Abstract
The paper presents the electromechanical design of a vision system, developed by the ISME nodes of the University of Florence (UNIFI) and the University of Pisa (UNIPI), Italy. The main objective is to design a platform to test Visual Odometry algorithms that can be employed both as a standalone device or in conjunction with an Autonomous Underwater Vehicle (AUV); in this regard, the module presents a wide variety of sensors and is designed to have its own power supply. The project constraints are described and the main features of the final design are reported. The mechanical and electrical assemblies are presented together with the main static and fluid dynamics analyses. The module will be assembled and tested during Spring 2022.
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Acknowledgements
This work has been funded by the Italian Navy project BOOMER. The authors would like to thank all the SEALab members, the joint applied research laboratory between the Naval Support and Experimentation Centre (CSSN) of the Italian Navy and the Italian Interuniversity Research Center of Integrated Systems for Marine Environment (ISME), who supported in the development of the vision system concept.
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Fredducci, C. et al. (2022). Mechatronic Design of an Underwater Multisensor System for Optical Data Acquisition. In: Niola, V., Gasparetto, A., Quaglia, G., Carbone, G. (eds) Advances in Italian Mechanism Science. IFToMM Italy 2022. Mechanisms and Machine Science, vol 122. Springer, Cham. https://doi.org/10.1007/978-3-031-10776-4_90
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DOI: https://doi.org/10.1007/978-3-031-10776-4_90
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