OSMINDOSMIND is built on the Wave Adaptive Modular Vessel (WAM-V) chosen by the Office of Naval Research as the sole platform for the AUVSI Foundation’s Maritime RobotX Challenge
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Hardware System
Sensor System
Inertial Measurement Unit (IMU)
9DOF Razor IMU incorporates three sensors - an ITG-3200 (MEMS triple-axis gyro), ADXL345 (triple-axis accelerometer), and HMC5883L (triple-axis magnetometer) - to give nine degrees of inertial measurement. The outputs of all sensors are processed by an on-board ATmega328 and output over a serial interface. This enables the 9DOF Razor to be used as a powerful control mechanism for autonomous vehiclesms.
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Hydrophone
TC4013 Hydrophone offers a usable frequency range of 1Hz to 170kHz and a high sensitivity relative to its size. It further-more provides uniform omnidirectional sensitivities in both horizontal and vertical planes up to high frequencies. It is an excellent transducer for making absolute sound measurements and calibrations within a broad frequency range.
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Laser scanner (lidar)
Hokuyo UTM-30LX Scanning Laser Rangefinder is a small, accurate, high-speed device for robotic applications. This model uses USB 2.0 interface for communication and can obtain measurement data in a wider field of view up to a distance of 30 meters with millimeter resolution in a 270º arc. Due to the internal filtering and protective housing, this device can be used outdoors and is less susceptible to ambient light. Due to its low power consumption, this scanner is able to be used on battery-operated platforms.
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