Lessons Learned Integrating an ASV C-Worker 5 with Hydrographic Equipment Jennifer Rhodes Dr. Anand Hiroji University of Southern Mississippi Hydro 2019

Interchangeable IMU Mount ASV use rapidly expanding End-user must integrate hydrographic equipment Mounts designed for university setting Custom IMU Plate Bolt pattern for multiple models Plate bisects y-axis The use of ASVs for hydrographic surveys is rapidly expanding Prior to survey, ASVs have to be integrated with hydrographic equipment Our equipment mounts are designed for university setting – various models interchanged; equipment installed and removed multiple times Replaced ASV’s IMU plate with a custom IMU plate designed with bolt pattern for multiple models ASV designed IMU mount along y-axis of vessel – only have x, z offsets Allows us to easily interchange and determine the offsets for multiple IMUs

Positioning System Antenna Mounts Designed for flexibility & maximum antenna separation Minimizes holes drilled in ASV Set bolt pattern Multiple Mounting Options 1 m baseline 2 m baseline (2 options) Considerations for location of GPS mounts: antenna separation & vertical offsets, masking by ASV hardware, stability Initial ideas – extending mast, utilizing davits; 1-mast & 1 bow System was designed for max flexibility & to inc baseline between antennas Minimize holes drilled in asv; rubber below mount Set bolt pattern for easy interchange & future additions Plates – 1in AL Set 1m baseline (seapath antenna) 2 options for 2-m baseline (shown & plate moved to front)

Multibeam Sonar Mounts ASV Pole Mount R2Sonic Reson Seabat 7125 EM2040C Mounts designed to attach to ASV payload flange R2Sonic plate functions as base mount Other sonar plates attach EM2040C mount designed with PVC spacer for SVP Width of payload flange should be increased Sonar mounts were designed and machined to attach to existing ASV payload flange R2Sonic mount functions as a base mount for other sonars attaches to ASV pole mount Plates for reson & EM2040C attached to R2Sonic plate EM2040C mount designed with a 2in PVC spacer to form tube around sonar & allow for SVP and wires Recommendation – width of payload flange should be increased

Shore-Based Communications with Payload Bay Moxa Switch installed in payload bay Survey Equipment integrated via Ethernet or serial VLAN established between control box and ASV Two laptops manage equipment Payload Survey Laptop Base Side Survey Laptop Payload Switch Survey Equipment Base Laptop Survey Laptop Moxa switch installed in payload bay and configured in accordance w/ ASV’s instructions Funny side note – No chrome Survey gear connected via Ethernet or serial by way of portserver port Port configured in both payload & control box switches that creates VLAN Equipment managed with 2 laptops – on ASV & base station (mirrored screen) Surveys controlled and executed from shore

Lessons Learned & Conclusions Still a “Work in Progress” Primary focuses: Interoperability & Maximum flexibility Industry-wide standard mounts & bolt patterns Phenomenal experience & opportunity Impressed with ASV’s UI & ASView Any Comments/Suggestions Welcome! USM’s ASV is still a work in progress Survey preparations were more complicated than initially expected Primary focuses for our solutions were interoperability & max flexibility It would be great if the hydrographic industry developed std mounts & bolt patterns Working on the ASV has been a phenomenal opportunity & thankful for the experience Impressed with ASV’s UI (user interface) and ASView software I know several of you here have more experience working with ASVs, and we at USM welcome any comments and/or suggestions

Questions? Special Thanks To: ASV USM Dr. Anand Hiroji Kevin Martin Marvin Story Ashely Boyce Emmanuel Omoyajowo