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Iver2-580-EP
The Expanded Payload (EP) Iver Vehicle is used by researchers worldwide. The EP provides a reliable, open system platform with an intuitive API for development projects not possible on closed systems. The Iver2-580-EP includes additional user payload space
and is also designed for everyday use, minimal downtime and mission planning in just minutes. The EP can be used in both salt and fresh water for a variety of uses including sensor development, acoustics research and general AUV behavior study.
Researchers can choose from three different EP models and
custom configure vehicles on OceanServer's automatic
quote tool.
EP Models Include the Following:
• Dedicated CPU and Disk for user OS, sensor drivers and
behavioral software
• Serial Interface to the Primary Vehicle Controller
provides
real-time access to vehicle state and sensor output data
• Well-documented Application Protocol Interface (API) with
select vehicle command options to permit backseat driver
control of the Iver2 AUV
• Simulation utility (SubTester) to validate custom code
• Defined software Interface to public domain remote helming
software such as MOOS-IvP
Sending a vehicle underwater presents a long list of unforeseen challenges to operators. The Iver platform has years of daily testing and multiple layers of safety built in to insure your mission is successfully completed and data protected. OceanServer offers innovative options such as our emergency tow float (patent pending) that will independently blow an airbag under user defined conditions.
Features:
Proven Reliability - The Iver2 vehicles have been in daily operation for over
7 years and we shipped
our 150th vehicle in 2011. Many of the parts such
as the fin shafts and seals are field replaceable in minutes.
Ease of Operation - The graphical mission planner (VectorMap) and simple interface to the vehicle controls enable rapid planning and execution of missions. A single operator can shore launch a vehicle and start a mission in minutes. When a mission is complete the vehicle will station keep at a user selected park point for hours if required. A joy stick interface is also offered for users to manually drive the vehicle to shore.
Ease of Deployment - The Iver2 family of vehicles are light weight
(require no special deployment equipment) and can be shipped overnight on standard air freight and are not DOT class 9 controlled like most other
AUVs. |
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Iver2-580-EP Specifications:
| Hull Diameter: |
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14.7 cm (5.8 in) |
| Hull Material: |
Carbon Fibre Tube |
| Vehicle Length: |
140 cm (55+ in) *Note: some options add length.
3 different rack sizes available 30",
35" and 42". |
| Weight in air: |
21kg (47+ lbs) *Note: some options add weight |
| Trim Weight: |
1.2 kg (2.6 lbs) |
| Maximum Operating Depth: |
100 m (328 ft)
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| Energy: |
600-800 watt/hours,
Li-Ion battery system, unique design allows
shipment as non-hazardous goods. |
| Endurance: |
~
Up to 14+ hours @ 2.5 kts configuration
dependent |
| Propulsion: |
Direct drive DC
brush-less motor with Kort nozzle
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| Control: |
Four
independent fin control surfaces, yaw, pitch and active roll correction. *Fins are user replaceable and come in large and small. |
| Command/control: |
802.11n
battery powered Wi-Fi AP to move missions to the vehicle, start missions (remote desktop) and copy data back to shore while vehicle is parked in the water.
Optional long-range 2.4 GHz touch screen remote
controller with built in GPS. |
| Navigation: |
Dead Reckoning basic,
optional integrated DVL for active
navigation. Patented underwater GPS system option in the future. |
| Navigation
Accuracy: |
Typical average 0.5% of distance traveled (additional
information Link) |
| Integrated Sensors: |
Depth (pressure), Altimeter (acoustic), Compass, leak detectors |
| Optional Sensors: |
DVL 4, 6 and 10 beam options, Iridium Modem |
| Processor: |
Two
OceanServer designed CPUs (Intel ATOM 1.6Ghz),
One primary board with Windows XPe and a Backseat
Driver CPU for the user to utilize (user
selects OS) |
| Disk Storage: |
Two
64GB ( up to 128GB drives optional) Solid State
Drives for maximum reliability |
| Shipping: |
Unique power system design,
vehicles are NOT hazardous goods and can be shipped by standard overnight carriers. |
| Export Controls: |
Not ITAR controlled, export license required for some countries. |
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Frequently asked Questions
Q. What items ship with an Iver2 Vehicle?
A. Every Iver2 vehicle ships with a battery powered WiFi Access Point, Vector Map Mission Planning Software (which includes post mission data viewer) and the Iver2 AUV.
Q. What type of maps can I use to plan a mission?
A. Users can use a wide range of geo-referenced map sources. This includes everything from pulling images down from the TerraServer to geoTIFF, S-57, ENC, RNC, MrSiD and many more. Vector map also allows you to overlay multiple map sources on the same mission and plan cooperative multiple vehicle missions.
Q. How difficult is it to plan a mission using Vector map?
A. Vector Map makes any mission simple to plan. Users open a map source and simply click on the map source to create individual waypoints or can generate entire lawn mower patterns in minutes. Mission time, latitude/longitude coordinates are all automatically generated and handled by Vector Map.
Q. What type of battery system does Iver2 AUV use for power?
A. Iver2 uses OceanServer’s Intelligent Battery and Power System (IBPS) that includes six Li-Ion rechargeable 95-Watt Hour battery packs (BA95HCL-L battery pack part number). Information on how this system works can be found on www.ocean-server.com (click on download page). Regulated voltages are provided by two DC DC converters (DC123SR & DC2U-1V) also found on the above website. Voltages available include 12V, 5V, 3.3V and 24V or 48V.
Q. How long can Iver2 operate?
A. The total battery system capacity when fully charged is 570-Watt Hours. A standard base vehicle can run for approximately 14 plus hours at 2.5 knots. Any increase or decrease to the system load will impact runtime. There are options for more batteries and using OceanServer's very low power
Intel Atom CPU for runtimes up to 24 hours.
Q. How long do the battery packs last?
A. The battery system has a very long life, the packs can be charge up to 300 cycles and still maintain up to 80 percent of their original stated capacity.
Q. What is the approximate power consumption of the standard vehicle in operation?
A. The hotel load use about 15 Watts for everything excluding the propulsion motor. The motor uses between 20-100 Watts depending on speed (added options will change those numbers).
Q. How is Iver2 charged and how long does it take?
A. There is an input charge connector (accepts 18V) on the middle of the antenna. It takes approximately 4-8 hours to fully charge the vehicle from empty to full (depending on the power supply used). OceanServer offers a standard AC/DC power supply and has an option for a Vehicle power supply charging from 9V-28VDC.
Q. What is the function of the antenna Mast?
A. The Antenna Mast has multiple functions and built in status LEDs. The GPS and
Wi-Fi receivers are in the antenna. These operate while the vehicle is on the surface.
Wi-Fi works in close range to the
vehicle and the optional remote controller offers 300 plus
meters range (2.4 GHz telemetry radio). The small stem coming out of the middle of the antenna is the charge connector and can also be used for a 12V power source for external devices during a
mission. The modular antenna design will accommodate future communication options (ie..long range radio options, satellite communication..)
Q. What are the navigation options for the vehicle?
A. The basic configuration provides GPS navigation while on the surface and dead reckoning below the water’s surface. User’s that require better accuracy beneath the surface should consider one of OceanServer’s DVL options.
Q. Can I develop my own control scheme for the Iver2 vehicle?
A. Iver2 provides an open API for backseat driver control with the addition of an optional second CPU. For example, some users are putting Linux and MOOS on their vehicle and sending Iver2’s primary CPU remote helm commands. The API is configured to accept simple NMEA style sentences with any com port configured in the UVC (Underwater Vehicle Console).
Q. How do I decide which Iver2 Model will meet my application?
A. There are several Iver AUV models. The standard vehicle offers users a list of options such as side scan, DVL, cameras…etc. Users that would like to take advantage of Iver’s open architecture should consider the Iver2-580-EP Expandable Payload AUV for scientific research and sensor development. This vehicle gives users the option for a 2nd CPU, API development kit and additional space in the vehicle.
Q. Can I add my own Sensors to the standard Iver2 Vehicle?
A. Yes, Iver2 is an open platform and has open space available for users to add additional devices. Half of the rack is open
(or more space depending on the EP model selected) and
there is a backplane where users can connect into power and serial ports. The user sensors must connect to the second CPU installed in the vehicle.
Q. What type of compass does Iver2 Use?
A. The vehicle uses one of OceanServer’s 5000 series compasses. These small form factor compasses output a tilt compensated heading, pitch, roll and depth. See OceanServer’s 5000 compass manual for more information (located on OceanServer’s
download
page).
Q. What happens if the vehicle encounters an issue during a mission?
A. The Iver platform has been running continuously for 5 plus years (literally thousands of missions). The vehicles control software
offers multiple safety features to work around a long list of issues that can be encountered in every day use. User’s also have the option to purchase OceanServer's patent pending Safety Tow Float & Acoustic Pinger
option. This intelligent system will blow an air bag and pull the vehicle to the surface and
also incorporates an acoustic pinger.
Q. Is the Iver2 vehicle flooded?
A. No, it is a pressure hull with three separate compartments. In addition, it has 3 leak sensors for each separate section (nose, body, tail).
Q. How is the Iver2 vehicle turned on and off?
A. The vehicle ships with a keyless on/off system unique to each vehicle (similar to what is used by automobiles).
Q. Does OceanServer offer training and documentation?
A. Yes, every vehicle ships with documentation and training can be scheduled by contacting OceanServer directly.
Q. Is it possible to add user devices to the hull?
A. The Iver2 nose is an open interface. The user can build custom noses for a variety of devices. The Iver2-580-EP Expandable Payload AUV has a number of ports that can be used depending on the options purchased with the vehicle.
Q. What is maximum speed of the vehicle?
A. The maximum speed is approximately 4 knots for the Iver2-580-S and Iver2-580-EP
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