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In February 2004, we hosted Hanu Singh's SeaBed group from Woods Hole Oceanographic Institution (WHOI). Ryan Eustice (above) coordinated a series of experiments to validate vision navigation and data fusion techniques developed by the SeaBed group.*
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| Key to the experiments was the installment of a realistic sea floor in the tank. A 25' by 15' carpet was painted to add features and then installed in the tank. Ryan and James Kinsey discuss some details prior to hoisting the carpet into the tank.*
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| Oscar Pizarro (WHOI) also participated in the experiments. Here he is cleaning up after placing the boulders and rocks that complete the articial sea floor.*
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A lighter moment during the experiment setup.*
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| James cracking open the fire hydrant. The outside air temperature was ~30 degrees F. The water from the hydrant was only a little warmer at 40 deg F.*
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| Ryan watching the tank fill.*
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The artificial bottom just covered with water.*
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| To prepare for the experiments, the computer bottle (on the left, gold colored) from SeaBed was installed on the JHUROV. This bottle interfaced with the SeaBed cameras and stored the photographs collected during the experiment. All other data and control was provided by the JHUROV. The gray bottle in the center of the vehicle houses an IXSEA Phins gyroscope, kindly loaned to us by Hanu Singh and Dana Yoerger of Woods Hole.*
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| The JHUROV during experiments. The room lights have been extinguished and underwater lights used to simulate lighting conditions similar to those on the sea floor.*
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