Kambara Pre dive Checklist

1. The following sequence should first be completed in the lab to ensure that the system is operational.
2. The following sequence should be executed in reverse after dive completion as a Post dive Checklist.
Dive Date:
Purpose of dive:
Sequence # Pre / Post Description
    Charge the battery pack
    Assemble, as needed, and inspect power and signal connections in computer tray
    Mount communications tray into upper end cap
    Insert optical fibre into upper end cap
    Inspect o-rings and tighten bolts on optical fibre connector (or blank)
    Connect fibre (5 x fibre-ST) to communications components
    Mate and inspect video (2 x composite) connection to fibre transceivers
    Slide computer tray (halfway) into upper enclosure
    Connect video (2 x S-video) between computing tray framegrabber and cameras (via upper end cap)
    Connect video (1 x composite) between computing tray camera and fibre transceiver
    Connect Ethernet (1 x RJ-45) between computing tray and fibre ethernet components
    Slide computing tray forward to marks
    Ensure that computer tray grounding tab contacts upper enclosure
    Connect 24 volt power connector to computing tray
    Connect motor amplifier control lines (5 x RJ-45) and PSU disable line
    Connect 4 fibre transceiver power cables and 2 camera power cables to power supply board
    Visually inspect acrylic dome O-rings for gaps
    Clean upper end cap O-rings of any dirt or particles, removing if necessary
    Grease O-ring taking care not to stretch it
    Grease upper enclosure mating surface
    Tuck cables into upper end cap (out of contact with power converters)
    Mate upper end cap, tighten nuts to 4.86Nm evenly and diagonally
    Visually inspect upper end cap O-ring for good seal
    Inflate trolley tyres if necessary
    Place sub, battery pack and fibre roll into trolley
    Take trolley to pool enclosure via lift
    Test ethernet connection to Syseng
    Slide battery pack into lower enclosure (mind your back)
    Lock battery pack into place
    Ensure the battery pack is grounded to the lower enclosure
    Connect 12 volt relay power to battery
    Connect lower enclosure leak detection sensor
    Ensure relay is "disarmed", power to relay is off
    Connect 24 volt connector to battery and place connector on LHS of tube
    Switch on power to relay
    Check relay "armed" light blinking red
    Clean lower enclosure O-rings of any dirt or particles
    Grease O-ring taking care not to stretch it
    Grease lower enclosure mating surface
    Tuck cables into lower enclosure away from mating surface
    Mate lower end cap (there should be minimal resistance), tighten nuts to 4.86Nm diagonally and evenly
    Visually, and by touch, inspect lower end cap O-ring for good seal
    Inspect all glands (there are 30 total)
    Inspect all thrusters, checking housings and blade wing nuts
    Manually rotate thrusters to detect contact with cowling
    Apply magnet, check relay "on" light blinking green, power up system
    Note that pan tilt camera homes, light to power converters come on, indicators on computer come on
    Connect ethernet and video monitor to surface transceivers
    Setup and run support computers and equipment
    Check that ethernet and video signals are being transmitted
    Perform software load and run to test functionality
    Attach crane hook onto sub frame
    Lift pool cover, fold it and lay it on a clean surface
    Switch off the pool filter pump
    Attach tethers to the sub frame
    Hoist Kambara into the water (mind the fibre, magnet cord and tethers)
    Watch for excess bubbles!
    Drop live fish into the water
    Watch Kambara herd them into the corner

Underwater Robotics Project at the ANURobotic Systems Laboratory
By David Wettergreen<dsw@syseng.anu.edu.au>
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