Page 1 Hydrus Reference Manual v1.0 02 August 2023...
Page 2: Table Of Contents
2.1.1 Read the Introduction 2.1.2 Follow the manuals structure 2.1.3 Use diagrams and illustrations 2.1.4 Seek clarification 2.1.5 Software and Manual updates 2.2 Shipping Hydrus - Dangerous Goods 3 Specifications 3.1 Hardware Specifications 3.1.1 Physical Dimensions 3.1.2 Weight and Buoyancy 3.1.3 Operating Temperatures...
Page 3 6.1.2 Safety Precautions for handling Hydrus out-of-water 6.1.3 Unpacking and Inspection 6.1.4 Power and Charging 6.1.5 Initial Charge 6.1.6 Putting Hydrus from Low Power to High Power 6.1.7 Device Connection 6.1.8 Testing and Functional Checks 6.1.9 Subsonus 6.2 User Interface Overview 6.2.1 Hydrus EPD (Electronic Paper Display) Screen...
Page 4 8.3 Mission Planning Tools 8.3.1 Basic Interaction of the Polygon 8.3.2 Polygon Operations Panel 8.3.3 Polygon Tools 8.3.4 Map Tools 8.3.5 Device Tools 8.4 Mission Considerations 8.4.1 Altitude 8.4.2 Pause Depth Considerations 8.4.3 Bluewater Missions 8.4.4 Hydrus Transit Between Tasks Page iii...
Page 5 8.8.5 Low Storage Space 8.9 Mapping Enhancements 9 Hydrus Operations 9.1 Hydrus Deployment Training 9.1.1 Hydrus Test Clip Attachment 9.1.2 Attachment of Hydrus Test Clip 9.1.3 Suggested Tether 9.1.4 Safety Precautions 9.1.5 Controlled Launch Technique 9.1.6 Testing and Familiarisation 9.1.7 Live Mission Deployment...
Page 6 9.3.2 Deploying Hydrus 9.4 Hydrus Monitoring 9.4.1 Mission Initiation 9.4.2 Mission Running 9.4.3 Mission Complete 9.5 Hydrus Retrieval 9.5.1 Steps to retrieve and secure Hydrus 9.6 Post Retrieval Actions 10 Post-Mission 10.1 Data Download 10.1.1 Download Procedure 10.1.2 Deleting Sessions 10.1.3 Session Payload Breakdown...
Page 7 If any part of this document refers to any third party products or services it shall not be deemed a license grant by Advanced Navigation for the use of such third party products or services, or any intellectual property contained therein or considered as a warranty covering the use in any manner whatsoever of such third party products or services or any intellectual property contained therein.
Page 8: Revision History
Hydrus Reference Manual • Revision History 1 Revision History Version Date Changes 02 Aug 2023 Initial Release Table 1: Revision History 1.1 Firmware Changelog Version Date Changes 1.02 26 Jul 2023 Initial release Note: when using with Subsonus, Subsonus must be running v3.220 or later...
Page 9: Introduction
Users can plan and execute missions in 3D using the online platform. Hydrus is equipped with a camera, sonar system, and sensors for data acquisition. It supports underwater terrain mapping, video and still image capture, and collects environmental data.
Page 10: Using The Manual
The Hydrus manual is structured in a logical sequence, with sections covering different aspects of the operation of the Hydrus. It is important for the user to follow the manual's structure to ensure no relevant information is missed. If necessary, bookmark or take notes on important sections for future reference.
Page 11: Shipping Hydrus - Dangerous Goods
IATA regulation Section II of PI967, and follow any relevant local and international shipping regulations. Hydrus incorporates a battery that has not received certification in line with UN38.3 regulations (a set of standards that govern the safety of lithium and lithium-ion batteries during shipping). Contact Dangerous Goods shipping agents to ensure the safe shipment of Hydrus, in compliance with local and international shipping regulations.
Page 12: Specifications
Hydrus Reference Manual • Specifications 3 Specifications For details, review the following specifications for Hydrus: 3.1 Hardware Specifications 3.2 Compliance and Certification 3.3 Software Extensibility 3.4 Navigation and Localisation 3.5 Communication 3.6 Power and Propulsion 3.7 Camera and Lighting 3.1 Hardware Specifications 3.1.1 Physical Dimensions...
Page 13: Weight And Buoyancy
Hydrus is designed to be positively buoyant (float), and is configured to operate in standard ocean conditions (Water density of 1.025 kg/L). If users wish to operate Hydrus in liquids of significantly different density, Hydrus may require a modified buoyancy. Contact support@advancednavigation.com to discuss your operating...
Page 14: Software Extensibility
Hydrus is developed based on the ROS2 standard and utilises Docker compatible containerisation to allow the Hydrus navigation and payload capability to be extended. Within the Hydrus webUI, there is a Docker function that allows you to manage software images and containers. This function allows the user to manage Docker images and containers, monitor their status, control start up behavior and upload new images for container creation.
Page 15: Global Navigation Satellite Systems (Gnss)
Hydrus's previous position, velocity, and orientation are used to estimate the current position. The DVL's contribution to ground tracking is that it plays a crucial role in aiding Hydrus's ability to maintain a desired track. The DVL provides real-time information that can be used for closed-loop control algorithms to adjust the trajectory of Hydrus and maintain tight line-keeping.
Page 16: Transponder
3.5.2 Wi-Fi Connection Hydrus supports two types of Wi-Fi connections: Access Point mode - Where a user will connect directly from a laptop, tablet or smart phone to Hydrus. This is recommended for quick and easy configuration and deployment. Networked (or Station mode) - Where Hydrus will be configured to connect to an existing Wi-Fi network.
Page 17: Power And Propulsion
3.6 Power and Propulsion The power and propulsion system of Hydrus is a crucial component that enables its autonomous navigation and underwater operation. This section of the manual provides an overview of the power source and propulsion mechanism utilised in Hydrus, highlighting their functions and considerations.
Page 18: Propulsion System
1 knot Hydrus Maximum Transit Speed 2 knots 3.7 Camera and Lighting 3.7.1 Camera Specifications Hydrus is equipped with an advanced camera system that provides high-quality imaging and video capabilities. Camera Specifications Specifications Video Resolution 4K (3840 x 2160) Video Frame Rate...
Page 19: Lighting Features
Hydrus Reference Manual • Specifications 3.7.2 Lighting Features Hydrus is equipped with a powerful lighting system that ensures optimal image and video capture in underwater environments. Lighting Features Specifications LED Type 8 x Cree XHP LEDs Continuous Illumination 20,000 lumens...
Page 20: General Safety Precautions
This practice helps ensure a secure grip and reduces the risk of dropping or mishandling Hydrus. Avoid holding from the thruster guards: The thruster guards are protective structures surrounding the thrusters of Hydrus. It is advised not to hold the device from these guards to prevent any potential damage or malfunction.
Page 21: Underwater Operation
4.5 Hull Breech If Hydrus is breached in any capacity it is important to address the potential risks associated with lithium fires or chemical burns in the event of hull puncture caused by a propeller strike or accidental drops. Proper safety measures should be implemented to mitigate these hazards.
Page 22: Transport And Storage
Moisture: When transporting and storing Hydrus, it is important to prevent moisture buildup. Ensure that Hydrus is kept within this approved range during storage to prevent damage to sensitive components. Thoroughly dry Hydrus before storage to eliminate any accumulated moisture, and store it in a dry, well-ventilated location to prevent moisture buildup.
Page 24: Quick Start Guide
9.5.1 Steps to retrieve and secure Hydrus for a smooth recovery process. 12. Rinse the Hydrus unit with fresh water to remove any salt or debris from its surface. Allow Hydrus to dry completely before further handling. For detailed instructions, see the 11.2.1 Cleaning section.
Page 26: Getting Started
Always Maintain Two Points of Contact When handling Hydrus, make sure you have two points of contact to maintain stability. These points of contact should be the transponder and the vision end of Hydrus. This will help prevent accidental drops or mishandling.
Page 27: Unpacking And Inspection
Ensure the non-thruster side of Hydrus is facing down as seen below. This will prevent accidental slippage or unbalanced placement. Place Hydrus with the EPD screen facing up to protect the display and allow for easy visibility. Figure 3: Hydrus Placement Top Down View 6.1.3 Unpacking and Inspection...
Page 28: Power And Charging
Insert Hydrus into Desk Charger Align the Hydrus EPD screen with the Advanced Navigation label located on the front of the charger, ensure the EPD screen is facing the user and carefully insert it into the charging dock as shown.
Page 29: Initial Charge
Note: Ensure Hydrus is dry before inserting it into the Desk Charger. 6.1.6 Putting Hydrus from Low Power to High Power Hydrus is now in Low Power and will need to be put into High Power to continue the initial set-up. The steps for this is as follows: Verify that Hydrus is currently in Low Power.
Page 30 Hydrus Reference Manual • Getting Started Tap the screen again, in response to the prompt mentioned above. Hydrus will move into a Booting Status this is confimed by the EPD screen below: Figure 7: Booting Status Verify the mode to confirm that High Power has been successfully selected.
Page 31: Device Connection
Locate and connect to Hydrus access point. Hydrus webUI via a browser Launch a web browser on your device and navigate to the Hydrus webUI (User Interface) at http://192.168.0.1 for configuration and control. Figure 9: Hydrus WebUI Main Page Note: For difficulties connecting to the Hydrus access point or network, refer to 6.4 Connecting...
Page 32: Testing And Functional Checks
Ensure that Hydrus is powered on and connected to the network or access point as described in the previous steps. Open a web browser on a user device and enter the appropriate IP address or URL to access the Hydrus webUI.
Page 33: Subsonus
Figure 13: Successful Self -Test Note: Performing a self-test MUST be completed before running or planning any missions with the Hydrus. Hydrus will not proceed without a self test. 6.1.9 Subsonus If using Subsonus with Hydrus follow the steps in 6.5.1 Installation Checklist...
Page 34: User Interface Overview
6.2.1 Hydrus EPD (Electronic Paper Display) Screen The EPD (Electronic Paper Display) screen located on the transponder end of the Hydrus, it serves as a user interface, offering control and information to be displayed. The EPD screen enables easy interaction with the system and provides access to important information, It provides connectivity information, offering real-time updates on network connections and enabling users to monitor the system's connectivity status.
Page 35: Normal Operation Screen Overview
6.2.1.1 Normal Operation Screen Overview Figure 14: Normal Operation Screen The Normal Operations Screen of the Hydrus device serves as a comprehensive interface that provides users with essential information about the device's current status and operational conditions. This screen is designed to facilitate effective monitoring and management of the device during regular use.
Page 36: Alert Notification Screen Overview
High Power and Low Power. 6.2.1.2 Alert Notification Screen Overview Alert Notification Screen The Alert Notification Screen on the Hydrus device serves as a crucial interface for communicating important status information and advisories to the user. Indicator...
Page 37: Hydrus Web User Interface (Webui)
Hydrus Reference Manual • Getting Started 6.2.2 Hydrus Web User Interface (webUI) Figure 15: Hydrus WebUI Main Page v1.0 Page 30 02 August 2023...
Page 38 Hydrus Reference Manual • Getting Started Figure 16: Hydrus WebUI Top Tab The Hydrus Top Tab will be identified in the table below from left to right. Menu Description Item The Advanced Navigation drop down menu provides a collection of tools and functionalities to perform specific actions and commands within the webUI for Hydrus.
Page 39: Advanced Navigation Drop Down Menu
Returns users to the home page of Hydrus. Mission Planner Enables users to plan, edit, import, and export missions. Log Viewer Allows users to review the completed mission patterns in Hydrus. Download Session Provides access to download data from a specific mission in the Data form of a ZIP file.
Page 40 Wi-Fi connectivity for Hydrus. Time Selects the time source and servers. Save/Restore Saves the current configuration or restores a previously saved Configuration configuration, facilitating easy setup and migration of Hydrus' settings. v1.0 Page 33 02 August 2023...
Page 41 Drop-down Description Menu Item Self Test Initiates a comprehensive self-test for Hydrus, which verifies the func- tionality and performance of its systems. Administration Provides access to administrative functions for Hydrus such as Restarting Hydrus, Sending Hydrus to shipping mode and Resetting...
Page 42 Internal Logs Provides access to the internal logs generated by Hydrus. These logs contain valuable information about system events, errors, and dia- gnostics, which can be helpful for troubleshooting and analysis pur- poses.
Page 43: Subsonus Web User Interface (Webui)
6.2.3.1 Device List The device list within the Subsonus webUI provides information about the connected devices, particularly the Hydrus device that is being tracked acoustically underwater by the Subsonus USBL (Ultra Short Baseline) system. Note: Click on the device to see Live Data for each device.
Page 44 This indicator shows the remaining time and charge of the battery on Hydrus. It provides information about the power status of Hydrus. Roll This indicator displays the rotation about the forward axis of Hydrus. It indicates the degree of tilt or rotation around the device's front-to-back axis.
Page 45: Open Device Configuration
6.2.3.2 Open Device Configuration When the user right-clicks on the device list in the Subsonus webUI and select "Open Device Configuration," a dialog box will open with various options and information related to the Hydrus device. Figure 21: Open Device Configuration...
Page 46 IP address. These details help identify and differentiate the Hydrus unit. Hydrus Deploy- This section allows the user to deploy Hydrus on a mission, guiding ment the user through mission selection, review or important mission para- meters, running Hydrus self tests and final deployment.
Page 47: Hydrus Command Dialog Box
Hydrus Reference Manual • Getting Started 6.2.3.3 Hydrus Command Dialog Box The Hydrus command dialog box serves as an integral part of the Subsonus webUI, providing a comprehensive interface for the remote operation of Hydrus. Divided into four key quadrants, this dialog box offers real-time device monitoring, mission tracking, command execution feedback, and dynamic user control options.
Page 48: Power States
6.3.1 High Power Overview When set to High Power, Hydrus is fully functional and gives users complete access to all its applications. When operating in water, Hydrus MUST be in this power state. Activation/Selection - To transition Hydrus into High Power, follow the step-by-step procedure outlined below: 1.
Page 49: Low Power
Hydrus Reference Manual • Getting Started 6.3.2 Low Power Overview - In Low Power, the Hydrus manages its power resources by prioritising critical functions and reducing power to non-essential systems. In this state the Hydrus is non-operational. Activation/Selection To transition Hydrus into Low Power, follow the step-by-step procedure outlined below: 1.
Page 50: Shipping Mode
Note: To exit Shipping mode, connect Hydrus to the Desk Charger. Alternatively, Hydrus can be put in Shipping Mode manually on Hydrus by following the steps outlined below: 1. Tap the wand on the EPD screen and hold for 25 seconds, then take the wand off for 25 seconds.
Page 51: Restarting Hydrus
6.3.4 Restarting Hydrus If there is a need to restart Hydrus, please follow the following steps: 1. Navigate to the Hydrus webUI and select the Advanced Navigation Drop Down Menu, Select "Tools" and then "Administration". Figure 29: Advanced Navigation Drop Down Tools 2.
Page 52: Connecting Hydrus
Hydrus Reference Manual • Getting Started 3. Confirm Restart by selecting "Restart Hydrus". Figure 31: Restart Hydrus 4. Hydrus will indicate that it is restarting, click "ok" and return to the EPD screen and wait till Hydrus reboots Figure 32: Hydrus Restarting 6.4 Connecting Hydrus 6.4.1 Connecting Hydrus Via Access Point...
Page 53: Connecting Via Network
3. Connect to Hydrus's Network: On the users Wi-Fi-enabled device, open the Wi-Fi settings and look for available networks. Hydrus should appear in the list of available Wi-Fi networks. It will be listed as a serial number, for example:'002F00075652501620383055'. Select it and connect using the password 'anhydrus'.
Page 54 Figure 34: Wi-Fi Icon 3. Add Network: Under known Wi-Fi Networks select Add Network. Figure 35: Add Network 4. Run Scan: Click Run Scan for Hydrus to initiate its run scan function to search for the network the user requires. v1.0...
Page 55 Figure 36: Wi-Fi Configuration Run Scan 5. Select Network : After Hydrus completes the network scan, the user will choose their preferred network. Upon selection, a new dialog box will emerge, prompting the user to enter the network's PSK (Password).
Page 56: Installing Subsonus
Hydrus Reference Manual • Getting Started 6. Set Priority : The user has the option to select the priority of the networks Hydrus can connect to. Figure 39: Wi-Fi Configuration Priority 7. Reconfigure : Modifications to the WiFi settings will be stored, but they won't be implemented until either the Hydrus system is rebooted or the 'Reconfigure' button is selected.
Page 57: Connection Diagrams
Hydrus Reference Manual • Getting Started Install and set up any external aiding devices, such as a DVL, according to the instructions provided with the device. Ensure that any position and alignment offsets between Subsonus and the DVL are accurately measured once mounted. These offsets must be later entered during configuration.
Page 58: Mounting Position
Hydrus Reference Manual • Getting Started Figure 41: Connection Diagram 6.5.3 Mounting Position The surface Subsonus unit is typically mounted on a pole that is attached to the side of a ship and pointing down into the water, see Figure 42: Typical Subsonus Surface Mounting.
Page 59 Pole Mount Bracket Advanced Navigation stocks a reinforced acetal plastic pole mount bracket for Subsonus that allows customers to quickly mount the surface unit to a 15-35mm diameter pole, as shown below.
Page 60: Surface Unit Reference Source
6.5.4.3 Third Party GNSS/INS or GNSS Compass The recommended source is the Advanced Navigation GNSS Compass which will give the best results. Many survey ships will have an existing high accuracy GNSS/INS in which case they can use either an Advanced Navigation GNSS/INS or Third Party GNSS/INS or GNSS Compass option.
Page 61: Advanced Navigation Gnss Compass
6.5.4.1 Advanced Navigation GNSS Compass Figure 44: Advanced Navigation GNSS Compass Advanced Navigation manufactures an all in one GNSS Compass system powered using PoE (Power over Ethernet) that is an ideal reference source for Subsonus. The Advanced Navigation GNSS Compass is supplied with the Subsonus Evaluation Kit.
Page 62 Hydrus Reference Manual • Getting Started Figure 45: Advanced Navigation GNSS Compass mechanical drawing The ideal mounting position for the GNSS Compass is on top of the surface Subsonus pole. The mounting alignment between the Subsonus and the GNSS Compass is extremely important, see...
Page 63 Hydrus Reference Manual • Getting Started Figure 46: Advanced Navigation GNSS Compass mounting Mounting Position When planning a mounting location for GNSS Compass, refer to Figure 47: Mounting location example, and be mindful of the following recommendations. Mount the unit in clear view of the sky Mounting the unit at least 3m from transmitting devices, otherwise they may degrade heading performance due to interference.
Page 64 Hydrus Reference Manual • Getting Started Figure 47: Mounting location example Mounting Alignment The GNSS Compass should be mounted with its forward indicator pointed in the direction of travel of the vehicle. The connector blanking cap on Subsonus should be pointing in the opposite direction of the GNSS...
Page 65 Hydrus Reference Manual • Getting Started Figure 48: GNSS Compass Alignment Note: The Subsonus will not function correctly if the GNSS Compass is not correctly aligned to the Subsonus unit. The Subsonus will also not function correctly if the GNSS Compass is not correctly aligned to the vessel.
Page 66 Hydrus Reference Manual • Getting Started Figure 49: GNSS Compass and Subsonus Offset direction v1.0 Page 59 02 August 2023...
Page 67: Advanced Navigation Gnss/Ins
6.5.4.2 Advanced Navigation GNSS/INS Subsonus supports any of Advanced Navigation's GNSS/INS products. Subsonus will automatically detect the Advanced Navigation device as it does with an Advanced Navigation GNSS Compass. An operator will be required to configure offsets between the devices before use, see Device Configuration.
Page 68: Third Party Gnss/Ins Or Gnss Compass
Every Hydrus being operated within a 3km radius must have a unique address otherwise communication collisions will occur. If only one Hydrus is to be tracked, this section can be disregarded as the factory default unit addresses will work out of the box.
Page 70: Considerations
Hydrus may require additional cooling mechanisms for example the cooling fan on the desk charger for Hydrus when out of water an in high-temperature environments, while very low temperatures may impact its mobility and potentially lead to freezing of sensitive equipment.
Page 71: Marine Life Interaction
Hydrus may encounter marine life during its operations. Minimising negative impact on marine organisms is crucial. Hydrus should avoid close encounters, disturbances, or collisions with marine life. Operators should be aware of potential interactions with large marine animals, ensuring the safety of both Hydrus and the animals. 7.2 Power Management and Endurance 7.2.1 Charging...
Page 72: Mission Planning
The mission planning process entails a series of steps to effectively prepare for a mission. It is important to review the assumptions provided to establish the necessary context. These assumptions outline the initial conditions for planning a mission on a boat using Hydrus with Subsonus and GNSS Compass (as provided in 11.1.4 Hydrus 300 Subsonus Surface kit) and setup as per 6.5.1.1 Subsonus Surface Installation...
Page 73 If Relative to Subsonus is selected, set Bearing The bearing, in degrees, from the port dir- Angle and Distance ection of the Subsonus unit that is con- trolling Hydrus. The default is set to 90 degrees. The Distance, in meters, along the Bear- ing Angle previously entered...
Page 74: Mission Management
8.2.3 Importing and Exporting Missions 8.2.1 Creating New Missions Creating new missions in the Hydrus webUI is a straightforward process that allows users to plan and customise their Hydrus missions. Users can define waypoints, set mission parameters, and tailor mission details to meet their specific needs.
Page 75: Import Procedure
Hydrus Reference Manual • Mission Planning 8.2.3.1 Import Procedure 1. Open the Hydrus webUI Figure 53: Hydrus WebUI Main Page 2. Click "Plan Mission", this will take the user to the mission planning section. Figure 54: Plan Mission v1.0 Page 68...
Page 76 4. The local drive dialog box will appear for the user to pick which mission they would like to import, select the mission Figure 56: Hydrus Import Mission Local Drive Note: Ensure the correct file type is selected when importing mission from the local drive being a (.json) file only.
Page 77: Export Procedure
Hydrus Reference Manual • Mission Planning 8.2.3.2 Export Procedure 1. Open the Hydrus webUI Figure 57: Hydrus WebUI Main Page 2. Click "Plan Mission", this will take the user to the mission planning section. Figure 58: Plan Mission v1.0 Page 70...
Page 78 Hydrus Reference Manual • Mission Planning 3. In the Welcome Planner click "Export mission" Figure 59: Mission Planner Welcome 4. The sessions dialog box will appear for the user to pick which mission they would like to export, select the...
Page 79: Mission Planning Tools
These tools encompass basic interaction and maneuverability tools such as transform and rotate handles, the Polygon Operations Panel for detailed modifications, and mapping enhancements for improved interaction. Additional features include Hydrus Live Data display , survey tools for detailed area examination and polygon adjustment.
Page 80: Basic Interaction Of The Polygon
Hydrus Reference Manual • Mission Planning Figure 62: Mission Planning Mapping Overview 8.3.1 Basic Interaction of the Polygon The basic interaction of polygon pattern involves using maneuverability tools to move around the 3D space. The transform handle allows for the adjustment of the model's position and scale, while the polygon points provide a more detailed level of manipulation.
Page 81: Polygon Operations Panel
Hydrus Reference Manual • Mission Planning 8.3.2 Polygon Operations Panel Figure 63: Polygon Operations Panel Delete Task (Ctrl + del): This command removes the entire polygon or transect task that is currently selected. Note: Exercise caution while utilising this function, as it will irreversibly delete the chosen task.
Page 82: Polygon Tools
Hydrus Reference Manual • Mission Planning 8.3.3 Polygon Tools These tools are specifically designed for manipulating polygons within the Hydrus WebUI. Transform Handle: This tool allows the user to adjust the position and scale of the selected polygon. Note: To use the Transform Handle the user must select the task in the mission planner menu for the rotate handle to appear.
Page 83: Map Tools
Hydrus Reference Manual • Mission Planning 8.3.4 Map Tools These tools are used for enhancing the map view and interaction. Mapping Enhancements: These are various tools and settings that improve the user's ability to interact with the map, see 8.9 Mapping Enhancements.
Page 84: Mission Considerations
To maintain bottom lock, Hydrus needs to operate at a depth where it can maintain a clear acoustic signal with the seafloor. This means that the DVL must be within a range of approximately 10 meters from the seabed, allowing it to calculate the velocity of Hydrus relative to the seabed accurately.
Page 85: Hydrus Transit Between Tasks
Suppose Hydrus is traveling directly between task A and task B, and there is an obstruction located 40 meters between the task A endpoint and the task B start point that will not allow Hydrus to direct transit between the two.
Page 86: Mission Patterns
Hydrus is most effective when its long lines are aligned with the current direction, allowing it to handle being pushed from the front or back rather than sideways.
Page 87: Travel Pose
Geodetic Height - This mode allows Hydrus to be set of a geodetic height, which is a measure of vertical distance above or below a specific geodetic reference point, such as the Earth's ellipsoid. By setting a specific geodetic height value, Hydrus can maintain a consistent altitude relative to the chosen reference datum throughout the survey.
Page 88 Additionally, there is an option to record video while performing this task. Note: That when operating in this mode, Hydrus will likely operate at slower speeds than when purely recording video.
Page 89: Mission Profiles
Hydrus Reference Manual • Mission Planning Video (Fixed Distance) - This setting allows Hydrus to capture video footage during the survey while explicitly specifying the mow width, which represents the horizontal width between adjacent lawnmower sweeps. Video Capture: Hydrus records video footage while following the survey path, providing continuous documentation of the survey area.
Page 90: Dense Lawnmower Pattern
Hydrus Reference Manual • Mission Planning Figure 64: Sparse Lawnmower Survey Path Visualisation 8.5.5.2 Dense Lawnmower Pattern The Dense Lawnmower pattern is designed to achieve high-resolution mapping objectives. It is employed when there is a reasonably accurate understanding of the bathymetry in the survey area. The pattern incorporates a minimum of 20% image overlap to ensure comprehensive coverage of the seabed and capture detailed data for mapping purposes.
Page 91: Super Dense Lawnmower Pattern
Hydrus Reference Manual • Mission Planning Setting Value Geodetic Height - to + Coverage Media Capture Image(Camera Coverage) Also Record Video Ticked / Unticked Overlap Forward Overlap Lateral Figure 65: Dense Lawnmower Survey Path Visualisation 8.5.5.3 Super Dense Lawnmower Pattern The Super Dense Lawnmower pattern is specifically designed for achieving precise 3D photogrammetry reconstruction.
Page 92: Transect Survey
Hydrus Reference Manual • Mission Planning Setting Value Travel Pose Pitch 0° Vertical Mode Bottom Altitude / Surface Depth / Geodetic Height Value Bottom Altitude 0.5 - 8 m Surface Depth 0 - 300 m Geodetic Height - to +...
Page 93 Hydrus Reference Manual • Mission Planning Setting Value entation Path to Edge Travel Pose Pitch Vertical Mode Bottom Altitude / Surface Depth / Geodetic Height Value Bottom Altitude 0.5 - 8 m Surface Depth 0 - 300 m Geodetic Height - to +...
Page 94: Recovery Location
Figure 67: Transect Survey Visualisation 8.6 Recovery Location One crucial aspect of the mission planning process is setting a recovery location for Hydrus to return to once it has completed its mission. There are a few options available for specifying this recovery location: v1.0...
Page 95: Relative To Subsonus
For example, if the Subsonus unit is mounted on the side of the boat, a relative recovery location of 90° and 2 meters means that Hydrus will return to a location 2 meters to the right of the boat, regardless of the boat's orientation, turns, or changes in position.
Page 96: Lighting Settings
Mode/Description Function Lighting Mode On: Hydrus will utilise its LED lighting to provide additional illu- mination for capturing images or videos. Off: Hydrus' LED lighting system will be disabled and the scene will be captured using ambient light only.
Page 97: Image Settings
Hydrus Reference Manual • Mission Planning 8.7.5 Image Settings Image settings allows the user to control various aspects of the captured images, such as resolution, format, and quality. Mode Description JPEG JPEG (Joint Photographic Experts Group) is a widely used image format that offers high com- pression, resulting in smaller file sizes.
Page 98 Hydrus Reference Manual • Mission Planning Mode Description suitable for specific requirements, while the lower frame rate of 30fps is ideal for capturing standard motion. FHD@60fps This video mode allows the user to capture videos in Full HD (FHD) resolution at a frame rate of 60fps.
Page 99: Bail-Out Conditions
Selection / Action Abort mission and go to Recovery Location. When the battery percentage is selected, the user is configuring Hydrus to take action when the remaining battery power drops below the specified threshold. Hydrus will then navigate autonomously to a recovery location defined from the 8.6 Recovery...
Page 100: On Loss Of Acoustic Communication
Abort mission and go to surface (for use with Subsonus). When the time (in seconds) is selected, the user is configuring Hydrus to take action when the loss of acoustic communication has been lost for the determined period of time .
Page 101: Minimum Bottom Altitude
For example, if a user sets the altitude threshold to 1 meters, it means that if Hydrus comes closer to the seabed by less than 1m, the action will be triggered to abort mission and return itself to the surface v1.0...
Page 102: Low Storage Space
Hydrus will then navigate to a designated recovery location. Abort Mission and Go to Surface With this option, when the remaining storage space reaches a critically low level, Hydrus will abort its current mission and ascend to the water surface.
Page 103: Mapping Enhancements
1. Ensure your Mapping Enhancement files are prepared and saved in the proper JSON or KML format. Note the file's location on your computer for easy access during the upload process. Enter the Hydrus WebUI URL into your preferred web browser.
Page 104 Hydrus Reference Manual • Mission Planning 3. Hover over the Add icon and click the JSON/KML file type Figure 75: Mapping Enhancements File Selection 4. Select the desired file and ensure its either a JSON (geoJSON) file or a KML file and press open.
Page 105 Hydrus Reference Manual • Mission Planning 5. The dialog box will then display "Created 1 Layer" in green writing. Confirm this then click Upload. Figure 77: Mapping Enhancements Upload 6. Verify the successful upload by noting the new file in the "Map Options" dialog box.
Page 106 Hydrus Reference Manual • Mission Planning 7. Close the Map Options dialog box and move the map to the relevant map area. Figure 79: Mapping Enhancements Top View v1.0 Page 99 02 August 2023...
Page 107 Hydrus Reference Manual • Mission Planning 8. Choose the best perspective for viewing the new overlay. This could be a top-down view or a 3D view, depending on your requirements. Figure 80: Mapping Enhancements 3D View Figure 81: Mapping Enhancements Z Component v1.0...
Page 108 Hydrus Reference Manual • Mission Planning 9. Proceed with the mission task as outlined in your mission planning process. Figure 82: Mapping Enhancements with Lawn Mower Pattern v1.0 Page 101 02 August 2023...
Page 110: Hydrus Operations
The Hydrus Test Clip plays a crucial role in this process. The Hydrus Test Clip is designed to allow the attachment of a tether to the Hydrus device during training exercises. This tether will help users practice controlling and maneuvering Hydrus before actual deployments.
Page 111: Attachment Of Hydrus Test Clip
Hydrus Reference Manual • Hydrus Operations 9.1.2 Attachment of Hydrus Test Clip Position Hydrus: Position the Desk Charger so that the transponder end of Hydrus can be placed upright and aligned properly. Using the Test Clip: Take the Test Clip in hand and examine its design. Note that it has concave extrusions on each side that will line up with the extrusions on Hydrus.
Page 112 Attaching the Tether Clip: Take the tether clip that will be used to connect the tether to Hydrus. Hook the tether clip onto the Test Clip. There is space designated for attachment points between the transponder and the Test Clip for this purpose.
Page 113: Suggested Tether
9.1.3 Suggested Tether For this purpose, it is recommended to use a fishing line rated to withstand the weight and force of Hydrus. Alternatively, a fixed line with tether connection clips attached to the Hydrus Test Clip can also be employed.
Page 114: Testing And Familiarisation
Hydrus Reference Manual • Hydrus Operations 9.1.6 Testing and Familiarisation After the initial launch, Its is recommended to allow users to practice controlling Hydrus with the tether in a controlled environment. This phase will help users become comfortable with the device's movements, responsiveness, and underwater navigation.
Page 115 Hydrus Reference Manual • Hydrus Operations Figure 88: Configuration Devices v1.0 Page 108 02 August 2023...
Page 116 Subsonus. Figure 89: Active Devices 4. Exit out of the main view dialog by clicking view on the top tab. Click the Hydrus in the devices list and select the Open device configuration dialog button. Figure 90: Open Device Configuration v1.0...
Page 117 Hydrus Reference Manual • Hydrus Operations 5. Click Hydrus Deployment, Click Start Deployment Figure 91: Start Deployment 6. Select the mission that was previously saved Figure 92: Hydrus Deployment Dialog v1.0 Page 110 02 August 2023...
Page 118 Figure 93: Hydrus Deployment Dialog Bailout Conditions 8. Click start self-test. Note: Hydrus will perform a self test, ensure Hydrus is on a flat surface and fingers are kept clear of the spinning thrusters. Figure 94: Hydrus Deployment Dialog Self-Test v1.0...
Page 119 It is recommended that waits till this has started prior to deploying Hydrus. Figure 95: Hydrus Deployment Dialog Deploy 10. Wait for the EPD to Direct the user to place Hydrus in the water. Place it in the water. For detail, see Hydrus Deployment.
Page 120: Post Deployment
9.3.2 Deploying Hydrus Use a controlled throwing technique to launch Hydrus. Ensure a smooth, level trajectory and avoid excessive force or angles that could cause Hydrus to spin or tumble in the air. The following procedure is the suggested throwing technique.
Page 121 Aiming Select a target area in the water where you want to throw Hydrus. This could be a specific point or an open space. Visu- alise the trajectory you want Hydrus to follow, aiming for a smooth, level path without excessive height or angle.
Page 122: Hydrus Monitoring
9.4 Hydrus Monitoring 9.4.1 Mission Initiation Once Hydrus is deployed in the water, it requires a short period of time for the INS to stabilise. During this stabilisation process, Hydrus adjusts its position and orientation to ensure accurate navigation. Once the INS has successfully stabilised, Subsonus will report the state of the Hydrus through the Subsonus webUI as "Holding Depth - Ready for resume mission command."...
Page 123 Figure 100: Screenshot of Hydrus on Planned Path of Survey Mission Hydrus will continue executing the survey, completing the planned tasks as it reaches each waypoint along the survey path. It will collect data or perform any other assigned actions according to the mission objectives.
Page 124: Mission Complete
The recovery point is a predetermined location where the Hydrus will be retrieved from the water. Once Hydrus reaches the recovery point, Hydrus will hold and report "At Recovery Point, waiting for return to surface command" Note: That the depth of the Recovery point is the same as the hold depth programmed at the start of the mission.
Page 125: Post Retrieval Actions
Once Hydrus has been retrieved from the water as stated in 9.5 Hydrus Retrieval, a number of post retrieval actions should be completed. Note: The thrusters may still be running when Hydrus is removed from the water, take care to avoid contact Action Description...
Page 126 For Hydrus, click the 'Stop Current Mission' button on the Main page of the Hydrus webUI. Fresh Water Rinse Hydrus thoroughly with fresh water. This is a critical step as it Rinse helps to remove any salt residue that could lead to corrosion over time.
Page 128: Post-Mission
10.1 Data Download The Data Download feature in the Hydrus webUI is a critical tool for accessing and managing the data captured by Hydrus during each mission. This feature allows users to download a variety of data types, including mission parameters, system logs, video recordings, and images, directly to their local drive.
Page 129 Hydrus Reference Manual • Post-Mission Figure 105: Hydrus webUI Download Media Selection 3. Select Mission on the session page that will be downloaded Figure 106: Session Line v1.0 Page 122 02 August 2023...
Page 130 Hydrus Reference Manual • Post-Mission 4. Review Payload and download data Partial Downloads: If the user wishes to download only a portion of the data, select the specific files or categories needed instead of opting for a complete download. This can be done by checking the boxes next to the desired files or categories.
Page 131: Deleting Sessions
Figure 109: Deleting All Sessions Note: It's important to be aware that if the storage capacity of Hydrus is nearing its limit, it could potentially lead to mission failures. Therefore, it's recommended that older session data be cleared out before initiating new missions.
Page 132: Session Payload Breakdown
This folder contains mission data recorded from the parameters set by the user during mission planning. This data can be downloaded and reused for other missions or sent to other Hydrus units. The configuration data can include: Mission Parameters: These are the specific settings and instructions inputted by the user for a particular mission.
Page 133 This folder contains images and videos from the mission, available for ings download in MP4 format. The video recordings can include: Flight Footage: This is video footage captured by the Hydrus device during the mission. It can be used for review, analysis, or sharing.
Page 134: Maintenance
HYDRUS-300- Hydrus AUV Hydrus AUV 300 m Pack 300 m Pack Contains everything required to start operating Hydrus as a standalone unit, or an additional unit with an existing Subsonus. See 11.1.1 Standalone Units and Packs for list of contents.
Page 135: Accessories And Spare Parts
1 x Hydrus Qi® desktop charger 1 x Thruster starter pack HYDRUS-WAND Hydrus Wand Magnetic on/off tool HYDRUS-TESTCLIP Hydrus Test Clip Attachment clip for testing Hydrus on safety line Spare Part Packs HYDRUS-THRUSTER- Spare Thruster Starter Hydrus AUV HW V1.0 Spare Thruster Starter STARTER-PCK-V1.0 Pack...
Page 136 Hydrus Reference Manual • Maintenance Tasks Part Number Description Notes EXTENSION warranty Subsonus Accessories SUBSONUS-V Subsonus with connector Subsonus USBL for underwater acoustic pos- installed in vertical port itioning and communications to Hydrus SS-10M-CABLE Subsonus 10 meter RJ45 Subsonus 10 meter cable, RJ45 Ethernet con-...
Page 137: Hydrus 300 Pack
Hydrus Reference Manual • Maintenance Tasks 11.1.3 Hydrus 300 Pack The HYDRUS-300-PCK standalone pack contains the following items: Part Number Description HYDRUS-300 Hydrus 300 HYDRUS- CHARGER Hydrus Charger HYDRUS-CASE-HD Hydrus Case- HD HYDRUS-THRUSTER- Hydrus AUV HW V1.0 Spare Thruster Starter STARTER-PCK...
Page 138: Hydrus 300 Subsonus Surface Kit
Note: Additional accessories or optional components may be included depending on your specific purchase. Please refer to the documentation provided with those accessories for further instructions. It is recommended to keep the original packaging materials in case you need to transport or store Hydrus in the future.
Page 139 Test sensors. Note: Note: The frequency and specific tasks mentioned above are examples and may vary depending on the Hydrus model and manufacturer's recommendations. Adjust the plan to suit the specific requirements and guidelines provided by Advanced Navigation. v1.0 Page 132...
Page 140: Cleaning
Submerge Hydrus in the water, ensuring that all components are covered. Allow Hydrus to soak for 30 minutes to remove any stubborn contaminants. During the soak, gently agitate the water around Hydrus to help dislodge any dirt or grime. Avoid Chemicals and Compressed Air: Do not use any chemicals or solvents to clean Hydrus, as they can damage sensitive components.
Page 141: Thruster Specific Cleaning
Hydrus Reference Manual • Maintenance Tasks 11.2.2 Thruster Specific Cleaning Rinse Mode -The Rinse Mode function serves a critical role in the maintenance of Hydrus. This mode allows for the manual operation of its thrusters outside of mission parameters, specifically for cleaning purposes.
Page 142 Understanding Rinse Mode: Upon selecting "Rinse Mode", a dialog box will appear with the following message: "This will make Hydrus slowly spin its thrusters for 60 seconds. Are you sure you want to start Rinse Mode?" The options available will be "Cancel" or "Start Rinse Mode".
Page 143: Impeller Maintenance
This section of the manual provides a comprehensive guide on Impeller maintenance. It covers safety precautions, the tools and materials needed, detailed procedures for thruster change-outs and cleaning and inspection guidelines. By following these guidelines, operators can ensure Hydrus continues to perform at its best in all underwater operations.
Page 144: Thruster Layout
Hydrus Reference Manual • Maintenance Tasks 11.3.2 Thruster Layout Clockwise (CW) Rotor The CW Rotor can be denoted by a white ribbon around it's surface and the base of the rotor blade inclines towards the left. Note: The CW Impeller can be inserted into the thruster guard either way up (white line up or down), there is no significance.
Page 145 Hydrus Reference Manual • Maintenance Tasks Figure 116: CCW Top View Side View Thruster Layout Complete Figure 117: Thruster Layout Complete Thruster Number Rotor Direction Guard Type Counter Clockwise (CCW) Horizontal Guard Clockwise (CW) Horizontal Guard Counter Clockwise (CCW) Horizontal Guard...
Page 146 Hydrus. The Horizontal Thruster Guard is characterised by a curvature of the base of the guard that aligns with the main body of Hydrus, the guard will house in the shallow cassette on the Hydrus which is depicted in the illustration below.
Page 147 Thruster Guard is characterised by a curvature that aligns with the main body of Hydrus, the Vertical Thruster Guard has a base that is near straight and will sit in the deeper cassette on the Hydrus main body. see below for illustration.
Page 148: Tools And Materials Needed
Hydrus Reference Manual • Maintenance Tasks Ceramic Bearings The ceramic bearing is a disc-shaped assembly composed of a hollow ceramic ring. This ring includes an inner and outer raceway that encapsulates extremely hard and smooth ceramic balls. Each thruster assembly requires two of these ceramic bearings.
Page 149: Thruster Change Out Procedure
Hydrus Reference Manual • Maintenance Tasks 11.3.2.2 Thruster Change Out Procedure Preparation: Position the Hydrus on a flat, stable surface to ensure it remains secure throughout the procedure. Figure 121: Hydrus Flat Surface Top View Thruster Guard Removal: Using the 2.5mm hex key, carefully unscrew the four M4 x 12mm Ti thruster guard screws.
Page 150 Hydrus Reference Manual • Maintenance Tasks Thruster Removal: Gently detach the thruster guard from the main body of the Hydrus. This should require minimal force. The rotor and the ceramic bearing are housed within the thruster guard. Figure 123: Thruster removal Component Separation: Separate the rotor and the ceramic bearing located inside the thruster guard.
Page 151 Hydrus Reference Manual • Maintenance Tasks Rotor Identification: Determine whether the rotor being replaced is a CW (Clockwise Rotor) or a CCW (Counter Clockwise Rotor). Figure 125: Rotor Identification Reassembly: Reattach the two ceramic bearings to the rotor and slide the assembly back into the thruster guard.
Page 152 Hydrus Reference Manual • Maintenance Tasks Thruster Replacement: Carefully align and reattach the thruster guard to the main body of the Hydrus. Ensure that the thruster assembly is properly seated in the cassette. Insert and hand-tighten the thruster guard screws.
Page 153: Firmware Update
Before proceeding with any software or firmware update, it is essential to follow these preparatory steps: 1. Backup: Take a backup of all critical data, configurations, and settings related to the users Hydrus. This backup will serve as a safeguard in case of any unexpected issues during the update process.
Page 154 Unstable or intermittent connectivity may lead to update failures or incomplete installations. Figure 129: Hydrus webUI Main Page 2. Select Upload Firmware Figure 130: Upload Firmware 3. Click on the "Upload" button to select a new firmware file to upload to the Hydrus unit v1.0 Page 147 02 August 2023...
Page 155 Figure 131: New Firmware File 4. Select the previously downloaded file. Figure 132: Firmware Upload File Selection 5. Click "Confirm" Figure 133: Firmware Confirm 6. Wait for Hydrus to complete upgrade and navigate back to main menu. v1.0 Page 148 02 August 2023...
Page 156 Figure 134: Upgrade in Progress. Note: The Hydrus system will initiate a restart to implement the update, a process that may take some time. A notification will appear on the page to confirm the successful completion of the update. It is recommended that the user remains on the page and refrains from navigating away during this process.
Page 157 Hydrus Reference Manual • Maintenance Tasks v1.0 Page 150 02 August 2023...

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