Introduction

This manual explains all that you need to know to operate the Sibiu Nano. The overview of the things to know is:

  • Preparation: Prior to operate the ROV into the water, you must follow some steps to ensure a safe dive.
  • Operation: This manual explains the guidelines for maximize the ROV capabilities, as well as the safety.
  • Maintenance: After every dive, the ROV must be cleaned with fresh water and revised.

The ROV is controlled with QGroundControl, an Open Source Software, adapted for this type of vehicles.

Operating requirements

Hardware/Software

In order to operate the Sibiu Nano, you need the following items:

  • Laptop (Windows 10, OSX or Linux)
  • Control Software: QGroundControl
  • Gamepad (for example: Logitech F310 Gamepad)
  • Li-Po Battery (Recommendation)
  • Topside adapter (Fathom-X interface)
  • Analog video adapter (only for standard electronics with analog camera)
  • LAN to USB adapter. (Optional: if your laptop has not an Ethernet port)
  • Fixed IP: 192.168.2.1

Windows

1. Write “View Network connections” at the search bar, and press Intro.

2. Right click on Ethernet and select Properties.

3. Double click on Internet Protocol version 4 (TCP/IPv4).

4. At the next dialog box select “Use the following IP”, introduce 192.168.2.1 at the IP address box, and 255.255.255.0 at the subnet mask box. Press OK.

Mac

  1. From System Preferences, go to Network Settings and set IP for Ethernet to Manual, the address to 168.2.1, and the subnet mask to 255.255.255.0.
  2. From System Preferences, go to Sharing and click “Internet Sharing“. Choose “Wi-Fi” for the source and your Ethernet port or adapter for the destination.

Previous considerations

  • To check if there is any problem with the enclosures or cables, you can do a vacuum test. Raise the vacuum to 10 inHg and wait for 15 minutes. If the negative pressure is not below 9 inHg, the vacuum test is successful.

If the vacuum test is negative, or there is a leak, check the following points:

  • A big torsion in the cables can damage the epoxy that is sealing the penetrators. Check if there is any visual damage.
  • If there is a small hole in some of the external wires, the leak is maybe into this wire.
  • A bad maintenance of the O-rings can produce a leak at the end caps. You must protect them from dirt and small particles, such as dust, sand hair or similar, and hydrate with silicon grease.
  • Before every dive, arming the ROV out of the water is advisable, in order to check if there is any issue.
  • It is also advisable to use silicon spray and cleaner spray for cleaning the thrusters.

Mission preparation

Before diving:

1. Take off the vent plug from the battery enclosure:

2. Remove the end cap:

3. Connect the battery and close the enclosure. When the battery is connected, the thrusters will beep.

4. Ensure that both vent plugs are properly closed and tight:

5. Connect the tether to the topside adapter, and this one to the laptop:

6. Open QGroundControl and you are ready to dive!

Operating instructions

When QGroundControl is opened, the ROV will be recognized and the ArduSub logo will be shown at the top right corner. This means that the ROV is sending data.

The top bar shows all the windows of the program:

Program settings
ROV settings
Route map
Navigation window
Logs
  Notifications

The video streaming can be enabled at Program settings. Look for the option “video source” and select “UDP Video Stream”. The default settings will show the video automatically:

Before the first dive, a Joystick calibration is needed:

Joystick calibration

If you are using a new gamepad, you must perform a new calibration. Follow the next steps:

1. Go to ROV settings

2. Go to Joystick:

3. Press “Calibrate

4. At the top right corner, you can see a Joystick diagram. Follow the steps as shown and press “Next” for moving the next steps.

5. At the end of the process, press again “Next

Joystick button functions

Every joystick function can be configured by the user. At the next picture, you can see a typical example of control map:

You can assign distinct functions on each button, depending on the numeric tags.

  • At the “Joystick” tab you can see a button list. Press any of them and the corresponding Function will be illuminated.

Assign to desired action to every button. The most used functions are:

  • Mode X = Enter_Mode_X
  • Camera center: mount_center
  • Camera tilt up / down = mount_tilt_up/down
  • Lights up/down = Lights1_brigther/dimmer
  • Gain up / down = gain_inc/dec
  • Arm / Disarm = arm/disarm

Navigation modes

By the moment there are three navigation modes supported: “Manual”, “Stabilize” and “Depth Hold”. The first one is used for moving the ROV without any automatic correction, mostly used for testing the thrusters. The second one will enable the Yaw (course) and Roll holding. The Depth Hold mode is like Stabilize, but add an automatic depth holding.

Maintenance

It is highly recommended to perform the following procedures in order maximize effectiveness and durability:

  • After every dive, unplug the battery and clean the ROV with fresh water.
  • Check the battery voltage which should never go below 3.5V/cell for LiPo batteries:
    • 10.5 V for 3S batteries
    • 14 V for 4S batteries
  • Make regular reviews of the O-rings. Any remains of dirt should be present. Hydrate them regularly with silicon grease.

Battery charging

Sibiu Nano uses LiPo batteries, which must be charged with balance chargers.

As previously mentioned, LiPo batteries should never be discharged below 3.5V/cell, and either be charged beyond 4.2V/cell. The following steps show how to charge with one of these chargers:

Charger:

Connection:

The main battery cable and the balance plug must be connected to the charger:

The battery can be connected to the charger with different adapters. Example:

At the startup, the charger will show the program to be used. Select “Lithium battery”:

Select the option “LiPo BALANCE CHG” with the arrow buttons. Press ENTER for change the options:

Use the ENTER button and the arrows and select LiPo, and an appropriate charging current, depending on the battery capacity (for 6200mAh, select 5.0A or smaller):

Start the charging process by pressing the ENTER key during a few seconds:

The charger will beep when the charge is finished.

Contact

For any questions or doubts, feel free to contact with our team:

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