1. Inductively Coupled Charging System Requirements –Operating Depth:5000m (16,400 ft) –Supply Power<800 watts –Charge Time<6 hrs –Data TransmissionBi-directional >100kbps –Vehicle CommRS422 protocol –Battery Voltage12 VDC –Peak Current20 amps –Supply Voltage48 VDC –Charger Efficiency>90% –Charge AlgorithmProgrammable (constant current then constant voltage) –On Board SizeTBD (minimize) –On Board WeightTBD (minimize) –Operating time>2 years –OtherRemovable from cable Constant power draw on platform –Off Board SizeTBD (minimize) –Off Board WeightTBD (minimize)

2. DC-HFAC CONVERTER Series-Resonant 100kHz HFAC-DC ACTIVE RECTIFIER REGULAOR RF/IR TRANSCEIVER DATA Link RF/IR TRANSCEIVER DATA Link SHUNT REGULATOR PRIMARY SIDE BATTERY CHAEGER PRIMARY SIDE POWER SYSTEM MICROCONTROLLER CRAWLER SIDE POWER SYSTEM MICROCONTROLLER Input Power From Current Source Local Battery Management Connection to Crawler Battery Voltage and Current Monitor Battery Charge Controller External Communication PLATFORM CRAWLER Inductive Power Coupler Short Range RF/IR Link On-Board Communication High Frequency AC Power

3. Inductively Coupled Charging System Electronics System Components Primary Side –Microcontroller PC based hardware to minimize Development Local Battery Management through Shunt Regulator On/Off Control of SRC Communication path –Series Resonant Converter High Frequency AC Current Source Drive Inductive Coupler Constant Frequency (Open Loop) Operation –Shunt Regulator Active Resistance to Provide constant power –RF/IR Transceiver Short Range Link Explore Off the Shelf Options RF in 100s of MHz or IR in 800nm Same Device on Both Sides System Components Secondary Side –Microcontroller Battery Management on Crawler Side Charge Algorithm Implementation Voltage and Current Sense State of Charge Tracking Communication to other systems on Crawler Data Link Communication path Low Power Consumption uP –Active Rectifier Pass or Shunt HFAC Current High Electrical Efficiency Convert HFAC to DC Power Interface to Battery HF Filtering –RF Transceiver Same Device on Primary Side

4. Inductively Coupled Charging System Mechanical System Components Primary Side –Core “C” core design Angled interface to secondary core reduces gap –Flexure Provides necessary degrees of freedom for core alignment Enidine Wire Rope isolators (possible off the shelf device) –Guide Structural support of Primary core Attachment to floater Houses communications interface –Primary Winding Litz wire (Size, Turns: TBD) –Charger Enclosure Houses Charger Electronics on Floater –HFAC Cable Litz wire Interface from Charger to Coupler System Components Secondary Side –Core 3/4 “C” core design Angled interface to secondary core reduces gap –Guide Provides initial alignment of cores Reduces drag by secondary core Houses communications interface –Structure to Crawler Provide attachment of secondary to crawler –Secondary Winding Litz wire (Size, Turns: TBD) –HFAC Cable Litz wire Interface from coupler to Crawler Electronics

5. Inductively Coupled Charging System Mechanical Guide (attached to Floater) Primary Core Flexure (3-6) Secondary Core Secondary Guide Charger Cable

6. Inductively Coupled Charging System Mechanical Guide (attached to Floater) Primary Core Flexure (3-6) Secondary Core Secondary Guide Crawler Cable

7. Inductively Coupled Charging System Mechanical Guide (attached to Floater) Primary Core Secondary Core Guide Location of Communication Link: Primary Secondary

8. Inductively Coupled Charging System Mechanical Guide (attached to Floater) Primary Core Secondary Core Guide Crawler cable Secondary Core Angled core interface