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

Right Enclosure (ML Inference) Assembly Instructions

This guide details the assembly process for the internals of the right enclosure, which serves as the ML inference center for the AUV. The right enclosure contains critical components including the Jetson Nano, LED lighting system, power management systems, and thruster connections.

Components Required

  • Jetson Nano
  • LED
  • Power Distribution Board (PDB)
  • 14.8V Battery
  • Battery holder
  • Volt meter
  • Electronics tray
  • Two thruster connections
  • Assorted screws and mounting hardware
  • Silicon grease
  • Gaskets
  • Tie rods
  • Flanges
  • Clear acrylic end cap
  • 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. 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 Jetson Nano

Mount the Jetson Nano to the electronics tray using appropriate screws. Route power supply cables underneath for a cleaner installation.

4. Install the Volt Meter

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

5. Install LED Lighting System

Attach the LED lighting system to the tie rods using tape. Ensure the LEDs are oriented correctly toward the clear acrylic end cap. Connect the LED system to the power source and route cables neatly along the electronics tray.

6. Connect Thruster Controls

Connect the two thruster control lines:

  1. Connect the first thruster to the designated output
  2. Connect the second thruster to the designated output

7. Wire Power Management System

Connect the power distribution system from the 14.6V battery to the PDB.

8. Inter-Enclosure Connections

Set up the inter-enclosure communication and power wiring:

  1. Connect the communication cables between right and left enclosures
  2. Install the power sharing lines to distribute power between enclosures

9. Manipulator Wiring (If Installed)

If a manipulator is included in your AUV configuration:

  1. Connect the manipulator control cable through a penetrator which will be connected to navigator.