar=“1” controls=“1” poihoverstyle=“1” baselyr=“OpenStreetMap” gpxfile=“:playground:hardlopen_gpx.gpx” geojsonfile= text/html 2023-09-06T11:21:49+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=moni&rev=1693992109&do=diff <olmap id=“olMap” width=“600px” height=“400px” lat=“52.0” lon=“5.1” zoom=“12” statusbar=“1” toolbar=“1” controls=“1” poihoverstyle=“1” baselyr=“OpenStreetMap” summary=“This map shows a gpx trace, a kml trace and a dot text/html 2023-09-06T11:21:47+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=monit&rev=1693992107&do=diff <olmap id=“olMapOne” width=“550px” height=“450px” lat=“50.0” lon=“5.1” zoom=“12” statusbar=“1” toolbar=“1” controls=“1” poihoverstyle=“0” baselyr=“OpenStreetMap” gpxfile=“” kmlfile=“”> ~~ Plugin olmap help. ~~ Required in the above tag are values for: id (unique on this page), width, heigth. ~~ Also you will want to enter zoomlevel and lat, lon values that make sense for where you want the map to start. text/html 2023-09-06T11:21:44+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=msg&rev=1693992104&do=diff Communication Protocol An adoption of NMEA0183 (National Marine electronics Association) at RS-232 voltage levels is used for the data link between level 1 and level 2. The standard was chosen on the following basis: It has a low power consumption, the bandwidth requirements are low, it is human readable, and the signal can be tapped for easy debugging. Level 1 will once per second transmit a request for rudder and commands to the Level 2, in the form of a NMEA message. text/html 2023-09-06T11:21:43+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=nav_sens&rev=1693992103&do=diff Vector™ V104 GPS Smart Antenna Vector™ V104 GPS Smart Antenna Manual.<https://www.hemispheregnss.com/product/vector-v104-gps-smart-antenna/> Vector™ V104 GPS Smart Antenna Webpage. Vector V104 GPS Smart Antenna offers superior navigation including accurate heading and position performance. V104 uses SBAS (WAAS, EGNOS, MSAS, etc.) for differential GPS position allowing Hemisphere GNSS to provide a low cost and highly effective heading and position based smart antenna. text/html 2023-09-06T11:21:43+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=navdata&rev=1693992103&do=diff Real-Time Navigation Data This section includes real-time graphs from the onboard sensors used for autonomous navigation. Graphs are updated at regular time intervals. ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; text/html 2023-09-06T11:21:47+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=news&rev=1693992107&do=diff News Newspaper Articles Title Link Author Date Automasjon i havgapet <https://www.universitetsavisa.no/forskning/2020/07/20/Automasjon-i-havgapet-22301448.ece> Jahn Ivar Kjølseth 20th July 2020 Testet framtidens forskerbåt på Frøya <https://www.froya.no/nyheter/har-laget-framtidens-forskerb%C3%A5t> Tore Strømøy 16th July 2020 text/html 2023-09-06T11:21:48+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=pc0&rev=1693992108&do=diff Power Switch & Charging Port In the bow of the vehicle a watertight panel can be accessed by the operator in order to disconnect the load power of the BlueSolar controllers. So doing the whole system is turned off, except for the controllers themselves. This allows the solar panels to keep charging the batteries whenever a mission is finished. Also, a power port can be used for a faster recharging of the batteries. text/html 2023-09-06T11:21:44+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=pc1&rev=1693992104&do=diff Campbell Scientific CR6 [ CR6 manual] CR6 Brochure. <https://www.campbellsci.com/cr6> CR6 Webpage. The Campbell Scientific Cr6 computer was selected for level 1 due to its proven reliability. Campbell Scientific delivers robust computers for data sampling and control. Their computers have been successfully used for projects in cold environments such as long-term monitoring in Greenland, maritime environments with movement and vibrations such as a buoy system in the Caribbean Sea and… text/html 2023-09-06T11:21:48+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=pc2&rev=1693992108&do=diff The BeagleBone Black [BBB brochure] BBB Brochure.[BBB datasheet] BBB Datasheet.<https://beagleboard.org/black> BBB Webpage.<https://elinux.org/Beagleboard:BeagleBoneBlack> BBB Specifications. BeagleBone Black (BBB), is the single-board computer used in Level 2. With a 1GHz ARM-based CPU and two rows of GPIO (general purpose Input/Output) pins mounted along both sides of the board, BBB is well suited to be used as an embedded system. The two 46… text/html 2023-09-06T11:21:46+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=pc3&rev=1693992106&do=diff TS-7970 ;#; ;#; <https://www.embeddedarm.com/products/TS-7970> TS-7970 Webpage.[ TS-7970 Manual] TS-7970 Manual.[ TS-7970 Mechanical Scheme] TS-7970 Mechanical Scheme. text/html 2023-09-06T11:21:45+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=pc4&rev=1693992105&do=diff VHF Duplexer A passive Duplexer is used to share the VHF antenna between the OWL VHF radio and the AIS. Port 1 of the Duplexer has a notch filter that attenuates the frequency used by Port 2. Similarly, Port 2 attenuates the frequencies used by Port 1. Both radios can transmit whenever they want, and they won't hear each other, but everything will be sent out on the antenna. The advantages of having a Duplexer rather than an active splitter, is that the Duplexer is completely passive and co… text/html 2023-09-06T11:21:46+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=repo&rev=1693992106&do=diff AutoNaut Status Reports [ Status Report August 2018] Status Report August 2018. [ Status Report September 2018] Status Report September 2018. text/html 2023-09-06T11:21:47+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=reports&rev=1693992107&do=diff Completed Master Thesis [ Level 1] Level 1 Master Thesis - Author: Bendik Olai Agdal - A.Y. 2017-2018 [ Level 2] Level 2 Master Thesis - Author: Sølve Dahlin Sæter - A.Y. 2017-2018 Master Project/Thesis Proposals [ Level 3] Level 3 Master Thesis Proposal - Author: TBD - A.Y. 2019-2020 text/html 2023-09-06T11:21:49+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=sci_sens&rev=1693992109&do=diff Nortek Signature500 ADCP <https://www.nortekgroup.com/export/pdf/Signature500.pdf> Signature500 ADCP Manual. <https://www.nortekgroup.com/products/signature-500> Signature500 ADCP Webpage. The Signature500 ADCP is designed for flexibility. It measures current profiles at up to 8 Hz sampling frequency. It can also measure direct vertical velocity profiles, wave height and direction, and ice thickness and drift. The center beam also functions as a biological echosounder, enabling hi… text/html 2023-09-06T11:21:45+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=scidata&rev=1693992105&do=diff Real-Time Scientific Data This section includes real-time graphs from the onboard sensors. Graphs are updated at regular time intervals. ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; ;#; text/html 2023-09-06T13:41:50+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=sidebar&rev=1694000510&do=diff Homepage Introduction Media Missions News AutoNaut Live Grafana Real-Time Data Monitoring DUNE Real-Time Panel The AutoNaut * System Architecture * NMEA-based Communication LSTS Toolchain * DUNE, Neptus and IMC * Toolchain LEVEL 0 * Power Switch & Charging Port LEVEL 1 * Campbell Scientific CR6 * Hardware Schematics * Software Implementation * Level 1 Sensors * Communication with the Operator LEVEL 2 * BeagleBone Black (BBB) … text/html 2023-09-06T11:21:44+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=start&rev=1693992104&do=diff The AutoNaut - Wave-Propelled Unmanned Surface Vehicle AutoNaut is a self-powered unnmanned surface vehicle (USV) developed by MOST (Autonomous Vessel) Ltd. The USV is designed to be a cost effective, low man-power data collection platform, with zero emission, extreme persistence and capability of surviving extreme weather conditions. Zero emission is achieved solely by wave and solar power. A patented Wave-propulsion Technology converts energy from the pitch and roll of the waves. AutoNaut is … text/html 2023-09-06T11:21:46+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=stw&rev=1693992106&do=diff Level 1 Software Implementation Upload .CR6 file. Level 2 Software Implementation Prerequisites You need to use a Linux computer. I prefer Linux Mint on a Dual boot computer, but a virtual computer is also an alternative. In your linux terminal, you need to get some basic tools. (The commands are for debian-based distros like Ubuntu) text/html 2023-09-06T11:21:47+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=thesis&rev=1693992107&do=diff Reports [ Status Report August 2018] Status Report August 2018. [ Status Report September 2018] Status Report September 2018. [ Status Report October 2018] Status Report October 2018. [ Status Report March 2019] Status Report March 2019. [ Encounter Frequency Estimation Report] Wave Encounter Frequency Estimation. [ AIS-based Collision Avoidance System Report] First field tests of sb_mpc algorithm. Publications text/html 2023-09-06T11:21:47+00:00 Anonymous (anonymous@undisclosed.example.com) https://autonaut02.it.ntnu.no/doku.php?id=tool&rev=1693992107&do=diff Useful links Link to source-code For downloading code Link to DUNE wiki For tutorials and guides IMC message definitions To see what messages exist and how they are structured LSTS Google groups forum Discussions and questions (mainly adressed to the LSTS team)