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withstand 300 bar and 4350 psi of pressure for deep ocean operations. Each one can dissipate up to 1.9 kW of heat when fully submerged in saltwater. Control systems A BeagleBone Black embedded computer is used as the cells’ comms interface, with an Ethernet link to the Solus-LR’s main computer and RS-485 links to the FCAir modules, the battery and the gas sensors. The RWS board therefore monitors and controls the gas supply, the hydrogen reactor and a regulated 100 W, 24 V DC power supply for the water management system. Monitoring and controlling the water management system is handled by an Arduino board, which is also commanded by the UUV via Ethernet but is programmed to operate autonomously in case that link is lost. As mentioned, the fuel cell produces exhaust water, which needs to be stored in a stable and controlled manner in order to maintain the Solus-LR’s centres of buoyancy and mass. Pumping it out of the UUV would alter both of them over time. The exhaust water is stored across the two titanium pressure vessels, which sit parallel to the hydrogen and oxygen canisters. As the fuel cell generates power, the water given off by the exothermic reaction is piped into these tanks, which contain internal bulkheads that divide each one into five equally- sized compartments about 60 cm long. Initially, water collected by the fuel cell’s condensation systems is piped into the centre section of each tank. However, each of the four internal walls in either tank has two check valves that distribute water into the adjacent sections. Once the centre compartments are full, the check valves are programmed to ensure water is spread out steadily and evenly to the outer lengths of the tanks. “We conducted a lot of scale Cellula Robotics Solus-LR | Dossier Because we’re storing oxygen at high pressure, the regulator metals were selected to minimise the risk of an ignition JOIN THE COUNTER REVOLUTION! Frustrated because your drone can only stay in the air for 12 minutes with a 5 lbs payload? Would you like a drone that can lift 10 lbs, 50 lbs… 100 lbs or more? Presenting the Revolutionary CR Flight Technology – Single motor-Counter rotating props – Up to 100% more thrust – Up to 35% less wattage – Longer flight time – Cooler operating temperatures – Standard motor mounts supported Contact us today to take your UAV to new Heights Call us: (916) 743-7654 | (530) 409-6044 415 Carriage Lantern Ln. Somerset CA 95684 [email protected] | www.crflight.com