Fish Otter Project Documentation

network_architecture - [Hostname otters]

tord (tord@undisclosed.example.com) — 2026-09-08T13:55:25+00:00

Network Architecture Short Range: Ubiquiti 5GHz AirMax AirMax wireless equipment from Ubiquiti provides communication for the Otter and land station. On the Otter, a Ubiquiti Bullet AC IP67 has been used, because of its IP rating. On the land station, two access points are available. One is a 120◦ sector antenna connected to a Ubiquiti Rocket AC. This provides wide coverage at short distances. From experience, around 600-700m can be expected for a solid connection. The other antenna is a Ubi…

start - [The Fish Otter Vessel]

tord (tord@undisclosed.example.com) — 2026-09-04T15:19:23+00:00

The NTNU Fish Otter Project - A fish tracking system The NTNU fish Otter project aims to develop an autonomous multi-agent system for search, localization and persistent tracking of acoustic fish tags in a maritime environment. This is accomplished through a fleet of vehicles, mainly consisting of four small catamarans that has been equipped with acoustic receivers. Research topics consist of:

vpn

tord (tord@undisclosed.example.com) — 2026-09-03T06:03:27+00:00

VPN IMC messages are not encrypted, and can thus be both read and sent by anyone able to reach the vehicle. To add a layer of security while operating through public networking (4G LTE), a VPN is used. The solution used is ZeroTier.

literature

nikolal (nikolal@undisclosed.example.com) — 2025-01-28T12:16:25+00:00

Academic Literature Author Type Year Title Link Lauvås, Nikolai et al. Paper 2023 A Configurable Greedy Planner for Collaborative Robotic Search in Acoustic Fish Telemetry Surveys IEEE Explore Lauvås, Nikolai et al. Paper 2022 Design and validation of a system of autonomous fish tracking vehicles

sw - [DUNE for the Otter]

nikolal (nikolal@undisclosed.example.com) — 2025-01-28T12:15:40+00:00

Software Architecture The control box of the Otter ASV used by NTNU, use a customized version of DUNE running on the Ubuntu Server 20.04. The LSTS Toolchain The software used to control the Otter is based on the LSTS Toolchain, which is a software toolchain meant for developing networked vehicle systems. It aims at creating a modular system for heterogeneous systems of vehicles, in order to control them by much of the same software. The Otter is an autonomous surface vehicle (ASV), but it als…

sensors - [Sensors]

nikolal (nikolal@undisclosed.example.com) — 2025-01-28T12:14:49+00:00

Sensors The hydrophone used on the Otter is a TB Live from Thelma Biotel. This provides detections of acoustic tag, as well as measurements taken in the hydrophone. Depending on the software version ordered from the manufacturer, the hydrophone can detect tags transmitting on 63-77 kHz. Typically, lower frequencies are only suitable for larger tags, while higher frequencies are mostly used in smaller tags. It detects tags that transmit using using Differential Pulse Position Modulation (DPPM), …

sidebar

joarve (joarve@undisclosed.example.com) — 2024-10-08T13:17:27+00:00

Homepage Introduction Academic Literature The Otter * Hardware Architecture * Software Architecture * Network Architecture * Sensors * Navigation Sensors * Power budget * Mission Logs * The CyberOtter The Server * Online Data Visualization * VPN * Documentation edit

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nikolal (nikolal@undisclosed.example.com) — 2021-05-28T07:11:08+00:00

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nikolal (nikolal@undisclosed.example.com) — 2020-11-18T07:10:59+00:00

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joarve (joarve@undisclosed.example.com) — 2020-11-08T12:56:37+00:00

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nikolal (nikolal@undisclosed.example.com) — 2020-09-07T17:04:12+00:00

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