HITEC DELIVERS 33MM SERVOS – COTS 9~15V | 18~32V Two Voltage Ranges 147kgf·cm Peak Torque 3 CONNECTOR OPTIONS NON-CHINESE MANUFACTURING MULTIPLE COMMAND PROTOCOLS AVAILABLE DroneCAN CAN 2.0A/B HITEC SERVOS – NOT MADE IN CHINA JOIN SHAWN SPIKER HITEC SALES DIRECTOR SOLUTIONS THEATER TUESDAY, APRIL 23 | 3:00-3:20PM XPONENTIAL Hitec COMMERCIAL SOLUTIONS North American Sales & Support San Diego, CA | www.HitecCS.com all degrees of freedom. Arteaga comments: “We’re happy with the Blue Robotics thrusters. We might not use them forever; we might look into hubless thrusters as those are less vulnerable to debris, ropes or seagrass tangling in the props, but as we have eight thrusters we have really good propulsion redundancy. “Once, we were testing the uOne and two thrusters started malfunctioning post-launch, but the control system just ran the remaining six thrusters well enough to compensate. It had to zig-zag a little during some movements, but it still carried out the mission just fine, and our next-generation PCB layout will give even better individual control of each thruster, including shutting off malfunctioning thrusters to reduce the extent of compensatory thrust needed.” Although the ESCs running the Blue Robotics thrusters in the uOne produce 25 A at maximum thrust, they can also create severe spikes in current when the robot brakes or changes direction. Such is the scale of these spikes that other onboard components (including the main computer) could be starved of current without adequate power management in a phenomenon known as voltage dip (British English) or sag (US English). “That’s why we have dedicated 5 V, 12 V and other power-distribution systems to make sure everything is getting the minimal amount of power needed to operate,” Arteaga says. “Each thruster can draw up to 25 A of current, and we have eight, so up to 200 A, theoretically. In practice, the robot never maxes all thrusters simultaneously; good surveys require either very slow speeds or complete stops.” High currents The power-distribution and ESC PCBs have been designed in-house to handle such high-current throughput. Additionally, the BMS measures the current drawn and output to monitor and regulate power, so voltage dip and other unwanted power-distribution ~ ~
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