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\begin{document}

\begin{labcover}
\labtitle{Help Topic: Heron M300 Introduction}
\vspace{0.1in}
\labdate{Spring 2022}
\vspace{0.1in}
\labauth{Michael Benjamin, mikerb@mit.edu}
\labauth{Department of Mechanical Engineering}
\labauth{MIT, Cambridge MA 02139}
\labline
\end{labcover}

\wikidoc{file=Help.HeronOverview}
\wikidoc{auth=mikerb@mit.edu}

%====================================================================
\section*{Introduction to the Heron M300 Vehicle}
%====================================================================

The current fleet stored at the Pavilion includes nine robotic
vehicles, Clearpath Heron M300 vessels, named Abe, Ben, Cal, Deb, Eve,
Fin, Max, Ned and Oak.


\vspace{0.2in}
\begin{figure}[H]
  \centering 
  \includegraphics[width=0.75\textwidth]{figures/M200Underway.png}
  \caption{The Clearpath Robotics Heron M300 on the river.}
\end{figure}
\vspace{0.2in}

The Clearpath Heron M300 is a collapsible catamaran-style vessel
that can be deployed by a single person, although it is easier to
handle with two people. Jet-drive motors are installed at the stern of
each pontoon that allow efficient forward thrust and poor reverse
capability. The main body of the vehicle has three sections:

\begin{table}[h]
  \begin{tabular}{ | l | p{0.75\textwidth} | }
    \hline
    {\bf Section} &amp; {\bf Description} \\ \hline

    Computing &amp; The forward section contains the front seat embedded
    computer with a 2.2GHz Intel ATOM processor and support equipment
    for motor control, communications, and sensing. \\ \hline

    Battery &amp; A single battery package is installed above the main
    electronics bay in the front section. It is used to power
    propulsion and for computing. \\ \hline

    Payload &amp; The large aftward tray is the payload bay where the back
    seat computer (the PABLO unit) is housed. This section has
    removable top and bottom covers. The bay includes three waterproof
    ports: two USB-A connectors and an Ethernet receptacle. \\ \hline
  \end{tabular}
  \caption{Sections of the M300 vessel}
  \label{m200Sections}
\end{table}

\vspace{0.2in}
\begin{figure}[H]
  \centering 
  \includegraphics[width=0.75\textwidth]{figures/heron_overview.png}
  \caption{Some main components of the M300 USV with payload, sensor
    modifications for the MIT variant. The E-Stop equipment is unique
    to the MIT variant. The GPS and IMU sensors ship with the vehicle,
    but their locations and mounting have been modified in the MIT
  variant for better performance and access.}
\label{fig_heron_overview}
\end{figure}
\vspace{0.2in}

\vspace{0.2in}
\begin{figure}[H]
  \centering 
  \includegraphics[width=0.75\textwidth]{figures/heron_in_payload.png}
  \caption{In the MIT variant, the payload compartment contains both
    the payload autonomy box (PABLO) and a dedicated power supply for
    the PABLO (the smaller box in the photo). Both components sit in
    a custom template cut with holes to fit the PABLO and battery box.
    The latter helps to ensure a position for smooth cable arrangments.}
  \label{fig_payload_in}
\end{figure}
\vspace{0.2in}




%-----------------------------------------------------------------
\subsection*{Navigation Sensors}
The GPS antenna is a white puck mounted on the lid of the payload bay
cover as in Figure \ref{fig_heron_overview}. An inertial motion unit
with integrated digital compass is also mounted on the payload cover
lid. Both sensors connect to and are processed by software on the
frontseat computer. Output from these sensors is published by the
frontseat, as defined by the Clearpath Wire Protocol, shared to the
PABLO computer running the payload autonomy (MOOS-IvP) software.

%-----------------------------------------------------------------
\subsection*{Vehicle Batteries and Charging}

The lab has a number of battery packs available for use. Several of
the batteries are suitable for on-dock preparations but do not include
enough capacity for sustained deployment. Batteries are stored and
charged on the metal rack at the rear of the lab. One battery package
is charged by two charger units. To charge a battery, set it on the
side so that the connector is on the top. Plug in the charger with the
red plugs matching. If necessary, orient the chargers so that the LED
indicators are facing outward. Red or amber light indicates charging;
completed charging shows a green light.

%-----------------------------------------------------------------
\subsection*{Charging Batteries}
Each charger has a switch to select 1A or 2A charging. The 2A rate is
quicker but may contribute a shorter battery life. Therefore, use 2A
when the battery will be needed again on the same day and 1A
otherwise. {\it Be sure to set the switch on both chargers to the same
  setting.} If all chargers are in use and not displaying a green
light, leave the battery needing charge on the bottom shelf.

%-----------------------------------------------------------------
\subsection*{Installing Batteries}

Always pull the M300 out of the water and well onto the dock to change
the battery. {\sc {\bf Do not change the battery while the vessel is
    in the water}}. Change the batteries in a place where there is no
chance of dropping the battery into the river.

The M300 has a latch on each side that retains the battery. To remove
a battery, undo the latches and pull upward on the handle. If it is
stuck, give a light yank or seek assistance from the lab
instructor. To install a battery, first verify that the battery
terminals align with the power port on the vehicle. Insert the battery
straight down and push it in until it is almost flush with the
vehicle. After the battery is firmly in place, install all four pins
on each of the four posts. {\bf Do not power on the vehicle unless the
  battery is secured.}

%-----------------------------------------------------------------
\subsection*{Storing and Moving}

The M300 units are usually stored on carts or on a shelf inside the
lab, although it is acceptable to leave units on the floor at the rear
of the lab. With only one handler it is advisable to remove the
battery before lifting or moving the vehicle. With two people the
battery's additional weight is typically manageable.  The vehicle
carts are provided for moving the M300s around the dock and lab
space. Take care to secure the cart once if used on the docks, to make
sure they don't roll away. They will sink if rolled into the river.

%-----------------------------------------------------------------
\subsection*{Deploying and Retrieving}

Always have the correct remote control handy when the M300 is in the
water near the dock. To deploy, take the vehicle off the cart and set
it on the dock with the thrusters pointing into the river. Verify that
the remote can control the thrusters. Gently push the vehicle into the
water and use the remote to transit away from the dock. It is
inadvisable to leave the vehicle drifting near or tied to the
dock. Wake from passing motorboats can pummel the vehicle into the
floating platform.

To retrieve an M300 vessel, use the remote control to bring it back to
the dock head first. Lift and pull it onto the dock by the front
handle. Using the side handles, one or two people can lift it onto the
cart.

%-----------------------------------------------------------------
\subsection*{Manual Remote Control}

Remote control (RC) operation is suitable for transiting from or
returning to the dock or as an emergency override. The flat slider
switch adjacent to the LCD display turns the unit on and off. When the
RC is powered on, the switch on the upper-left (SW2) of the face
selects when the vehicle's computer (switch down) or the remote
(switch up) has control. When enabled, the RC will override the
on-board computer. RC range is approximately 100 feet. When not in use,
the remote control should be turned off and connected to charge on its
hook at the rear of the lab.


\end{document}

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