Left Enclosure Assembly Instructions - Offset-official/Nautilus-One GitHub Wiki

Left Enclosure (Control) Assembly Instructions

This guide details the assembly process for the internals of the left enclosure, which serves as the primary control center for the AUV. The left enclosure contains critical components including the Raspberry Pi 4, Blue Robotics Navigator, power management systems, thruster connections, and low light camera.

Components Required

  • Raspberry Pi 4
  • Blue Robotics Navigator
  • Power Distribution Board (PDB)
  • 14.8V Battery
  • Battery holder
  • Kill switch
  • Volt meter
  • Electronics tray
  • Two T200 thruster connections
  • Low light camera
  • Camera mounting bracket
  • Assorted screws and mounting hardware
  • Silicon grease
  • Gaskets
  • Tie rods
  • Flanges
  • Clear acrylic end cap (camera side)
  • Aluminum end cap with holes (opposite side)
  • Blank penetrators for unused holes
  • O-rings for flanges and end caps

Assembly Steps

1. Install Battery Mount

Attach the 14.8V battery holder to the electronics tray board using appropriate screws. Test fit the battery to ensure proper alignment and clearance before proceeding.

2. Mount Power Distribution Board

Secure the PDB to the electronics tray base. Before mounting, ensure all necessary power leads are pre-soldered. Consider using connectors like XT60s for easier maintenance. Take care not to overtighten screws.

3. Install Raspberry Pi 4 and Navigator

Mount the Raspberry Pi 4 & Navigator to the electronics tray using appropriate screws. Attach the Navigator to the top of the assembly. Route power supply cables underneath for a cleaner installation.

4. Install Kill Switch

Install the kill switch on the end cap. This component fits tightly, so take care during installation.

5. Install the Volt Meter

Install the volt meter in an accessible location to monitor the 14.8V battery level.

6. Install Low Light Camera

Mount the low light camera to the dedicated bracket using the provided screws. Ensure the camera is oriented correctly toward the clear acrylic end cap. Connect the camera to the Raspberry Pi using the appropriate cable and route it neatly along the electronics tray.

7. Connect Thruster Controls

Connect the two thruster control lines to the Navigator

8. Wire Power Management System

Connect the power distribution system from the 14.8V battery to the PDB. Wire the kill switch into the power circuit to enable emergency shutdown.

9. Connect Raspberry Pi to Navigator

Connect the Raspberry Pi 4 to the Navigator using the telemetry cable for communication between the two systems.

10. Install End Cap

Attach the end cap to the 3D printed part using penetrator nuts. Ensure all cables are connected before securing the end cap, as post-installation connections are difficult. Make sure all endcap holes are filled either by cables or blank penetrators to maintain waterproof integrity.

11. Final Enclosure Assembly

After assembling all components on the electronics tray:

  1. Clean the edges of the enclosure tubes thoroughly
  2. Clean the gaskets and O-rings to ensure they are free of debris
  3. Apply silicon grease on the gaskets and O-rings evenly
  4. Place the gaskets on the edges of the enclosure tubes
  5. Carefully install O-rings on the flanges and end caps
  6. Insert the electronics tray into the enclosure
  7. Attach the flanges with one side tie rods already connected
  8. Tighten the tie rods from the opposite side in a star pattern to ensure equal force distribution
  9. Install the clear acrylic end cap on the camera side, ensuring the O-ring is properly seated and looks flat on all sides
  10. Install the aluminum end cap with holes on the opposite side, confirming proper O-ring placement
  11. Tighten all end cap screws in a star pattern until the O-ring appears flat around the entire circumference - do not overtighten

Final Check

Before sealing the enclosure:

  1. Verify all components are securely mounted
  2. Check all electrical connections
  3. Test the kill switch functionality
  4. Confirm the volt meter is displaying battery levels correctly
  5. Ensure the Raspberry Pi 4 and Navigator are properly connected
  6. Check that the low light camera is properly oriented and connected
  7. Verify all endcap holes are properly sealed with either cables or blank penetrators
  8. Check that all O-rings are properly seated and appear flat around their entire circumference

After completing this assembly, your left control enclosure is ready to be integrated with the rest of the AUV system.