AC.motion fact sheet

Computer "Loihi" (IBM-compatible very low power PC)

• VIA EPIA PD 600 motherboard (Eden 600MHz CPU)
  
• 256MB DDR RAM
  
• Samsung MP0402H 40GM hard disk
  
• Windows 2000 operating system
  
• Java SE 5 runtime
  
• Netgear WG111 USB 2.0 WLAN adapter
• Parallax USB servo controller
• Custom software for remote control and autonomous navigation

plus

• Parallax Basic Stamp 2E (20 MHz)
  
• ULN 2803A power driver
  
• Parallax LCD display
  

Propulsion/steering

• Robbe 755/40 12V motor with 5mm shaft and Graupner 70mm four blade propeller
  
• Two Robbe bow thrusters, mounted bow and aft
  
• 70x35mm rudder powered by Robbe FS 251 T(orque) digital servo
  

Power

• Panasonic LC-RA1212PG1 12V/12Ah lead acid battery (about 4kg) for the computer
  
• Two Panasonic RC-R0612P 6V/12Ah lead acid batteries (about 2kg each) for the main motor (12V, in series) and the thrusters (6V tap). Servo power is provided by the main controller (BEC).
  
• PW-60 60W DC/DC converter (12-24V input, 12V/5A output)
• Two Robbe Rokraft 50uP and one Rokraft 100uP power controllers for thrusters and main motor
  

Navigation

• Garmin eTrex 12 channel GPS receiver
  
• Parallax Hitachi HM55B electronic compass module
  
• Parallax Ping))) ultrasound distance sensor
  

Connectivity

• 54MBit/sec WLAN
  
• 4 + 2 USB ports (WLAN, servo controller, nav cam, underwater cam)
  
• 1 + 3 serial ports (GPS, Basic Stamp)
  
• 2 10/100MBit/sec LAN (used in case of WLAN start-up problems)
  
• 1 parallel port (unused)
  

Hull

• 4mm birch plywood with two layers of 160g/m² glas fiber/epoxy resin shell plus white gel coat protective finish
  

Extras

• Cam on computer-controlled mounting (self-made with two Robbe S3001 servos)
  
• Underwater-cam, fixed mounting pointing vertically down
  
• Government-required lighting for motorized vessels :-) (while top ligh, white aft light, green and red lights starbord and port)
  
• Mast-mounted search lights (three 13,000mcd white LEDs front, and one each left, right, and aft)
  
• Mast-mounted effect lights (three blue 5,000mcd LEDs)