https://otter.itk.ntnu.no/ 2026-04-14T22:39:07+00:00 https://otter.itk.ntnu.no/ https://otter.itk.ntnu.no/lib/tpl/bootstrap3/images/favicon.ico text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=boot_config&rev=1663580060&do=diff dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25 dtoverlay=spi-bcm2835-overlay enable_uart=1 dtoverlay=pi3-disable-bt dtoverlay=pps-gpio,gpiopin=18 text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=cmake&rev=1663580060&do=diff The DUNE cmake setup DUNE uses cmake to control its build process (creates makefiles). Debug build By default, running the cmake on DUNE disables debugging. To enable this, add the '-DDEBUG=TRUE' flag when invoking cmake. Changing Toolchain By default, the toolchain in text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=cyberotter&rev=1663580060&do=diff The Cyberotter Cyberotter is the nickname for ntnu-otter-04, as its initial use was related to cybersecurity by Petter Solnør and Øystein Volden. The main differences between Cyberotter and the FishOtter are: * Navigation: the FishOtter use a Hemisphere proprietary solution for 3DOF position/attitude, while the Cyberotter use a custom setup based on an IMU and two-antenna GNSS. The Cyberotter is also designed to easily fit the SBG Ellipse, and possibly other similar COTS INS. text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=docuwiki&rev=1663580060&do=diff DokuWiki DokuWiki Webpage text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=dune_configuration&rev=1663580060&do=diff DUNE configuration DUNE is compiled as one executable file, but to actually use it, you have to make a .ini configuration file. This file says what tasks are to be run, and what parameters those tasks should use. The Otter is configured to run these tasks: text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=enable_pps_support_raspian&rev=1663580060&do=diff Enable PPS support in Raspian DUNE has a task called Supervisors.ClockPPS that is used to dicipline the clock from both IMC::GpsFix messages and a PPS source. To get this to work, the kernel has to be compiled with two options not currently enabled by default: text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=glued_cross_compiler&rev=1663580060&do=diff Cross-compiling for the Raspberry Pi Compiling DUNE directly on the Raspberry Pi is possible, but soon becomes tedious, as it takes a while. Luckily there is an alternative, cross-compiling. The Raspberry Pi has an available toolchain at GitHub, but it uses a too old version of the gcc compiler, and therefore it will not compile DUNE. The solution to this, is to use the cross-compiler environment that is made for LSTS Glued. text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=grafana&rev=1663580060&do=diff Online Data Visualization To share telemetry from the vessel, such as acoustic tag detection's, a online data visualization solution has been developed and deployed. Its main component is the time-series database InfluxDB, combined with the analytics and monitoring solution Grafana. This provides near real-time monitoring of the system telemetry for participating researchers. text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=hw&rev=1663580060&do=diff Hardware Architecture The Otter ASV The Otter ASV is a 2 meters long catamaran propelled by two electrical fixed thrusters. This means that steering has to be done through differential thrust by the controller. The control box The control box is based around a Raspberry Pi 4 with 4GB of RAM. Connected through it's GPIO pins is a text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=intro&rev=1663580060&do=diff Introduction The goal of the project, is to be able to perform persistent tracking of acoustic fish tags through combining sensor readings from multiple vessels through multilateration. To further break this down, a scenario of the type of mission is given below. text/html 2025-01-28T13:16:25+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=literature&rev=1738066585&do=diff 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 text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=navigation_sensors&rev=1663580060&do=diff Navigation sensors For positioning, the Otter relies upon a Hemisphere V104s. Using dual integrated GPS antennas, both GPS positioning and compass functions are achieved. It also comes with support for Space Based Augmentation Systems (SBAS) in addition to a single axis gyro and tilt sensors for x- and y-axis. This results in making a position accuracy of better than 1.0 m available 95% of the time. Communication with the v104s is done through two full-duplex RS-232. For the Otter, only one of… text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=neptus_tips_and_tricks&rev=1663580060&do=diff Neptus tips and tricks Compiling Neptus in *buntu linux systems The Neptus Wiki describes how to do this, but it does not work for *buntu linux systems. The problem is that Neptus wants Java runtime 8, while *buntu automatically chooses Java runtime 11. text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=network_architecture&rev=1663580060&do=diff 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… text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=power_usage&rev=1663580060&do=diff Power budget/usage The Otter is battery powered, constraining the duration of missions it can perform. A power budget is given in the table below, showing the worst-case power usage for each component. The total capacity of the four batteries is 3660Wh, resulting in a worst-case duration of battery operation of 3660Wh/833.762W= 4.39h. As can be seen in the table, the motors dominate power consumption, and actuation should therefore be limited for long duration missions. text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=rpi_uart_setup&rev=1663580060&do=diff RPI UART setup * Edit (/boot/firmware/usercfg.txt)/boot/config.TXT, and add boot_config. * Remove 'console=ttyAMA0,115200' from /boot/firmware/cmdline.txt (/boot/firmware/) text/html 2025-01-28T13:14:49+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=sensors&rev=1738066489&do=diff 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), … text/html 2024-10-08T15:17:27+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=sidebar&rev=1728393447&do=diff 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 text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=socketcan_dune_implementation&rev=1663580060&do=diff SocketCAN DUNE implementation CANbus support was not present in DUNE, and therefore had to be added. Since the Raspberry Pi on the Otter is using Linux, we can use the SocketCAN package, which comes with the Linux kernel by default. Interface in DUNE text/html 2024-12-12T11:18:23+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=start&rev=1733998703&do=diff 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: text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=stratopican_setup&rev=1663580060&do=diff Strato Pi CAN setup Jumpers * For the CAN bus, we use the built in 120Ω terminal resistor, activated by bridging jumper JP3. * For the RS-485, we use the built in bias network of resistors, activated by bridging jumpers JP1, JP2 and JP4. Logic Controller Configuration text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=stratopican_watchdog&rev=1663580060&do=diff Strato Pi CAN watchdog DUNE Task The Strato Pi CAN has a watchdog functionality that works by having an activation pin and a heartbeat pin. For the Otter, this has been implemented in a DUNE task. All it does is set the activation pin high, and then toggle the heartbeat pin at a frequency given by the parameter text/html 2025-01-28T13:15:40+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=sw&rev=1738066540&do=diff 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… text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=sw_run_startup&rev=1663580060&do=diff Starting applications/scripts while booting Raspberry Pi OS (rc.local) There are many ways to make programs run at boot in Raspian, and for the Otter, we use the rc.local method. To configure this has only two steps: * Open /etc/rc.local, for example by using nano text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=sw_setup&rev=1663580060&do=diff Installing Raspian and enabling CAN bus micro SD card setup * Download Raspian Lite from: <https://www.raspberrypi.org/downloads/raspbian/> * Flash image to micro SD card, for example using: Etcher * Add empty text file named ssh to the boot partition of the micro SD card, this enables ssh communication with the Pi. text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=tbr700rt_dune_task&rev=1663580060&do=diff TBR-700 RT DUNE Task text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=test&rev=1663580060&do=diff This is a test page text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=torqeedo_interface_dune_task&rev=1663580060&do=diff Torqeedo Interface DUNE task To enable communication between the IMC messages from DUNE, and the CAN bus used by the Torqeedo Interface Board, a new task has been created for use in the Otter. DUNE was also missing support for CAN, so this had to be added. text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=ubuntu_cross_compiler&rev=1663580060&do=diff Ubuntu cross compiling with libraries This guide describes how to cross compile for aarch64 targets with linking to external libraries from a Ubuntu host. The cross compilation is tested on a x86_64 host running Ubuntu 20.04, a target running Ubuntu Server 20.04 aarch64 (Raspberry Pi 4B) and using the cmake build tool. It links external libraries by mounting the target filesystem over text/html 2022-09-19T11:34:20+00:00 Anonymous (anonymous@undisclosed.example.com) https://otter.itk.ntnu.no/doku.php?id=vpn&rev=1663580060&do=diff 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 based on the open source, GPLv2 licensed