OPERATOR & INSTALLATION MANUAL 0690-SOM-00001
Contents
1. O_O O_O O_O O_O OO OO OO OO OO OO AN x ox x x we K K A gigas e ASAS ki La N par GO Oo Go GO 8 8 Document 0690 SOM 00001 Issue 01 Ensure all vents are free from obstructions DE 9 RS232 ports for ancillary sensors VGA or DVI connector for monitor Graphics card for CUDA processing do not connect monitor to this card Ethernet card for connection to Eclipse Motherboard connectors Connect keyboard mouse to the USB ports here If an Ethernet RJ45 port is present it can be used to connect to an IT infrastructure but should not be used for the Eclipse type quantity and layout of these connectors may vary depending on the motherboard model 15 Tritech International Ltd Installation Eclipse 3D Imaging Sonar 3 9 Software The Eclipse SPU will be supplied with all the required software already installed Document 0690 SOM 00001 Issue 01 16 O Tritech International Ltd Eclipse 3D Imaging Sonar 4 Operation 4 1 Overview Tritech Ex ECLIPSE 3D IMAGING SONAR Model View Forwar d Looking Mode Toolbar containing buttons to control common functions e Display area for the sonar images e Advanced2. data Universal Serial Bus Video Graphics Adapter Windows Media Video a compression format for several proprietary codecs developed by Microsoft for storing video files Extensible Markup Language A markup language and file format that is designed to be both human and machine readable Document 0690 SOM 00001 Issue 01 44 Tritech International Ltd
3. Impulse Motion Reference Unit 43 Tritech International Ltd Glossary PCI PDF PSU RJ45 ROV RS232 SCU SOS SPU STP TAQ TX USB VGA WMV XML Eclipse 3D Imaging Sonar Peripheral Component Interconnect used to refer to both the transfer bus and the socket for expansion cards within a computer Portable Document Format a file format designed for the distribution of documents among different operating systems and devices Power Supply Unit Registered Jack wiring scheme commonly used to refer to the 8 position 8 contact 8P8C connector wired for Ethernet communications Remotely Operated Vehicle Traditional name for a series of standards for serial binary data control signals Receive data Surface Control Unit a specially manufactured computer which is rack mountable and capable of processing the data from the sonar equipment running either Windows XP Embedded or Windows 7 and Seanet Pro or Gemini software Speed of Sound Surface Processing Unit a more powerful specialised computer than the Tritech Surface Control Unit SCU capable of driving multiple sonar heads Shielded Twisted Pair cable a standard for communications cable with no cable screen and foil pair shielding known as Unshielded Foil Twisted Pair U FTP under ISO IEC 11801 PCI Timestamped Acquisition card the PCI card in the Eclipse SPU which the Eclipse Ethernet cable connects to Transmit
4. and any Tritech International Ltd equipment connected directly or indirectly to it 2 Software or firmware revision numbers 3 A clear fault description 4 Details of any remedial action implemented Contamination O If the product has been used in a contaminated or hazardous environment you must de contaminate the product and report any hazards prior to returning the unit for repair Under no circumstances should a product be returned that is contaminated with radioactive material The name of the organisation which purchased the system is held on record at Tritech International Ltd and details of new software or hardware packages will be announced at regular intervals This manual may not detail every aspect of operation and for the latest revision of the manual please refer to www tritech co uk Tritech International Ltd can only undertake to provide software support of systems loaded with the software in accordance with the instructions given in this manual It is the customer s responsibility to ensure the compatibility of any other package they choose to use Document 0690 SOM 00001 Issue 01 5 Tritech International Ltd Eclipse 3D Imaging Sonar Warning Symbols Throughout this manual the following symbols may be used where applicable to denote any particular hazards or areas which should be given special attention Note This symbol highlights anything which would be of particular interest to the reader or provi
5. options toggled on off with the button in upper right for setup and configuration O Note When the mouse is hovered over a control a tooltip will be displayed showing a description of that control and pressing F1 on the keyboard will open the online help at the relevant section A PDF copy of the manual is installed along with the Eclipse software and is accessible from the Windows Start menu Document 0690 SOM 00001 Issue 01 17 Tritech International Ltd Operation Eclipse 3D Imaging Sonar 4 2 Sonar Communications Ensure all connections are made and e power is provided to the sonar head NETE Next make sure the Eclipse software is in the default state by pressing the Half Speed Acquisition Factory Defaults button in the User Defaults Factory Defaults advanced options area Load hd Vehicle Sonar ID Enter the Sonar ID of the Eclipse sonar head in the Vehicle tab in the advanced options area ha Sonar Controller T system Status Half Speed Acquisition User Defaults Factory Defaults The Sonar ID of the first sonar that Load the software has found is displayed in the Se Sonar Controller tab Metric software Version 2 03 betab Hardware Version Tag 3_0_03 CUDA Device e GeForce GTX 470 ID Ver Freq Stks T1 T2 05 04 240kHz 2 320 3520 320 320 Vehicle Sonar ID 1 To automatically use the Sonar ID of the first sonar that the software has found press the Auto button in t
6. present it should be first removed and discarded and the new O ring only inserted after the IPA has evaporated 3 4 Positioning the Sonar The black sonar face should be pointed in the required direction Normally this would be facing in the same direction as the vehicle The sonar has a field width of 120 and a field height of 40 Objects on the vehicle within this field of view will obstruct the sonar view and cause undesirable artifacts in the data It is recommended that the sonar is pitched down between 10 and 30 which will direct the sonar energy at the seabed in front of the vehicle The head can be installed in one of two orientations Acoustic face Document 0690 SOM 00001 Issue 01 12 Tritech International Ltd Installation Eclipse 3D Imaging Sonar 3 5 Reference Point The reference point for the Eclipse sonar head is taken as being level with the front face at a point along the short edge closest to the connectors as shown below The offsets of the individual transducer arrays are contained within the software Acoustic face l Reference Point oi 3 6 Mounting the Sonar The Eclipse has 9 20mm deep M6 fixing points Q l 1 1 3 It du RECHERCHER C e ms siames stesispmo Washer 9 O rene washer 9 aran war gt rate minimum thickness arm 1 e revising Washersieeve 9 Document 0690 SOM 00001 Issue 01 13 Tritech International Ltd Installation Ecli
7. take a measurement 4 4 9 Cursor p 27 ms 3 47mi 1563m2 Document 0690 SOM 00001 Issue 01 23 O Tritech International Ltd Operation Eclipse 3D Imaging Sonar When the mouse cursor is in the display area the cursor display will show the cursor position relative to the Reference Point in metres or feet depending on the unit type selected 4 4 10 Measurements To make a a measurement right click with the mouse anywhere in the display area and select Measure from the pop up menu Rotate amp Tilt Select Then hold down the left mouse button above the measurement start point and drag the mouse to the measurement end point The measurement will be displayed on the ruler Rng 1 73m Brg 121 83 Horz 1 60m Drop 0 66m slope 22 46 To finish measuring and return the 3D scan to default operation right click with the mouse anywhere in the display area and select Rotate amp Tilt from the pop up menu Fotate amp Tilt select Measure 4 5 2D Forward Looking The Forward Looking display is a top down plan display that draws data acquired as a 2D image Document 0690 SOM 00001 Issue 01 24 Tritech International Ltd Operation Eclipse 3D Imaging Sonar Tritech Ex OMA 3D IMAGING SONAR Model View Forwar d Looking Search Mode Range 0 00m Bearing 0 00 0 00m 0 00m Rather than building a 3D image the 2D display provides an instant picture of the seabed in f
8. the maximum of a number of scans The Filter maximum is decayed over time The previous positions of moving targets are persistent and will generate a slowly decaying image 1 e snail trails When in this mode noise and other transient data will also be persistent Movement This output enhances moving targets Targets that are static are Filter faded out Moving targets remain on the screen This feature is useful to highlight movement of targets that have a low strength compared to the background returns 4 5 8 Gain Gain 1 0 4 gt 0 to 100 Gain is the amount of amplification applied to the sonar signal at the Eclipse sonar head Increasing the gain will show targets of lower strength but will also increase the amount of noise and interference seen by the sonar 4 5 9 Range 4 to 120m This 1s the maximum slant range used by the sonar The end range will determine the maximum update rate of the system A longer range value will have slower update Document 0690 SOM 00001 Issue 01 27 Tritech International Ltd Operation Eclipse 3D Imaging Sonar rates due to the time taken for the sonar pulse to return from the furthest range Short ranges will have faster update rates 4 5 10 Cursor Display Range d Olm Bearing CHEN 1 25m 7 80m When the mouse cursor is in the display area the cursor display will show the cursor position relative to the Reference Point in metres and degrees To make a measurement be
9. then anything above the centre of the Eclipse is considered to be negative and anything below it is positive so the Start should be set to a negative number and the End set to a positive number 4 4 4 Scan Step Scanning a 3D volume takes a period of time which is mainly dictated by the end range of the system and the number of scans contained in a volume Increasing the scan step will reduce the amount of time needed to generate a 3D volume but will reduce the level of detail visible Course 4 step fastest least detailed Document 0690 SOM 00001 Issue 01 21 Tritech International Ltd Operation Eclipse 3D Imaging Sonar Medium 2 step Fine sten slowest most detailed 4 4 5 Use Depths Depth Palette Intensity Palette Use Depths Use Depths When Use Depths is enabled the When Use Depths is not enabled the Depth Palette is used to show the Intensity Palette is used to different depths in different colours The colour points for 0 100 of intensity start and end depth of the palette can be entered in metres or feet depending The Intensity Palette isalso used on the unit type selected All depths for the Forward Looking 2D display shallower than the top depth use the first colour of the palette and depths deeper than the bottom depth will use the last colour of the palette The bottom depth of the palette also sets the bottom depth of the 3D grid 4 4 6 Draw Points Normally data is shown as a s
10. 00001 Issue 01 Eclipse 3D Imaging Sonar American Standard Code for Information Interchange a character encoding scheme originally based on the English alphabet Central Processing Unit the processor of a computer Central Reference Point Comma Separated Value a text file in tabular format with table cells separated by commas usually given the filename extension csv but this can vary depending on the application Compute Unified Device Architecture a parallel computing architecture developed by Nvidia for graphics processing Direct Current A 9 pin D shaped connector commonly used for serial communications on computers Digital Visual Interface a standard connector for connecting from a computer to a monitor A special version of the Tritech Surface Processing Unit SPU which has a high power graphics card capable of processing the Eclipse 3D imagery and a special Ethernet card for connection to the Eclipse A family of computer networking technologies for local area networks LANs Graphics Processing Unit the card within the computer which 1s responsible for generating visual output Isopropyl Alcohol also known as 2 propanol isopropanol rubbing alcohol and iPrOH Information Technology Joint Photographics Expert Group a compression method and file format for image files files can be stored with either jpeg or jpg file extensions Miniature High Density a connector range from Teledyne
11. C EE 25 A A 26 4 5 3 Invert Display Un DOWD amina ici 26 A AA 26 e EN A A E E E 26 O AOO NEE 26 Ao MEE OT ae E E E 2 a o E NEE 27 A ees caeredoaice 27 MeO UESOL RE 28 AG Toolbar D Dee EE 28 4 6 1 Recording Logging Sonar Data ooooooooooooooooocccncncncnnnnnnnnnnnnnnss 29 4 02 Replayi o sonar Data eege 29 AD et Kn atan 30 BO Zeen WAVY aida 30 le ANA CU Ee a 30 e E We Eh e e e E 30 Document 0690 SOM 00001 Issue 01 3 O Tritech International Ltd Eclipse 3D Imaging Sonar ee MA oasis 33 A Y MOL aa 34 e A ojo e ME 35 A COMDE aa 35 4 Manually RE re 36 De Cares EE eii tt 38 Dede Donar cad no ri 38 TL OS A a 38 O LODOS ado acti 40 A Eclipse SON Ware amina E 42 E ibi 43 Document 0690 SOM 00001 Issue 01 4 O Tritech International Ltd Eclipse 3D Imaging Sonar Help amp Support First please read this manual thoroughly particularly the Troubleshooting section if present If a warranty is applicable further details can be found in a Warranty Statement at the end of the manual Tritech International Ltd can be contacted as follows Mail Tritech International Ltd Peregrine Road Westhill Business Park Westhill Aberdeenshire AB32 6JL UK Y Telephone 44 0 1224 744 111 E Fax 44 0 1224 741 771 O Email support tritech co uk Website www tritech co uk Prior to contacting Tritech International Ltd please ensure that the following is available 1 The Serial Numbers of the product
12. Eclipse software Document 0690 SOM 00001 Issue 01 41 Tritech International Ltd Eclipse 3D Imaging Sonar Appendix A Eclipse Software String Decode The Eclipse Software is capable of handling input from various different types of sensors using the following standard strings Name Digi OctansAll OctansGHPR OctansHPR OctansPR SonDepth TSS Std 1 Octans Std 2 Speed of Sound Simard EM3000 CDL Mini Tilt HMRU Description Parascientific Digiquartz depth sensor Heading Heave Pitch Roll Surge Sway Heading Heave Pitch Roll Heave Pitch Roll Pitch Roll Depth Heave Pitch Roll Heading Heave Pitch Roll Speed of Sound Heading Heave Pitch Roll Pitch Roll Heave Pitch Roll AML Smart SVP Speed of Sound Note Format Examples 000 0 SHEHDT o oc SPHTRH o oo SA oo BUS EID 95 33 PHTRH oo SIE EERE oo SIE EERO oo SSONDEP 000000 0000H 0000 0000 00000 0000H 0000 0000F 1500 0 n a P 0000 0R 0000 0 SPHIRH oo 000000 0000H 0000 0000 1500 0 With the exception of Simrad EM3000 which is in binary format all of the above strings are in ASCII format and use lt CR gt as the synchronisation character Document 0690 SOM 00001 Issue 01 42 O Tritech International Ltd Glossary ASCII CPU CRP CSV CUDA DC DE 9 DVI Eclipse SPU Ethernet GPU IPA IT JPEG or JPG MHDG MRU Document 0690 SOM
13. Eclipse 3D Imaging Sonar Product Manual Document 0690 SOM 00001 Issue 01 Tritech yy Outstanding Performance in Underwater Technology Eclipse 3D Imaging Sonar O Tritech International Ltd The copyright in this document is the property of Tritech International Ltd The document is supplied by Tritech International Ltd on the understanding that 1t may not be copied used or disclosed to others except as authorised in writing by Tritech International Ltd Tritech International Ltd reserves the right to change modify and update designs and specifications as part of their ongoing product development programme All product names are trademarks of their respective companies Document 0690 SOM 00001 Issue 01 2 Tritech International Ltd Eclipse 3D Imaging Sonar Table of Contents Er A A 5 ns A A E en E T 6 lo 0 6700 er e rot ac 7 O A 9 o A 10 dal Cable SSC CO ME 10 32 Boneh Tee ies 11 3 3 Connector Maintenance Guidelines ooooonccnnnnnnncnonononnnnnnnnnononononoconnnnnos 12 JA EE Ondara ds 12 Dee REDE POT rise lele acia 13 3 6 Mounting the SONAT nda 13 e e Ele laa e 14 Se dE Ee 16 E E 17 a AA ME PPS sesecteneeed 17 EENEG 18 e AA E EE E 19 4 4 3D Volume Visualisation Model View 19 AA CG NEE 20 A EE 20 a PANG EE ZA Ek A A UU en A 21 BA A 22 E anieqseedanageeceaiec smu acaaeencieqat 22 NS E EE 23 E FOD A o e eee 23 e E O WEE 23 AO Jee eegend 24 432D Forward LODO tranca 24 A ale SA
14. Tritech International Ltd for details of the support options available Document 0690 SOM 00001 Issue 01 39 Tritech International Ltd Eclipse 3D Imaging Sonar 6 Troubleshooting The software reports that no sonars are detected Check all cabling to the sonar and verify that 1t is powered correctly with appropriate voltage at the sonar Also check that the correct cable is in use this needs to be a cable of at least CatSe standard If the Eclipse is connected and powered through a vehicle Ethernet infrastructure it may be helpful to isolate it from the vehicle and connect directly to the Eclipse SPU Use the 10m test cable and bench PSU to make a direct connection to the Eclipse Make sure that the Eclipse is connected to the correct network interface on the rear of the SPU Le do not use the motherboard connector ED Note Ethernet connection requires CatSe cable for the entire cable run max 80m and any lengths of untwisted cable must be kept to an absolute minimum Sonar goes offline while operating on deck The sonar head outputs heat to the body casing using it as a heatsink which is dissipated to the surrounding water during normal operation In order to protect the internal electronics from damage due to overheating a thermal cut off will shut down the sonar if it gets too warm It will be necessary to allow the unit to cool down before it will operate again The unit should not be operated out of water fo
15. bdirectory to the selected log file directory the default being C EclipseData images and then store the image The filenames are automatically numbered in ascending sequence and given the title Eclipse i e Eclipse_0001 Jpg Eclipse_0002 jpg 4 6 4 Record as WMV The Record as WMV button in the toolbar will toggle recording of the current workspace view and save it as a WMV file The first time this button is pressed it will create an images subdirectory to the selected log file directory the default being C EclipseData images and then store the movie The filenames are automatically numbered in ascending sequence and given the title Eclipse i e Eclipse_0001 wmv Eclipse_0002 wmv 4 7 Advanced Controls The Advanced Options area contains setup options which are not normally required for day to day sonar operation Within the advanced options area there are five separate tabs each containing setup options for different parts of the Eclipse system The tabs can be opened or closed by clicking on the white arrow on the left hand side of the tab 4 7 1 Sonar Controller The Sonar Controller manages communications with the Eclipse sonar head It also allows all the system settings to be loaded or saved to a settings file Document 0690 SOM 00001 Issue 01 30 Tritech International Ltd Operation Eclipse 3D Imaging Sonar k sonar Controller T system Status Half Speed Acquisition User Defaults Factory Default
16. des extra information outside of the current topic Important When this is shown there is potential to cause harm to the device due to static discharge The components should not be handled without appropriate protection to prevent such a discharge occurring i Caution This highlights areas where extra care is needed to ensure that certain delicate components are not damaged Warning DANGER OF INJURY TO SELF OR OTHERS Where this symbol is present there is a serious risk of injury or loss of life Care should be taken to follow the instructions correctly and also conduct a separate Risk Assessment prior to commencing work Document 0690 SOM 00001 Issue 01 6 Tritech International Ltd Eclipse 3D Imaging Sonar 1 Specification Dimensions 115 mM D Acoustic face Not to scale dimensions in mm Acoustic Properties Operating frequency 240kHz Angular resolution 1 5 acoustic 0 5 effective te Range 120m 2D forward looking 60m 2D search 40m 3D camw Electrical and Communications Supply voltage 20 28V DC Communication protocols eng pe Document 0690 SOM 00001 Issue 01 7 O Tritech International Ltd Specification Eclipse 3D Imaging Sonar Physical Depth rating 1000m Operating temperature 10 to 35 C Surface Processing Unit Document 0690 SOM 00001 Issue 01 8 Tritech International Ltd Eclipse 3D Imaging Sonar 2 Introduction Eclipse is a 3D imaging
17. ed with the Eclipse system is intended for INDOOR USE ONLY and should not be placed in a position where it could get wet During installation and testing of the Eclipse it is possible to use the included PSU to provide both power and Ethernet connection to the Eclipse The Ethernet connector should be attached to the Eclipse SPU using the PCI card and not the motherboard connector and the Souriau connector to the Eclipse cable whip The Eclipse bench PSU is wired as follows A Ethernet RX Ethernet RX C Ethernet TX not connected Ethernet TX Oom omea Suen lt Document 0690 SOM 00001 Issue 01 11 Tritech International Ltd Installation Eclipse 3D Imaging Sonar 3 3 Connector Maintenance Guidelines Mating surfaces should be lubricated with 3M Silicone Spray or equivalent DO NOT GREASE Connectors must be lubricated on a regular basis Lubricate O rings with Dow Corning 111 Valve Lubricant or equivalent O rings can be seriously degraded if exposed to direct sunlight or high ozone levels for extended periods of time Clean plugs and receptacles with soap and fresh water A Caution When attaching a connector make sure that both connector and socket are completely dry Any water trapped in the connection could result in an electrical short i Caution If using alcohol or IPA to clean out the connector take care that it does not come into contact with any other part of the sonar If an O ring is
18. ement to contact Tritech International Ltd Technical Support it may be necessary to provide this information ID Sonar ID Ver Sonar head firmware version Document 0690 SOM 00001 Issue 01 32 Tritech International Ltd Operation Eclipse 3D Imaging Sonar Freq Frequency of operation of the transducer Stks Number of TX RX stacks in the sonar head T1 T4 Temperatures at positions inside the sonar head 4 7 2 Sonar These options control the sonar when scanning a 3D volume in the Model View Weep Threshold 24 0 Export all points above threshold intensity Sweep Options These options control the scanning transmitter Min The minimum top angle that the sonar scans to in degrees Normally 22 Max The maximum bottom angle that the sonar scans from in degrees Normally 22 Step The step size between scans Normally this is set using the Scan Step control on the Model View however if desired it can be set here Points Threshold With Draw Points enabled the Model View is drawn as a points cloud Only sonar contacts with an intensity above the Points Threshold are considered to be a point this threshold is also used for the Export function ED Note The system will slow down if a very large number of points are displayed Do not set the threshold too low particularly when working at long ranges or when lots of targets or background noise is present in the sonar image Export all points ab
19. eries of scan images with data being faded based upon the intensity of the target Targets with intensity below 5 are not displayed and those above 5 are semi transparent becoming more opaque as the targets become brighter With Draw Points enabled data is instead drawn as a points cloud which allows accurate measurements to be made between points Only sonar contacts with an intensity above a set threshold are considered to be a point the Threshold is set in the Advanced Options see Section 4 7 2 Sonar Document 0690 SOM 00001 Issue 01 22 Tritech International Ltd Operation Eclipse 3D Imaging Sonar Ed Note The system will slow down if a very large number of points are displayed so do not set the threshold too low when working at long ranges or when lots of targets or background noise is present in the sonar image 4 4 7 Show Grid Toggles the display of the 3D grid The grid is drawn as far as the Range setting and also uses the bottom depth value given in the depth palette SAN Sy 4 gt 1 3 IW 5 D Im m m i r MY 4 As 5 4 K 2 I 2 5 be D 4 4 8 Properties Look At X Look At Y Look At Z Rotate 129 60 Tilt 12 06 Range m Area sq m Draw Ruler Properties This pop up menu shows information about the current display view The Draw Ruler check box forces the ruler to be permanently displayed normally the ruler is only displayed while the left mouse button is being held down to
20. ettings to the default factory settings Use this option 1f experiencing unusual behaviour from the Eclipse sonar to be certain that the software 1s set up properly Note Load Save Settings After resetting to factory defaults it will be necessary to set the Sonar ID again see Section 4 2 Sonar Communications Eclipse automatically saves all the system settings when the software 1s shut down These settings are also automatically reloaded when the software starts The Load and Save buttons are to load and save the system settings to an XML file This 1s useful to keep if ever the software or operating system requires re installation Ed Note To use the XML file as a User Default file 1t will have to be saved as C EclipseData Settings UserDefaults xml Units This allows the units of measurement to be selected Available options are Metric and Imperial System Information This displays the version information for the Eclipse SPU If there is ever a requirement to contact Tritech International Ltd Technical Support it may be necessary to provide this information Ed Note The CUDA Device indicator shows the status of the graphics processor which 1s being used for processing the 3D imagery If the indicator 1s red or amber hover the mouse pointer over it to get more detailed information on the problem Sonar Information This displays version information for the Eclipse sonar head If there 1s ever a requir
21. figuration options are the same COM Port COMS Decode Status Comm Port The drop down list allows the selection of the SPU serial port to configure Once this has been selected click on the ellipsis to bring up the Windows COM Properties dialog for further configuration O Note Make sure that the settings in the COM Properties dialog match those of the sensor which 1s attached Document 0690 SOM 00001 Issue 01 35 Tritech International Ltd Operation Decode Status Eclipse 3D Imaging Sonar The first drop down list selects the sensor type choose from Motion Depth or SOS speed of sound Once the type of sensor has been selected choose from an appropriate input string using the second drop down list The data age status indicator will show the status of the port A grey indicator means no data is present red is for an incorrect data string yellow indicates an incomplete data string and green is for normal operation The output string from the sensor is also displayed 4 8 Manually Restore Settings Document O Note The following instructions should be considered as a last resort only when the Eclipse software fails to start due to a corrupted XML settings file In preference the software should be run and the reset or load settings buttons should be used Advanced settings Sonar Controller Factory Defaults Note Depending on the system setup the Eclipse data files are either
22. he Vehicle tab Once the Sonar ID is set press the Online button in the toolbar to enable sonar operation Document 0690 SOM 00001 Issue 01 18 Tritech International Ltd Operation Eclipse 3D Imaging Sonar Ed Note Occasionally when the Eclipse software 1s first started the sonar head will not communicate due to network issues If restarting the software does not resolve the problem the physical connection should be checked 4 3 Keyboard Shortcuts A number of keyboard shortcuts are available for commonly used activities F7 Toggle Logging of data Ctrl F Capture the screen to file A Increase gain Z Decrease gain D Increase range C Decrease range 4 4 3D Volume Visualisation Model View The Model View is a 3D display that can be rotated and tilted by holding down the left mouse button and dragging the mouse around the display Data 1s displayed in a 3D perspective model This view automatically zooms and centres based upon the current range Document 0690 SOM 00001 Issue 01 19 Tritech International Ltd lel MM 3D IMAGING SONAR W 7 Model View Forward Looking j Gain u 0 0 4 Log Directory Range e 8 0m lt 4 C EclipseData Fri 10 09 2010 13 07 51 Start 1 0 00mx 0 00mY No DatamZ Properties 4 4 1 Gain Gain EN 0 to 100 Gain is the amount of amplification applied to the sonar signal at the Eclipse sonar head Increasing the gain will show targets of lower strength but wi
23. icant distance between the different devices Text can be entered in each box to configure the position of the sonar a Motion Reference Unit MRU and the Z Sensor depth sensor Clicking in the Mkr column turns the marker on off on the Model View Clicking the Mkr column title turns the CRP marker on off When turned on each device will show as a red dot to indicate its position Document 0690 SOM 00001 Issue 01 34 Tritech International Ltd Operation Eclipse 3D Imaging Sonar Ed Note Changing the equipment positions will cause any existing image data to be cleared from the Model View This ensures that new image data is immediately visible using the new equipment positions 4 7 4 Speed of Sound The speed of sound can be manually entered using this text field Speed of Sound Speed of Sound 1500 Ifa speed of sound serial input device is configured in the Comm setup see below the text field will be automatically updated with the measured speed of sound Averaging is applied to the measured speed of sound values to smooth out sensor readings 4 7 5 Comm Eclipse provides for a motion sensor to be connected into the Eclipse SPU to apply heave pitch and roll compensation to the sonar position in the water Depth data can also be supplied by an external altimeter device Up to four external sensors can be fitted to the system and are configured by selecting the tabs Comm A through to Comm D For each tab the con
24. ll also increase the amount of noise and interference seen by the sonar 4 4 2 Range Range Tes 7700 gt 4 to 120m This is the maximum slant range used by the sonar The end range will determine the maximum update rate of the system A longer range value will have slower update rates due to the time taken for the sonar pulse to return from the furthest range Short ranges will have faster update rates Note The range can also be increased and decreased using the scroll wheel on the mouse 4 Jocument 009Y0 SsO VI MM WI Site Ai wf A Tri tech J ntarnat ion al i t d JOCUMCH VOU IND IVI UUVU 1 ISSUC U al U Y ITILECH International Ltd Operation Eclipse 3D Imaging Sonar 4 4 3 Palette Palettes are used to convert numerical values for intensity and depth into a representative colour A number of palettes are available and can be selected by clicking on the palette bar Eclipse has a Depth Palette and Intensity Palette see Use Depths When Use Depths is enabled the text at the top and bottom of the palette is editable and represents the start and end depth for the palette Any sonar return which is shallower than the start depth will be coloured in the start colour and any return deeper than the end depth will be given the end colour If depth data is available from an external depth sensor then the values entered here are absolute depths see Section 4 7 Advanced Controls If no depth data is present
25. not have any anti virus or protection software installed by default It is possible to restrict access to the USB drives using the lock on the front panel The Eclipse SPU is designed to be a stand alone machine however if it is to be installed on a network appropriate software should be used to protect against viruses known to affect Windows computers Document 0690 SOM 00001 Issue 01 38 Tritech International Ltd Care amp Maintenance Eclipse 3D Imaging Sonar Note A regular backup schedule for any important log files should be in place for the SPU since re initialisation may erase the hard drive contents To ensure that the system remains secure and error free it is recommended that no extra software other than is absolutely necessary such as anti virus software is installed on the SPU Hardware Maintenance The maintainable parts of the hardware are limited to the cooling fans in the chassis Care should be taken to keep the filters clean and the environment free from dust and moisture Failure of the chassis fans will result in elevated temperatures which will shorten the life of the product so any failures should be replaced immediately If the CPU GPU or PSU fans fail then the SPU will auto shutdown and operation will not be possible until the fan is replaced Chassis fans can be replaced with standard computer case fans Replacement of the CPU GPU or PSU fans will require replacement components Please contact
26. ove threshold intensity All points in the volume above the specified threshold will be exported to an ASCII comma separated value csv file that has the format ay AY az Intensity Document 0690 SOM 00001 Issue 01 33 O Tritech International Ltd Operation Eclipse 3D Imaging Sonar The dX dY and dZ values are relative to the vehicle Central Reference Point CRP 4 7 3 Vehicle Pitch du Aj F wd gt 0 00 0 00 Sonar ID The easiest way to set the Sonar ID is to press the Auto button and the first sonar available on the network will then be automatically selected If desired a number can be entered manually Sonar Pitch Set the sonar pitch to match the pitch angle in degrees at which the Eclipse sonar head is mounted on the vehicle Use a negative number if the sonar is pointing down towards the seabed Sonar Orientation Set the orientation to match how the Eclipse sonar head is mounted on the vehicle The options are connectors up and connectors down as indicated by the illustrations click on the image which matches the correct orientation Changes in the orientation are reflected in the Model View with the Eclipse head changing according to which button is pressed Equipment Position It is useful to be able to configure the offset of various equipment in relation to the Central Reference Point CRP of the vehicle this 1s particularly important on larger ROVs where there may be a signif
27. pplicable to Eclipse software version 2 16 Document 0690 SOM 00001 Issue 01 9 Tritech International Ltd Eclipse 3D Imaging Sonar 3 Installation 3 1 Cable Specification The Eclipse system 1s supplied with two cables both of which are terminated at one end with a Teledyne Impulse MHDG 3 16 5 20 connector The 5m cable has bare ends for termination splicing into the vehicle wiring The 10m cable 1s terminated with a Souriau connector which mates to the bench PSU and can be used for testing the Eclipse independent of the vehicle wiring and power supply Ed Note The network signal cables inside the supplied cable are Shielded Twisted Pairs STP If splicing to a connector whip that is not provided with twisted pairs it 1s important to keep the untwisted length to a minimum no more than 20cm Long lengths might result in network losses or communication failure a Tee ege GE DC DC Ground S Red sta j Y Seene Seen Ww s Bie str ei ro Red STP Brown mm 8 Screen STP 2 Teledyne Impulse MHDG 3 16 5 20 Minimum static bend radius 90mm Minimum dynamic bend radius 125mm Note STP Shielded Twisted Pair i Caution Never try to make the Eclipse work down a long cable by increasing the PSU output voltage above 28V DC Document 0690 SOM 00001 Issue 01 10 Tritech International Ltd Installation Eclipse 3D Imaging Sonar 3 2 Bench Power Supply 1 Warning The Eclipse PSU that is suppli
28. pse 3D Imaging Sonar Al 32700 2 38 The Eclipse is supplied with a number of insulating washers and fixings These fixings insulate the sonar from its mounting and are required if the sonar is to be mounted to a non aluminium frame i Caution Mounting the sonar to a non aluminium frame without the use of the isolation fixings will cause corrosion of the unit and reduce its life expectancy 3 7 Surface Equipment The Eclipse is supplied with the following dry end components e 19 4U rack mountable Eclipse SPU with case key and mains lead USB keyboard e USB mouse RJ45 terminated Cat5 Ethernet cable Document 0690 SOM 00001 Issue 01 14 Tritech International Ltd Installation e DVI to VGA adapter e User manual e Eclipse Bench PSU A Power Note Eclipse 3D Imaging Sonar The Eclipse system is not supplied with a monitor A quality 24 widescreen monitor with a minimum resolution of 1280x1024 or above is recommended Caution The Eclipse SPU should be positioned such that the front and rear vents are not obstructed Obstruction to the vents may result in the machine overheating which could result in damage to the equipment The Eclipse SPU is turned on using a button located behind the lockable front panel If this does not work 1t may also be necessary to turn the switch on the rear to the 1 position Rear Panel O_O O_O O_O O_O O_O O_O
29. pse xml 4 Start the Eclipse software Document 0690 SOM 00001 Issue 01 37 Tritech International Ltd Eclipse 3D Imaging Sonar 5 Care amp Maintenance 5 1 Sonar Head After using the sonar Make sure that after using the sonar head that it is washed down with fresh water and check the unit for any signs of obvious damage Pay particular attention to the transducer head and free any organic matter which has become trapped Once the unit is clean dry thoroughly and place in storage container If storing the sonar for extended periods Make sure that the sonar is completely dry if necessary leave to air dry before stowing Pack into storage container along with several pouches of silica gel Regular maintenance There are no user serviceable parts inside the sonar and it 1s not necessary to take it apart for any maintenance tasks In light usage as long as the unit is washed thoroughly with clean fresh water after every use and dried before storage no further maintenance is required If the unit is in regular use or submerged routinely for extended periods it is advisable to arrange for an annual service to be carried out by Tritech International Ltd This service will enable the unit to be checked thoroughly or for any worn parts to be replaced and will enable long term trouble free operation of the sonar head 5 2 Eclipse SPU Software Maintenance The operating system running on the SPU is Microsoft Windows and does
30. r extended periods Update rate is slow and there are sometimes large gaps between pings There may be noise induced onto the Ethernet cables be sure to route these as far away as practicable from noise sources Document 0690 SOM 00001 Issue 01 40 Tritech International Ltd Troubleshooting Eclipse 3D Imaging Sonar Sonar ts present but screen shows no sonar images Make sure that the Gain is not set to 0 Check the nVidia graphics drivers are up to date and support the latest CUDA functionality if in doubt install the latest drivers from Nvidia Drivers are available directly from the nVidia website so it may be necessary to connect the Eclipse SPU to the Internet Make sure that the correct operating system is selected while browsing for the drivers CUDA Device is not recognised First try updating the graphics card drivers with the latest version available from the nVidia website If after updating the drivers the card is still not recognised open the Eclipse SPU case and make sure that both of the graphics cards are securely fitted into the PCI slots No Hardware Found or program crashes Open the Eclipse SPU and check that the TAQ card PCI Timestamped Acquisition card the PCI card which the Eclipse Ethernet cable connects to is securely seated in the PCI slot If this does not solve the problem search the entire C drive for files named tvichw and delete them Reboot the computer and then re install the
31. ration above shows the button in the on state 4 5 6 Zoom er The Zoom button looks like a magnifying glass When this button is clicked a zoom window opens which shows the data around the mouse pointer in more detail as the following image shows The zoom window positions itself to either the left hand side or the right hand side of the screen so that 1t does not obscure the sonar image The magnification level of the window is changed by using the mouse wheel or by using the and buttons next to the zoom button The magnification level can be changed between 1 5x minimum magnificationjand 40x maximum magnification Document 0690 SOM 00001 Issue 01 26 O Tritech International Ltd Operation Eclipse 3D Imaging Sonar Clicking within the sonar arc will lock the zoom at that point Clicking outside of the arc will release the lock and the zoomed area will follow the mouse pointer 4 5 7 Filter Selector h The image filters are used to take information from a number of consecutive sonar images and compile them into one continuous output image From left to right they are No Filter No filtering is applied each image received from the sonar replaces the previous image Average Filter This output displays the average of a number of scans This is useful for removing noise and transient data from the image Static targets will get strengthened and moving targets will get reduced Persistence This output displays
32. ront of the vehicle Only one image is used so the display updates very quickly even at longer ranges which allows the ROV to be piloted using the screen 4 5 1 Search Mode g Pare h M o d e Normally the Eclipse transmits a thin 1 5 by 120 beam which is useful for e Measurements between vertical targets are required e Only a small part of the total image is of interest e Long ranges are required up to 120m depending on water conditions By enabling Search Mode Eclipse will transmit a thicker beam 40 by 120 This mode illuminates all of the area in front of the sonar and is used as a general forward looking sonar maximum range 60m Document 0690 SOM 00001 Issue 01 2 O Tritech International Ltd un Operation Eclipse 3D Imaging Sonar 4 5 2 Palette There 1s no depth information on the 2D display so the data 1s displayed using the 4 5 3 Invert Display Up Down 4 5 4 Flip Image Left Right The Invert Display Up Down button when clicked inverts the image displayed by the software t If the sonar is mounted upside down the software has the ability to flip the image from left to right as viewed on the computer screen so that the image still appears correctly oriented to the user The illustration above shows the button in the non flipped state 4 5 5 Draw Grid EH The Draw Grid button when clicked draws the range and bearing grid on the image displayed by the software The illust
33. s Load Units Metric Software Version 2 03 betab Hardware Version Taq 3 0 05 CUDA Device e GeForce GTX 470 ID Wer Freq Stks T1 T2 Ta T4 32 05 04 40kHz 2 3240 320 320 320 System Status The System Status is a three colour indicator which shows the state of the hardware Green Communications with Eclipse sonar head is OK Orange Eclipse SPU ready but no communications with Eclipse sonar head Red Driver or interface card failure in the Eclipse SPU Hover the mouse pointer over the indicator for more detailed information about the problem Half Speed Acquisition Normally the Eclipse system tries to fire the sonar continuously with little or no delay between pings This buttons slows the sonar ping rate to 50 of the maximum rate reducing the amount of data that is sent by the Eclipse sonar head i Note If the column being visualised has been generated with very small steps it may be necessary to reduce the sonar ping rate User Defaults This loads all the system settings from the file UserDefaults xml which is normally inC EclipseData Settings One advantage of having a custom default setup rather than using the factory default setup is that it is possible to set up the default vehicle parameters corresponding to a specific installation Document 0690 SOM 00001 Issue 01 31 Tritech International Ltd Operation Eclipse 3D Imaging Sonar Factory Defaults This reverts all system s
34. sonar with 3D measurement capability A single housing incorporates transmit and receive multi beam arrays Eclipse uses electronic beam shaping technology providing a high performance imaging system which can be used in 3D Volume Visualisation and 2D Forward Looking modes By electronically steering the beam a volume is illuminated ahead of the sonar This is converted in real time into a full 3D image 3D Volume Visualisation provides a realistic graphical representation of scanned objects The sonar data can be motion stabilised by taking in data from an external motion or tilt sensor The sonar data is displayed as a depth palletised 3D volume where colour represents the difference between the seabed depth and the vehicle Central Reference Point CRP Eclipse provides data stream logging and replay as well as having image and volume data snapshot capability Measurement tools provide range bearing and relative position to any acoustic target The Volume Visualisation has a mode which displays all the individual sonar contacts as single points In this mode it 1s possible to measure the 3D relationship between two points within the volume In 2D mode the Eclipse sonar provides a high update rate which is used to provide display outputs that can be composed of a number of different sonar images providing better display resolution and filter options such as persistence and movement detection Software Version This manual is a
35. stored in the C drive or the D drive please examine the system at hand and adjust the instructions accordingly e change C EclipseData to D EclipseData where necessary The Eclipse software stores all the settings in the file C EclipseData Settings Eclipse xml A backup of this file can be kept as a record of all the Eclipse settings When contacting Tritech International Ltd Technical Support it may be necessary to supply a copy of this file The Eclipse software keeps a historical log of settings files in the folder C EclipseData Settings with folder and file names automatically generated from the date and time This can be useful for the restoration of previously known good settings To use a previous settings file 1 Shut down the Eclipse software 0690 SOM 00001 Issue 01 36 Tritech International Ltd Operation Eclipse 3D Imaging Sonar 2 Delete or rename the C EclipseData Settings Eclipse xml file 3 Copy the historical settings xml file into the location C 1EclipseData Settings and rename it to Eclipse xml 4 Start the Eclipse software A factory settings file is stored in the install folder normally C Program Files Tritech Eclipse Factory xml To revert completely to the factory settings file 1 Shut down the Eclipse software 2 Delete or rename the C EclipseData Settings Eclipse xml file 3 Copy the Factory xml file into the location C 1EclipseDatalSettings and rename it to Ecli
36. tween two points in the image hold down the left mouse button at the measurement start point and drag the mouse to the measurement end point The range and bearing from the start point to the end point will be displayed along the line 4 6 Toolbar Functions Online amp The toolbar is at the top of the screen and gives quick access to eight common functions Online Toggles the sonar operation Record Toggles the logging of the sonar data Play Pause Toggles the replay of log files Stop Stops the replay of log files Repeat Repeats the replay of the log file when it reaches the end Load Loads a log file Capture Screen Captures the current workspace view as a JPEG file Record as WMV Toggles the recording of the display area as a WMV file Note Alarm and information messages are displayed below the toolbar Document 0690 SOM 00001 Issue 01 28 Tritech International Ltd Operation Eclipse 3D Imaging Sonar Online amp fo 01150 0 S5 14 53 13 1 sonar s found but none match id of 5 Use auto on vehicle tab to select Online bk 4 6 1 Recording Logging Sonar Data Sonar data can be logged at any point by pressing the Record button on the toolbar Data 1s saved as a compressed sonar image that can be replayed at a later date When logging is active all sensor data being received by the software will be logged in conjunction with the sonar data The log files are saved in a director
37. y as specified by clicking on the Log Directory on the main sonar screen the default is C EclipseData or D 1EclipseData depending on the configuration of the SPU disk Log Directory C EclipseData The files will be saved to an automatically created subdirectory which is named based on the current date and to a filename which is named based on the current time The location and name of the files are displayed in the titlebar 4 6 2 Replaying Sonar Data Sonar data can be replayed by clicking on the Load button on the toolbar and selecting the log file using the dialog Once opened the log file will automatically start to play and the name ofthe file is displayed in the titlebar together with the frame number The software will automatically select the same view Forward Looking or Model View that was used when the log file was created Online s When a log file is being played the Play Pause button can be used to halt and restart the replay of data from the current frame The Stop button halts the replay Document 0690 SOM 00001 Issue 01 29 Tritech International Ltd Operation Eclipse 3D Imaging Sonar of data and resets the file to the first frame The Repeat button replays the log file when it reaches the last frame 4 6 3 Capture Screen The Capture Screen button in the toolbar will snapshot the current workspace view and save it as a JPEG The first time this button is pressed it will create an images su
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