Page 1 Hydrus Reference Manual v1.3 18 September 2024...
Page 2: Table Of Contents
2.2.1 Read the Introduction 2.2.2 Follow the Manual Structure 2.2.3 Use Diagrams and Illustrations 2.2.4 Seek Clarification 2.2.5 Software and Manual Updates 2.3 Shipping Hydrus - Dangerous Goods 3 Specifications 3.1 Hardware Specifications 3.1.1 Physical Dimensions - Hydrus 3.1.2 Weight and Buoyancy 3.1.3 Maximum Operating Depth...
Page 3 4.4 Hazardous Materials 4.5 Hull Breech 4.6 Transport and Storage 5 Quick Start Guide 6 Getting Started 6.1 Initial Set-Up 6.1.1 Software and Hardware Prerequisites 6.1.2 Safety Precautions for handling Hydrus out-of-water 6.1.3 Unpacking and Inspection 6.1.4 Power and Charging Page ii...
Page 4 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 Power States 6.2.1 High Power 6.2.2 Low Power 6.2.3 Shipping Mode 6.2.4 Restarting Hydrus 6.3 Connecting Hydrus 6.3.1 Connecting Hydrus Via Access Point...
Page 5 8.2.3 Hydrus Range and Endurance 8.2.4 Altitude 8.2.5 Pause Vertical Position 8.2.6 Hydrus Transit Between Tasks 8.2.7 Bluewater Missions 8.2.8 Using Hydrus in Standalone Mission Mode 8.2.9 Retrieval Location 8.2.10 Battery Recharge Downtime 8.3 Mission Planning Process 8.3.1 Subsonus Prerequisites 8.3.2 Mission Planning Procedure...
Page 6 8.6.5.4 Correction Settings 8.6.5.5 Image Settings 8.6.5.6 Video Settings 9 Hydrus Deployment 9.1 Hydrus Deployment Training and Familiarisation 9.1.1 Safety Precautions 9.1.2 Deployment Training Exercise Procedure 9.1.3 Hydrus Test Clip Attachment 9.1.3.1 How to Attach a Hydrus Test Clip Page v...
Page 7 9.1.4 Tether for Practising Hydrus Deployment 9.2 Hydrus Pre-deployment 9.2.1 Standalone Mission Mode 9.2.2 Subsonus Assisted Mission Mode 9.3 Deploying Hydrus 9.3.1 Launching Safety 9.3.2 Deploying Hydrus 9.4 Hydrus Mission Monitoring with Subsonus 9.4.1 Mission Initiation 9.4.2 Mission Running 9.4.3 Mission Complete 9 Hydrus Retrieval 9.5 Retrieving Hydrus from the Water...
Page 8 11.4 Magnetic Calibration 11.4.1 Magnetic Calibration Verification 11.4.2 3D Calibration 11.4.3 Set HSI Offset Values Manually 11.5 Firmware Update 11.5.1 Upgrading Hydrus Page vii...
Page 9 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 10: Revision History
6.3 Connecting Hydrus 2023 Added multi-select mode for session deletion functionality in web UI, see 10.2.4 Deleting Sessions Added capability to enable Low Power Mode functionality for Hydrus in web UI, see 6.2.2 Low Power 02 Aug Initial Release 2023 Table 1: Revision History v1.3...
Page 11: Firmware Changelog
Added caching of external resources e.g. images, when adding KML and KMZ lay- Added flashing of LEDs when Hydrus surfaces for recovery Added Hydrus LEDs will flash on mission bailout until mission is stopped via acous- tic command or Web UI Added Hydrus will beep when it is shutting down Added location display of Subsonus and related vehicle (e.g.
Page 12 Added session playback feature allowing playback of recorded sessions Hydrus will now transit to the recovery location at the transit vertical value specified for the mission Enhanced object detection capabilities for handling more complex scenarios...
Page 13 192.168.0.0/24 IP range Added dialog for viewing and managing mission overlays in the Mission Planner Added support for user defined travel tilt of Hydrus when returning to retrieval point Added functionality for user defined recovery location depth Added mission bailout and automatic resurfacing of Hydrus upon user defined no-...
Page 14 Improved tracking visualisation in Subsonus live view to indicate segments without INS position data due to acoustic outage Updated Hydrus position tracking in Subsonus View to be based on INS positioning instead of acoustic location Added device name in WiFi SSID...
Page 15: Hardware Changelog
Hydrus Reference Manual • Revision History Version Date Changes Improved mission progress indicator Improve Subsonus event log Fix intermittent false DVL failure status Fix false reporting of IMU sensor failures Reduce acoustic communications dropouts Improve DVL performance Fix failure to detects unsaved changes after loading a mission...
Page 16: Introduction
Hydrus operates independent of external systems or hardware, relying entirely on its state of the art sensors and dead reckoning navigation capability. In standalone mode, Hydrus can be launched directly from shore or a small boat, ideally suited up to depths of approximately 30 metres. In Subsonus assisted mission mode, Hydrus is paired with a Subsonus USBL to provide accurate positioning and real time mission monitoring.
Page 17: Key Components And Features
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 18: Ai-Powered Navigation System
2.1.5 Pressure Sensor The Pressure sensor in Hydrus is used to measure the pressure exerted by the surrounding water whilst in operation. This sub-component plays a vital role in determining the depth of a system. By measuring the pressure, the sensor can calculate the corresponding water depth, which is essential for accurate navigation and localisation in underwater environments.
Page 19: 60Fps Camera
Wi-fi is used for configuration, mission planning and data payload download. 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.
Page 20: How To Use This 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 21: 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 22: Specifications
Hydrus Reference Manual • Specifications 3 Specifications 3.1 Hardware Specifications 3.1.1 Physical Dimensions - Hydrus Specification Value Physical dimensions 484 x 264 x 216 mm Figure 4: Hydrus Physical Dimensions 3.1.2 Weight and Buoyancy Specification Value Weight 6.4 kg Buoyancy +170 g in salt water (1.025 kg/L density)
Page 23: Maximum Operating Depth
Hydrus Reference Manual • Specifications 3.1.3 Maximum Operating Depth Below are the maximum operating depths of the Hydrus. It is important to adhere to these specifications to ensure safe and reliable operation. Going beyond these limits can jeopardise Hydrus, its integrity and functionality.
Page 24: Mission Depth Vs. Mission Runtime
3.2.6 Altitude and Depth Keeping Capability Note Survey oper- While performing survey operations, Hydrus is able to maintain a ation altitude constant altitude above a sandy/silty seabed between 0.5 and 5 m keeping altitude. (Subject to water induced movements for example, currents, upwellings, and tides.)
Page 25: Acoustic Range
Hydrus Reference Manual • Specifications Capability Note Survey oper- Hydrus is able to maintain a constant depth below sea level while ation depth performing survey operations (Subject to water induced movements for keeping example, currents, upwellings, and tides.) 3.2.7 Acoustic Range...
Page 26: Propulsion System
Hydrus Reference Manual • Specifications 3.3.2 Propulsion System Parameter Value Propulsion Type Hubless thruster Thruster Quantity Maximum Thruster Speed 3000 RPM 3.4 Navigation and Localisation 3.4.1 Inertial Navigation System (INS) Specification Value Roll & Pitch Accuracy 0.1 ° Heading Accuracy (Magnetic) 0.3 °...
Page 27: Communication
Hydrus Reference Manual • Specifications Specification Value Long Term Accuracy 0.1% Velocity Resolution 0.01 mm/s 3.5 Communication 3.5.1 Wi-Fi Communication Parameter Specification Wi-Fi Standard WiFi 4 / 802.11n (Channels 1-11) Security Standards WEP, WPA, WPA2-Personal, WPA3-Personal Frequency Band 2.4 GHz...
Page 28: Lighting Features
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 web UI. 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 29: 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 30: Underwater Operation
Restricted Areas: Always operate Hydrus in accordance with the applicable local, state, federal and international maritime laws and regulations. Unless authorised to do so, do not operate Hydrus in or in the vicinity of restricted areas, including but not limited to:...
Page 31: Hull Breech
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 32: Quick Start Guide
Task Profile Examples for information on how to set the necessary parameters. 8. When the survey task is ready, the user should select "Run Mission" on the main page of the Hydrus web UI to initiate the mission. 9. Deploy Hydrus into the water. Follow the 9.3.2 Deploying Hydrus...
Page 33: 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 34: 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 5: Hydrus Placement Top Down View 6.1.3 Unpacking and Inspection...
Page 35: 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 36: 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 37 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 9: Booting Status Verify the mode to confirm that High Power has been successfully selected.
Page 38: Device Connection
Network: Something like: space 001F000D5556501920303555 Password: anhydrus Hydrus web UI via a browser Launch a web browser on your device and navigate to the Hydrus web UI (User Interface) at http://192.168.0.1 for configuration and control. Figure 11: Hydrus Web UI Main Page Note: For difficulties connecting to the Hydrus access point or network, refer to 6.3 Connecting...
Page 39: 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 web UI.
Page 40: Subsonus
Figure 15: 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 6.4.1 Installation Checklist...
Page 41: Power States
6.2.1 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 42: Low Power
Hydrus Reference Manual • Getting Started 6.2.2 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 43 Note: The user can exit the Low Power state by tapping the Hydrus wand see 6.2.1 High Power Alternatively, Hydrus can be put in Low Power manually on Hydrus by following the steps outlined below: Activation/Selection To transition Hydrus into Low Power, follow the step-by-step procedure outlined below: 1.
Page 44: 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 45: Restarting Hydrus
6.2.4 Restarting Hydrus If there is a need to restart Hydrus, please follow the following steps: 1. Navigate to the Hydrus web UI and select the Advanced Navigation Drop Down Menu, Select "Tools" and then "Administration". Figure 24: Advanced Navigation Drop Down Tools 2.
Page 46: Connecting Hydrus
Hydrus Reference Manual • Getting Started 3. Confirm Restart by selecting "Restart Hydrus". Figure 26: Restart Hydrus 4. Hydrus will indicate that it is restarting, click "ok" and return to the EPD screen and wait till Hydrus reboots Figure 27: Hydrus Restarting 6.3 Connecting Hydrus 6.3.1 Connecting Hydrus Via Access Point...
Page 47: Connecting Via Network
3. Connect to Hydrus' 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 48 Hydrus Reference Manual • Getting Started Figure 29: Wi-Fi Icon 3. Add Network: Under known Wi-Fi Networks select Add Network. Figure 30: Add Network v1.3 Page 39 18 September 2024...
Page 49 Hydrus Reference Manual • Getting Started 4. Run Scan: Click Run Scan for Hydrus to initiate its run scan function to search for the network the user requires. Figure 31: Wi-Fi Configuration Run Scan v1.3 Page 40 18 September 2024...
Page 50 Hydrus Reference Manual • Getting Started 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 Wi-Fi Password.
Page 51 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 34: 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 52: Installing Subsonus
Hydrus Reference Manual • Getting Started 6.4 Installing Subsonus 6.4.1 Installation Checklist The following checklist provides the basic steps for connecting, mounting and configuring a Subsonus unit. 6.4.1.1 Subsonus Surface Installation Checklist Ensure all prerequisites are met, see Prerequisites. Mount the surface unit following the guidelines in 6.4.3 Mounting...
Page 53: Connection Diagrams
Hydrus Reference Manual • Getting Started 6.4.2 Connection Diagrams This connection diagram shows the connections required to set up position aiding for a Surface Subsonus using the Advanced Navigation GNSS Compass. Figure 36: Connection Diagram v1.3 Page 44 18 September 2024...
Page 54: Mounting Position
Hydrus Reference Manual • Getting Started 6.4.3 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 37: Typical Subsonus Surface Mounting.
Page 55: Surface Unit Reference Source
6.4.4.3 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 56: Advanced Navigation Gnss Compass
6.4.4.1 Advanced Navigation GNSS Compass Figure 39: 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 57 The GNSS Compass accepts a standard 5/8” survey mount or 4 x M8 panel mount bolts, see Figure 40: Advanced Navigation GNSS Compass mechanical drawing for mechanical details. Figure 40: Advanced Navigation GNSS Compass mechanical drawing v1.3 Page 48 18 September 2024...
Page 58 Hydrus Reference Manual • Getting Started 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 Figure 41: Advanced Navigation GNSS Compass mounting Figure 41: Advanced Navigation GNSS Compass mounting v1.3...
Page 59 Hydrus Reference Manual • Getting Started Mounting Position When planning a mounting location for GNSS Compass, refer to 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 60 Hydrus Reference Manual • Getting Started 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 61 Hydrus Reference Manual • Getting Started Figure 44: GNSS Compass and Subsonus Offset direction v1.3 Page 52 18 September 2024...
Page 62: Advanced Navigation Gnss/Ins
6.4.4.2 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 63: 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 64: User Interface Overview
7.1 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 65: Alert Notification Screen Overview
High Power and Low Power. 7.1.2 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 66: Hydrus Web User Interface
Hydrus Reference Manual • User Interface Overview 7.2 Hydrus Web User Interface Figure 49: Hydrus Web UI Main Page Figure 50: Hydrus Web UI Top Tab The Hydrus Top Tab will be identified in the table below from left to right. Menu Description Item The drop down menu provides a collection of tools and functionalities to per- form specific actions and commands within the web UI for Hydrus.
Page 67: Menu > View
Description Item The Wi-Fi Configuration button within the web UI provides convenient access to various Wi-Fi settings and options for the Hydrus. This feature allows users to configure and manage the vehicle's Wi-Fi connectivity. 7.2.1 Menu > View The following options are available from Menu > View: Figure 51: "View"...
Page 68: Menu > Configuration
Acoustics Provides settings for connecting and configuring a Subsonus with Hydrus. Advanced Mis- Provides settings to define how Hydrus will behave under different sion Settings conditions and stages within a mission. Docker This allows the user to run their own AI payloads or applications as a...
Page 69: Menu > Configuration > Acoustics
Description Device Address Acoustic address for tracking the unit under water. Advanced Settings > Acous- Hydrus transmits data to remote units acoustically. The tic Data Priority priority of the data can be configured in order to optimize transfer rates. Options: Off, Low, Medium, High.
Page 70: Menu > Configuration > Advanced Mission Settings
Transit at Surface If enabled, Hydrus will travel at the water surface to get to and from the mission tasks. This setting only applies when Hydrus is in GNSS Dead Reckoning mode.
Page 71 Recovery Vertical Vertical position of recovery location. If Transit at Surface is set, and Hydrus is in GNSS Dead Reckoning mode, then this setting is ignored and Hydrus will transit to the recovery location at the surface of the water. v1.3...
Page 72: Menu > Tools
Provides access to the 11 Maintenance page with Rinse Mode that slowly spins the thrusters for 60 seconds. Rinsing should be done after every use with the Hydrus submerged in clean, fresh water. Magnetic Calibration Access to 11.4 Magnetic Calibration of the magnetometers.
Page 73: Menu > Help
Hydrus Reference Manual • User Interface Overview 7.2.6 Menu > Help The following options are available from Menu > Help: Figure 54: "Help" option in drop-down menu. Option Description About this Device Provides detailed information about Hydrus, including hardware and software specifications, version inform- ation, and other relevant details.
Page 74: Subsonus Web User Interface To Hydrus
7.3 Subsonus Web User Interface to Hydrus You can use a Subsonus surface unit to communicate with, monitor, and control a subsea Hydrus device during the Hydrus's mission. This section describes the Subsonus Web User Interface pages used to communicate with the Hydrus device.
Page 75: Hydrus Command Dialog Box
7.3.1 Hydrus Command Dialog Box The Hydrus command dialog box serves as an integral part of the Subsonus web UI, 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 76: Subsonus Web User Interface
7.4.1 Device List The device list within the Subsonus web UI 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 77 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 78: Open Device Configuration
7.4.2 Open Device Configuration When the user right-clicks on the device list in the Subsonus web UI and select "Open Device Configuration", a dialog box will open with various options and information related to the Hydrus device. Figure 60: Open Device Configuration...
Page 79 IP address. These details help identify and differentiate the Hydrus unit. Hydrus This section allows the user to deploy Hydrus on a mission, guiding the Deployment user through mission selection, review or important mission para- meters, running Hydrus self tests and final deployment.
Page 80: Hydrus Command Dialog Box
7.4.3 Hydrus Command Dialog Box The Hydrus command dialog box serves as an integral part of the Subsonus web UI, 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 81: Mission Planning
INS and DVL. At regular intervals throughout the mission, or when accuracy is deemed poor, the unit will resurface in order to acquire a GNSS fix. This will give Hydrus an exact position reference and will enable the system to make any navigation adjustments if required.
Page 82: Mission Tasks
Apart from the absence of Subsonus functionality, the process of planning missions in Standalone (GNSS / Dead Reckoning) mission mode remains the same. Note that at the end of a mission, Hydrus will go straight to the surface in the specified recovery location. Consequently, it is important that the area around the retrieval point is clear of overhead obstacles, for example a jetty or a boat.
Page 83: Wall Survey
For example, if the Subsonus unit is mounted on the side of the boat, a relative recovery location of 90° and 2 metres means that Hydrus will return to a location 2 metres to the right of the boat, regardless of the boat's orientation, turns, or changes in position.
Page 84: Mission Bail-Out
Hydrus Reference Manual • Mission Planning 8.1.4 Mission Bail-out A mission bail-out is a mission scenario where the mission is aborted either by the user or Hydrus itself. This typically occurs when unforeseen circumstances or critical issues arise that jeopardise the success of the mission.
Page 85: Currents And Tides
There are numerous mission parameters and environmental variables that can impact the outcome of a mission. Hydrus has built-in functionality that alerts users in case a mission is not likely to be successfully completed due to mission parameters that exceed the estimated range of the unit based on the current battery charge level.
Page 86: Pause Vertical Position
Hydrus Reference Manual • Mission Planning To maintain bottom lock, Hydrus needs to operate within a range of approximately 0.5 - 5 metres from the seabed. To achieve this, Hydrus travels to the 8.2.5 Pause Vertical Position that positions it within the bottom lock distance range when necessary.
Page 87: Bluewater Missions
8.2.9 Retrieval Location Strong wind, swell and surface current are all factors that can cause Hydrus to drift when floating on top of the surface after reaching the retrieval location. When retrieving Hydrus from an anchored vessel, it is advisable to set the retrieval point upstream and upwind.
Page 88: Mission Planning Process
8.3.1 Subsonus Prerequisites If using Hydrus with Subsonus, it is important to review the prerequisites provided to establish the necessary context. Understanding the prerequisites beforehand ensures a comprehensive understanding of the mission planning process and allows for smoother execution of the steps outlined in the accompanying table.
Page 89 Notes Set the global Default Capture Parameters and Media Overlay Parameters for the mission For Subsonus Assisted Mission Mode - Connect Hydrus to Subsonus Click the Open Device Configuration dialog button Located next to the Menu drop-down Type in the IP address and port number of Subsonus...
Page 90: Mission Task Profile Examples
Name the mission and click Save Note: Spaces are not allowed in the mis- sion name. Note: The next steps for Hydrus to be deployed can be found in 9.2 Hydrus Pre-deployment 8.4 Mission Task Profile Examples If the user seeks specific survey results tailored to different objectives, we recommend considering the following Lawnmower Survey examples: Sparse Lawnmower, Dense Lawnmower, Super Dense Lawnmower and Transect Survey.
Page 91: Dense Lawnmower Pattern
Hydrus Reference Manual • Mission Planning Setting Value Pitch 0° Vertical Mode Bottom Altitude Value 4.00 m Figure 63: Sparse Lawnmower Survey Path Visualisation 8.4.2 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.
Page 92: Super Dense Lawnmower Pattern
Hydrus Reference Manual • Mission Planning Setting Value Type Image (Camera Coverage) Overlap Forward Overlap Lateral Capture Pitch 0° Vertical Mode Bottom Altitude / Surface Depth / Geodetic Height Value Bottom Altitude 0.5 - 8 m Surface Depth 0 - 300 m...
Page 93: Transect Survey
Hydrus Reference Manual • Mission Planning Setting Value Name Super Dense Lawnmower Path Generation Lawnmower Ori- 0° - 360° entation Coverage Type Image (Camera Coverage) Overlap Forward Overlap Lateral Capture Pitch 0° Vertical Mode Bottom Altitude / Surface Depth / Geodetic...
Page 94 Hydrus Reference Manual • Mission Planning Setting Value Name Transect Survey Path Generation Lawnmower Ori- entation Coverage Type Image (Camera Coverage) Overlap Forward Capture Vertical Mode Bottom Altitude / Surface Depth / Geodetic Height Value Bottom Altitude 0.5 - 8 m...
Page 95: Wall Survey
8.4.5 Wall Survey The Wall Survey is used to assess the state of a vertical wall. If using Hydrus with a tether line, ensure you continuously manage the slack in the tethered line. Too little slack and the the Hydrus won't be able to reach the extent of the survey area.
Page 96 Hydrus Reference Manual • Mission Planning Figure 67: Wall Survey Visualisation v1.3 Page 87 18 September 2024...
Page 97: Mission Management
8.5.3 Importing and Exporting Missions 8.5.1 Creating New Missions Creating new missions in the Hydrus web UI 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 98 Hydrus Reference Manual • Mission Planning 2. Click "Plan Mission", this will take the user to the Mission Planner. Figure 69: Plan Mission 3. In the Mission Planner Welcome dialogue, click "Import Mission". Figure 70: Welcome Planner Import Mission v1.3...
Page 99: Export Procedure
4. The local drive dialogue box will appear for the user to pick which mission they would like to import, select the mission. Figure 71: 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 100 Hydrus Reference Manual • Mission Planning 2. Click "Plan Mission", this will take you to the Mission Planner. Figure 73: Plan Mission 3. In the Mission Planner Welcome dialogue, click "Export Mission". Figure 74: Mission Planner Welcome v1.3 Page 91...
Page 101 Hydrus Reference Manual • Mission Planning 4. The sessions dialogue box will appear for the user to pick which mission they would like to export, select the mission. Figure 75: Session Dialog Box v1.3 Page 92 18 September 2024...
Page 102: Mission Planner
Mission Mode - There are two mission modes available — Subsonus Assisted and Standalone (GNSS / Dead Reckoning). The former mission mode requires a Subsonus whereas the latter allows for missions to be carried out with a standalone Hydrus unit. See 8.1.1 Mission Modes for more information.
Page 103: Travel
Travel Tilt - Specifies the travel tilt (pitch) of the Hydrus during travel between mission tasks. Travel tilt is a global mission parameter that determines the tilt of the Hydrus along the direction of travel and serves to enhance obstacle detection and altitude mode. As Hydrus moves forward, it utilises the DVL beam to look slightly ahead, aiding in obstacle detection and maintaining the appropriate altitude.
Page 104: Recovery Location
Surface Depth - This mode allows the user to define the depth of the Hydrus from the water surface. In this mode, the depth is measured in metres below the water surface. By setting a specific surface depth value, Hydrus will maintain a consistent depth below the water surface while following the survey path.
Page 105: Mission Task Parameters
Path Generation Reverse Path Direction - This toggle button allows you to reverse the mission flight direction of the Hydrus. This toggle also inverts the start and end points of the polygon.
Page 106 Surface Depth - This mode allows the user to define the depth of the Hydrus from the water surface. In this mode, the depth is measured in metres below the water surface. By setting a specific surface depth value, Hydrus will maintain a consistent depth below the water surface while following the survey path.
Page 107: Lawnmower Task Parameters
Path Generation Reverse Path Direction - This toggle button allows you to reverse the mission flight direction of the Hydrus. This toggle also inverts the start and end points of the polygon. Lawnmower Orientation - To control the rotation of the Lawnmower Survey within the defined polygon, the user has two options.
Page 108 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 109: Station Keeping Task Parameters
Surface Depth - This mode allows the user to define the depth of the Hydrus from the water surface. In this mode, the depth is measured in metres below the water surface. By setting a specific surface depth value, Hydrus will maintain a consistent depth below the water surface while following the survey path.
Page 110: Wall Survey Task Parameters
Hydrus will maintain a consistent depth below the water surface. 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.
Page 111 Image (Fixed Distance) - This setting allows Hydrus to capture still images at regular intervals while following the survey path. The distance between each picture location is explicitly specified by the user.
Page 112: Mission Map Pane
Hydrus Reference Manual • Mission Planning 8.6.3 Mission Map Pane Figure 77: Mission Planning Mapping Overview 8.6.3.1 Map Navigation Controls Scene Fit: This tool adjusts the view so that the entire mission scene fits within the viewport. This can also be done by double tapping the space-bar key.
Page 113: Task And Waypoint Tools
Hydrus Reference Manual • Mission Planning 8.6.3.3 Task and Waypoint Tools The Mission Map Pane offers a set of tools for creating, moving, rotating and resizing mission tasks and waypoints. Transform Handle: With this tool it is possible to adjust the position of transect survey tasks and their individual waypoints.
Page 114: Task Operations Panel
Hydrus Reference Manual • Mission Planning 8.6.3.4 Task Operations Panel Figure 78: Task Operations Panel Reorder Task Up (Page Up): This command moves the task up by one step in the list and repositions the task earlier in the execution sequence.
Page 115: Measuring Tool
Hydrus Reference Manual • Mission Planning 8.6.3.5 Measuring Tool Measuring Tool: This tool allows the user to measure distances on the map. There are two ways to use this tool: Click and drag: By clicking and dragging across the map, the exact distance between two points on the map can be determined.
Page 116: Mission Waypoints
For example, data from a prior reconnaissance mission conducted with Hydrus could be combined with a dataset obtained from a side scan sonar survey. This data integration functionality facilitates efficient planning for subsequent missions, allowing targeted exploration of specific areas of interest with ease, thus maximising the value of existing data.
Page 117: Mapping Layers
1. Ensure your Mapping Enhancement files are prepared and saved in a supported format. Take note of the file's location on your computer for easy access during the upload process. 2. Enter the Hydrus web UI and navigate either to the Mission Planner or the Log Viewer. v1.3...
Page 118 Hydrus Reference Manual • Mission Planning 3. Click on the Mapping Layers button. Then click Options. Figure 82: Mapping Layers Pane 4. Set the General tab settings as per your preference: Show Absolute Grid - Toggles the absolute grid in the map view...
Page 119 Hydrus Reference Manual • Mission Planning Figure 84: Map Options - Custom Maps 6. Add a GeoJSON layer: Click Choose file and browse to the GeoJSON file to be uploaded. Configure your import preferences: - Import Points - Import Lines - Import Polygons Click Upload.
Page 120 Hydrus Reference Manual • Mission Planning Figure 85: Map Options - Custom Maps - Add GeoJSON Layer 7. Add a KML/KMZ layer: Click Choose file and browse to the KML/KMZ file to be uploaded. Configure your import preferences: - Import Points...
Page 121 Hydrus Reference Manual • Mission Planning Click Open and then click Upload Click Choose file and browse to the image file associated with the world file (.jpg, .png, .bmp) Click Open and then click Upload Figure 87: Map Options - Custom Maps - Add Image and Worldfile Layer 9.
Page 122 Hydrus Reference Manual • Mission Planning Cross-hair icon button - Moves the camera in the map pane to the centre of the layer Eye icon button - Shows and hides the layer in the map pane Bin icon button- Deletes the layer from the mission / session...
Page 123 Hydrus Reference Manual • Mission Planning Figure 91: Map Options - Custom Maps - Layer Details Image and Worldfile 11. In the Seafloor Depth tab, configure your preferences for the Seafloor layer: Depth Mode Fixed depth below the water's surface...
Page 124: Custom Map Examples
This approach enables mapping strategies based on real-world data, resulting in more accurate and actionable insights with each completed mission. Hydrus is well-suited for iterative data acquisition thanks to its ease of operation, portability and reliability.
Page 125 Hydrus Reference Manual • Mission Planning Figure 94: Map Layer Shown in Map Pane of Mission Planner - 3D View Figure 95: Map Layer Z Component v1.3 Page 116 18 September 2024...
Page 126: Capture Parameters
Hydrus Reference Manual • Mission Planning Figure 96: Map Layer and Lawnmower Mission Task 8.6.5 Capture Parameters 8.6.5.1 Overview When capturing images using the camera, it is important to consider the various camera parameters to ensure optimal results. These parameters include focus, exposure, white balance, ISO sensitivity, and resolution. Each parameter plays a role in determining the quality, clarity, and overall visual appeal of the captured images.
Page 127: 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 128: Image Settings
Hydrus Reference Manual • Mission Planning 8.6.5.5 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 compression, resulting in smaller file sizes.
Page 129: Hydrus Deployment
9.5 Retrieving Hydrus from the Water. 9.1.3 Hydrus Test Clip Attachment The Hydrus test clip is designed to allow the attachment of a tether to the Hydrus device during deployment and retrieval training exercises. v1.3 Page 120 18 September 2024...
Page 130 Hydrus Reference Manual • Hydrus Deployment Figure 97: Hydrus Test Clip v1.3 Page 121 18 September 2024...
Page 131: How To Attach A Hydrus Test Clip
Hydrus Reference Manual • Hydrus Deployment 9.1.3.1 How to Attach a Hydrus Test Clip Position Hydrus: Position the desk charger so that the transponder end of Hydrus can be placed upright and aligned properly. Test Clip Orientation: Pick up the test clip and take note of the concave extrusions on each side. These extrusions will line up with the extrusions on Hydrus.
Page 132 Note: Ensure that the test clip is tightly attached to prevent any accidental dislodging during operations. 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 133: Tether For Practising Hydrus Deployment
9.1.4 Tether for Practising Hydrus Deployment 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 134 Hydrus Reference Manual • Hydrus Deployment 1. Open the Hydrus web UI and navigate to the Main Page. Then click Run Mission. See 7 User Interface Overview. Figure 101: Hydrus Web UI Main Page - Run Mission 2. In the Run Mission window, click the Deploy GNSS Mission button.
Page 135 Hydrus Reference Manual • Hydrus Deployment 3. Click the Start Deployment to start the pre-deployment review. Figure 103: Hydrus Pre-deployment - Start Pre-deployment Review v1.3 Page 126 18 September 2024...
Page 136 Select the mission from the list and click the Next button. Check the Show Only Missions that are Achievable check-box to filter out missions that can be carried out based on the current battery charge level and other limitations of the Hydrus. Figure 104: Hydrus Pre-deployment - Select Mission v1.3...
Page 137 Hydrus Reference Manual • Hydrus Deployment 5. Review the Home Point settings for the mission and change them as required, then click the Next button. Figure 105: Hydrus Pre-deployment - Review Home Point Settings v1.3 Page 128 18 September 2024...
Page 138 Hydrus Reference Manual • Hydrus Deployment 6. Review the mission settings for Bailout Conditions and change them as required, then click the Next button. Figure 106: Hydrus Pre-deployment - Review Bailout Condition Settings v1.3 Page 129 18 September 2024...
Page 139 7. Click Start Self Test to carry out an optional pre-deployment self test, otherwise click Skip Self Test. Click the Next button to proceed with the pre-deployment setup. Note: When Hydrus performs a self test, ensure Hydrus is on a flat surface and fingers are kept clear of the spinning thrusters.
Page 140 Hydrus Reference Manual • Hydrus Deployment 8. Make sure Hydrus has a clear view of the sky and wait for a GNSS fix to be established. If this is not possible, click Skip Waiting for GNSS Fix to skip this step and Hydrus will acquire a GNSS fix after it has been placed in the water.
Page 141 9. Click the Deploy button to initiate the mission. Figure 109: Hydrus Pre-deployment - Deploy 10. When the message Hydrus is running a mission, please deploy unit is displayed on the Main Page, get ready to deploy the Hydrus unit into the water.
Page 142: Subsonus Assisted Mission Mode
Subsonus Reference Manual for more information. The pre-deployment process ensures a smooth transition from mission planning to deployment. This involves a series of steps that allow you to review the mission plan prior to deployment, and prepare the Hydrus device for its intended mission.
Page 143 Note: Hydrus will automatically appear under Discovered Devices if it is on the same network as the Subsonus. Figure 114: Active Devices 4. Click View in the top menu bar. Select the Hydrus in the devices list and click Open Device Configuration. v1.3...
Page 144 Hydrus Reference Manual • Hydrus Deployment Figure 115: Open Device Configuration 5. In the left column, click Hydrus Deployment, then click Start Deployment. Figure 116: Start Deployment 6. Select the mission that you wish to run. Then click Next. v1.3...
Page 145 7. Click Next and confirm bailout conditions are correct, then click Next again. Figure 118: 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. v1.3...
Page 146 Figure 120: Hydrus Deployment Dialog Deploy 10. Wait for the EPD message Put Unit In Water before deploying Hydrus. A 10 second timer is initiated before the control system and the thrusters start. It is recommended to wait until this has started prior to deploying Hydrus.
Page 147: Deploying Hydrus
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 148: Hydrus Mission Monitoring With Subsonus
Modes. 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 web UI as "Holding Depth - Ready for resume mission command."...
Page 149: Mission Running
Mission Planning Process. As Hydrus follows the survey path, its progress and tracking can be observed on the Subsonus web UI. The web UI will display the vehicles position along the survey path, allowing the user to monitor its movements.
Page 150 Hydrus Reference Manual • Hydrus Deployment Figure 125: Command Dialog Box with Hydrus Going to Next Waypoint v1.3 Page 141 18 September 2024...
Page 151: 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 either hold and report "At Recovery Point, waiting for return to surface command", or resurface automatically depending on mission parameter settings.
Page 152 Hydrus Reference Manual • Hydrus Deployment After Hydrus has been retrieved and Hydrus has re-established it's Wi-Fi connection the Post deployment section within the Hydrus deployment dialog box will become available to use. Finish the current deployment by selecting 'Finish Deployment'.
Page 153: Hydrus Retrieval
9 Hydrus Retrieval 9.5 Retrieving Hydrus from the Water Note: The thrusters may still be running when Hydrus is removed from the water, take care to avoid contact Note: The suggested method for retrieval will necessitate the user's manipulation of a net with a load capacity of 10 kilograms.
Page 154 Hydrus. Using both hands, carefully remove Hydrus from the net. Placement on Once Hydrus is free from the net, place it gently on a flat and sturdy Flat Surface surface. Avoid placing Hydrus on surfaces that could potentially harm its exterior.
Page 155: Post-Mission
Figure 129: Hydrus Web UI Main Page 2. Click Review Last Deployment. Figure 130: Hydrus Web UI Review Last Deployment Selection 3. Review the status log of the most recent session in the Mission Review dialog. From this dialog you can: v1.3...
Page 156: Data Download
10.2 Data Download The Data Download feature in the Hydrus web UI 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 157: 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 158: Download Procedure
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 159 Hydrus Reference Manual • Post-Mission Figure 133: Hydrus web UI Download Media Selection v1.3 Page 150 18 September 2024...
Page 160: View Images
Hydrus Reference Manual • Post-Mission 3. On the Sessions page, click the session to be downloaded in order to expand it. Then proceed with downloading data according to the following options: Download all session data: If you wish to download all the data for a specific session, click the click the Download button on the corresponding row of the session.
Page 161 Hydrus Reference Manual • Post-Mission Figure 135: Select a mission's image icon to open up a gallery of images for the mission. Figure 136: Image Gallery: Select images to download. Images from the gallery can be selected and downloaded. Or an individual image can be selected into a popup preview.
Page 162: Deleting Sessions
Hydrus Reference Manual • Post-Mission Figure 137: Selected image for popup preview 10.2.4 Deleting Sessions Note: Deleting a session will permanently remove all data associated with the session and cannot be undone. Make sure to double-check your selections before confirming deletion.
Page 163 Hydrus Reference Manual • Post-Mission Figure 139: Deleting All Sessions Note: It's important to be aware that if the storage capacity of Hydrus is reaching capacity, it could potentially lead to an unsuccessful mission. Therefore, it's recommended that older session data be cleared out before initiating new missions.
Page 164: Session Playback
Hydrus Reference Manual • Post-Mission Figure 141: Session Selection 3. Click the checkboxes corresponding to the sessions you wish to delete. To select all sessions, click the Select All button. To deselect all sessions, click the Select None button. 4. After making selections, scroll down to the bottom of the page and click the Delete button. A confirmation dialog will appear, asking you to confirm the deletion of the selected sessions.
Page 165: Session Playback Pane Overview
Session Playback Pane 1. Device position and orientation data 2. Show/hide/add map layers 3. Hydrus track and current position in timeline 4. Timeline slider, play/pause, speed controls 5. Select a photo icon to view that photo from the mission 6. Map zoom/pan/tilt/dive controls v1.3...
Page 166: Session Playback Controls
Hydrus Reference Manual • Post-Mission 10.3.2 Session Playback Controls The session playback controls are accessed via the toolbar at the very bottom of the session playback pane. This bar shows or hides automatically when moving the cursor over or away from it. Refer the following illustration for a description of the session playback controls and their functions.
Page 167 1. Open the Hydrus web UI. From the Main Menu navigate to View → Log Viewer. Figure 145: Hydrus Web UI View Menu 2. Loading session data from Hydrus Storage: In the Load Log(s) dialog, select Hydrus Storage in the Select source drop down menu to load session data. Click the Refresh button.
Page 168: Playing Back A Session
Figure 148: Hydrus Web UI Load Session Data Confirmation 10.3.4 Playing Back a Session 1. Open the Hydrus web UI. From the Main Menu navigate to View → Log Viewer. 2. Open the Mapping Layers dialog and configure map overlays and options as required.
Page 169: Convert And Export Log To Csv Format
Hydrus Reference Manual • Post-Mission 10.3.5 Convert and Export Log to CSV Format 1. Open the Hydrus web UI. From the Main Menu navigate to View → Log Viewer. Figure 149: Hydrus Web UI View Menu 2. Move the cursor to the bottom of the session playback pane to show the bottom toolbar. Then click the Convert logs to CSV button.
Page 170: Maintenance
Subsonus. 11.1.1 Standalone Units and Packs for list of contents. HYDRUS-300- Hydrus AUV 300 m Hydrus AUV 300 m Kit with Subsonus and GNSS Compass SUBSONUS- Kit with Subsonus Contains everything required to start operating Hydrus with and GNSS subsea acoustic positioning and communications.
Page 171: Accessories And Spare Parts
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- Spare Thruster Starter Pack Hydrus AUV HW V1.0 Spare Thruster Starter Pack THRUSTER- comprising:...
Page 172 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 metre RJ45 Subsonus 10 metre cable, RJ45 Ethernet con-...
Page 173: Hydrus Pack
Note: Hydrus must be shipped as Dangerous Goods. See 2.3 Shipping Hydrus - Dangerous Goods. Hydrus Pack Contents The HYDRUS-300-PCK and HYDRUS-1000-PCK standalone packs contain the following items: Part Number Description HYDRUS-300 or HYDRUS- Hydrus 300 m / 1000 m standalone unit...
Page 174 Hydrus Reference Manual • Maintenance Tasks Figure 151: Hydrus Pack v1.3 Page 165 18 September 2024...
Page 175: Hydrus 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 176 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. v1.3 Page 167...
Page 177: 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 178: 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 179: Impeller Maintenance
Hydrus Reference Manual • Maintenance Tasks Preparation for Rinse Mode: Before the user initiates Rinse Mode, ensure that Hydrus is properly positioned.s Initiating Rinse Mode:The user should press "Start Rinse Mode" on the web UI. The thrusters will then begin to spin at approximately 200 RPM for 60 seconds. This function can be used to remove excess water from the thrusters or can be used while hosing Hydrus.
Page 180: Thruster Assembly Exploded
Hydrus Reference Manual • Maintenance Tasks 11.3.1 Thruster Assembly Exploded Figure 155: Thruster Assembly Exploded v1.3 Page 171 18 September 2024...
Page 181: 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 182 Hydrus Reference Manual • Maintenance Tasks Figure 157: CCW Top View Side View Thruster Layout Complete Figure 158: Thruster Layout Complete Thruster Number Rotor Direction Guard Type Counter Clockwise (CCW) Horizontal Guard Clockwise (CW) Horizontal Guard Counter Clockwise (CCW) Horizontal Guard...
Page 183 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 184 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 185: 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 186: 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 162: 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 187 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 164: Thruster removal Component Separation: Separate the rotor and the ceramic bearing located inside the thruster guard.
Page 188 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 166: Rotor Identification Reassembly: Reattach the two ceramic bearings to the rotor and slide the assembly back into the thruster guard.
Page 189 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 190: Magnetic Calibration
For the best heading accuracy possible, magnetic calibration is recommended to be carried whenever the magnetic signature of the surrounding environment has changed. For example, when the Hydrus unit has been transported a long distance (more than 100 km) to a new geographic location, it should be recalibrated. The following sections cover how to verify magnetic calibration and how to calibrate the unit using the two different methods available;...
Page 191: Calibration
11.4.2 3D Calibration Before commencing magnetic calibration: Hydrus needs a GNSS position fix. To obtain a GNSS position fix, take the Hydrus outside to a place with a clear view of the sky. Magnetic calibration should always be done outdoors, away from any large metal objects, high current cables or other sources of magnetic fields that may impact .
Page 192: Set Hsi Offset Values Manually
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 193 Figure 171: Hydrus web UI Main Page 2. Select Upload Firmware Figure 172: Upload Firmware 3. Click on the "Upload" button to select a new firmware file to upload to the Hydrus unit Figure 173: New Firmware File 4. Select the previously downloaded file.
Page 194 Hydrus Reference Manual • Maintenance Tasks Figure 174: Firmware Upload File Selection 5. Click "Confirm" Figure 175: Firmware Confirm 6. Wait for Hydrus to complete upgrade and navigate back to main menu. Figure 176: Upgrade in Progress. v1.3 Page 185...
Page 195 Hydrus Reference Manual • Maintenance Tasks 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.

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