Modifications and refurbishment of the UNIZG Sample Clauses

Modifications and refurbishment of the UNIZG. FER PlaDyPos. The electrical configuration of PlaDyPos is shown in Fig. 2.1.3a). The following set of electrical modifications and enhancements have been made: ethernet relay has been added thus allowing the possibility to turn on/off: every motor separately, USBL, DVL, CPU over WiFi from ground station; ethernet switch is added and USB drive for logging; new wiring has been integrated. New battery which is also used in the Buddy vehicle is integrated in the platform, shown in Fig. 2.1.3b). Installation of the new battery requested new electrical configuration of the PlaDyPos (Fig. 2.1.3c)): 5, 9, 12 and 24 V DC-DC converters were added to supply electronic components with required voltages. With new motors which will be installed in next three months, both speed and autonomy of the platform will be increased. Failure of one motor driver for Seabotix thrusters demanded construction of new drivers capable driving brushed DC motors up to 60 V and 3 A. Additional activities on the refurbishment of PlaDyPos in immediate future include signaling lights, new paint job, and new motors. Since we wanted to ensure that the platform will follow the diver even at higher speeds, a custom made brushless thruster prototype, shown in Fig. 2.1.4, was created for nominal voltage of 48 V and 3 A current which would give 150 W of power. Thorough laboratory testing of the custom made thrusters showed that thruster performance was not as expected and according to requirements. It forced us to use existing Seabotix thrusters for the current experiments. Long term solution for the thrusters PlaDyPos is still open. At this stage of the project team has focused on of-the-shelf VideoRay Pro4 motors in watertight housing with custom made integrated drivers designed by VideoRay and modified for our purpose by UNIZG-FER team for propulsion of the Buddy vehicle. Custom heat sinks (Appendix1_UNIZG Page_22-23) shown in Fig. 2.1.2a) are made for cooling the driver inside the thruster. Custom mounts (Appendix1_UNIZG Page_20-21) shown in Fig. 2.1.2b) are also made for mounting thrusters to the frame.
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