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

2. 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

3. 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)

4. 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

5. 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

6. 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

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