Bench Operation

Guidelines for bench operation

When running on the bench, the AUV's individual systems can be tested or worked with. As the robot is modular, it is not difficult to remove the computing pieces or use alternate power sources(i.e. wall plug rather than battery).

Using thruster system out of water

Use BlueRobotics recommendations when running thrusters outside of water. See here for details.

Working with individual components

• Individual systems, such as the RPi and Jetson, can be removed from the acrylic board to make it easier to use with a mouse/keyboard or monitor. They can also be attached to power sources alternative to the AUV's batteries.
• Cameras can also be removed from the acrylic board and used with alternative computing sources for testing purposes.

Working on Robot system as a whole

When running the AUV on the bench, the acrylic board can be removed from the tubes for ease of access to internal systems. System set-up will then be the same as in-water deployment:

1. Check cable connections within and between tube systems.
2. Connect the batteries, using the power connectors to watch voltage levels.
3. Power AUV.
4. Tether or SSH can be used to connect to the individual computing systems.
   Follow recommendations if testing thruster system.