More laptops = more productivity.
The plan for the deployment was to test the full pipeline from Jeff and Wentao's image detection algorithm to my path planner. Though Jeff and Wentao are still working on converting the raw sonar scans to position-corrected geotiff files, they were able to give me the coordinates of a few sites of interest. With this information, I generated cross-shaped lawnmower patterns for two sites with my planner.
About half an hour into the first mission, we quickly realized that every deployment always brings a new surprise. Wentao noticed that Vernon had aborted its mission in the middle of visiting the first site, so we drove to where it was parked and checked for problems. Sure enough, there was a long piece of plastic that was tangled in Vernon's propellor. Today we learned that Vernon can not only map shipwrecks, but also clean up trash in the ocean!
The gnarly piece of plastic stuck in Vernon's propellor.
Following this mishap the motor appeared to still be functional, so we decided to continue by visiting the second site. However, GoPro footage and sonar data suggest that Vernon had trouble diving during this second mission, so we plan to revisit both sites next week after debugging the AUV.
Wentao action shot.
Roslyn guiding Vernon in the water.
Meanwhile, Amy, Sam, and Jeff spent the afternoon at the apartment, where they could finally work without me "being so loud." Amy and Sam extended work on camera position planning for photogrammetric reconstruction, while Jeff continued to work on the shipwreck detection algorithm and sonar file conversion.
In other updates, Roslyn has been working on displaying a JU 88 plane wreck reconstruction on her website, as well as adding a feature that displays wreck locations on Google Maps.
After the deployment, the team went to a Sliema vs. Sirens water polo game at the National Pool, where we reunited with Chris and Timmy.
A close game.
Finally, we ended the day with a wonderful dinner with Timmy at Surfside.
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