Aug 2013

9Tek Syllogic registred in Norway.

Syllogic from Van De Stadt in Norway.


SailNumber

First Lab Test of the 2014 Computer system.

9Tek Syllogic 2014 Computer System.

Sorry for the pore quality, we will make a better video soon.

9Tek Syllogic arrived in Norway.

The “Sailing Lab” from RoboSail, now 9Tek Syllogic has arrived in Norway, Sande close to Oslo. After a quiet trip from IJmuden in Holland, the boat arrived early Saturday morning. The project leader Terje Nilsen stated Sunday: “It was a non event full trip, with almost no wind. We are happy the boat now is in our harbor, and look forward to the total computer refit.”
The trip took 94.5 hours, with aprox. 12 hour motoring in now wind at 5knots (the boat is slow on motor), and 6 hour break in south Denmark waiting for the weather.
“The boat is very different to sail from what we are used to, specially the main sail, and the extreme masthead genaker. But after a few days we started to get a hang of it.” Terje says, “ this is a perfect boat for computers to sail as it likes to ride on the edge”, he continues with a smile.
“The backup computer sailed the boat 95% of the time, and did a nice job, maybe a little on the nervous side, so we will tune it down a notch to preserve power, and extend the lifetime of the activator.” Terje concludes.


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Robosail Autopilot activated!


Today the RoboSail system was able to control the rudder. It seems like the Autopilot from the Robosail is working and so is one of the CAN displays. So I was able to turn active and inactive, and verify that it commenced the rudder. However the RoboSail GPU is not working, and thus the Odys it not working ether. I had to leave all tools and new equipment at home as of luggage restrictions on the flight. I will try to get some cables from an elector store at the airport to morrow to se if I can hack into the GPU and find a medicine. I opened the box to day, and ... well it's a prototype, like prototypes used to be some time back.

The new MapComputer is running with MacENC.

The new MacBook Air, with MacENC software is working in the boat. The computer replaced the old Windows bases computer system. Unfortunately the onboard GPS is not working ether, but we got a backup NMEA GPS that is now sending data to the Map Computer. Also the AIS receiver is now working fine so we can se commercial boats.

9Tek Syllogic got an AUTOPILOT !!!!!

We are at the “9Tek Syllogic“. The Autopilot is back up. The activator and the B&G system is now working.
We will work in the Odys system next. Monday we sail the boat back to NORWAY.

The new Satellite phone (SatPhone Pro from Inmarsat) is defect… It will not charge the battery. So we have to sail with two batteries and turn the phone off between usage. Not nice at all….

One week to takeoff...

It is today one week until Gunnar Tingvoll and Terje Nilsen flies to Amsterdam to do the final preparation for the 500NM jury back to Norway. They will need two – tree days to get all the systems up and running, then one day test sailing with the famous Vester Knibbe and Sander Bakker from “Tuned Riggs and Ropes”.

Hopefully one day in the future even Pieter Adriaans, the original builder, can come for a ride.

The GPU III on "Raspberry PI" board.

The GPU III was to day ran on the Raspberry PI board. The GPU III is one part for the 9Tek Autopilot, that has been split in two. One part is still the 9Tek Autopilot, and the other the GPU sensor fusion MUX. The code is written in Qt 4.0 C++, on a Windows 7 computer, then moved to a MacBook Pro, and now to a Raspberry PI board. The code compiled and ran on all tree platforms with only one path needed to be changed.
“I believe the Java solution is even more cross platform friendly, but C++ is for me a better language. It is amazing how such hardware near code can be so easy to port between platforms, CPU’s and operating systems.”, Terje Nilsen says.

www.RoboSail.no

www.robosail.no is registered 9Tek and forward www.havseiler.no
We are proud of the history and tries to preserve it.
Se also
www.robosail.com for the original RoboSail project that we now tries to continue.

The Odys software from the Robosail project is alive at 9Tek.

Some time ago there was a project named RoboSail, that made competition sailing even more advanced. There technology was tested on the Syllogic (Now “9Tek Syllogic”) and several Volvo Ocean race boats with great success, but the marked was limited and the project ended. Now 9Tek got what’s left of it, and we have already moved the hart of the system, the Odys software over to a new updated hardware and software platform. We have also written a new “GPU III” module to interface with the Odys, and this week we showed that the Odys is working, and processing live data again. Stumbling and coughing at the moment, but never the less alive. We also added the MacENC charter map software that integrates well with Odys and the rest of our systems.



As this is resurge, we will replace the traditional CAN & NMEA busses, with Wireless LAN. We all agree that the CAN is more robust and closer to real time. But the W-Lan requires no cables and are way easier to use and program. The real-time issue we solve by making the Autopilot smarter so no hard real-time is need on the buss. This is the same as RoboSail did, and we hope to adapt their approach. We believe that today’s wireless-lan can be stabile enough to do this job. However this remains to be tested.

We replace all the control displays with iPads. This gives a way more flexible solution, but sunlight is a problem.

The two main computers will be MacMini computers. One computer will be running the Odys software, and the other the MacENC map software + communications etc. The two computers will both be connected to the GPU III and can act as backup system for eatch other. The ide’a is to se if one can use only Apple products, except for the embedded controller. Why? To make a final product that is hi-quality and at the same time relatively lo-cost and easy to get. And to avoid making any hardware in-house, there simply is no money in that any more.

The Autopilot will be based on the “Beaglebone” CPU board running Linux. This board got ADC, and PWM modules, together with an RC (hobby) 120Amp PWM motor controller, we can control the tiller, and the keel positions. And hopefully also the water ballast valves. Then we will use machine learning algorithms to tune the PIDs.

The GPU III, that is the sensor and network fusion module, will be based on the now famous “Raspberry PI” board, also running Linux. This will fuse all the sensors and send the result to Odys.

The system will be made so that it can be used without the Odys running (to save power or PC breakdown), but with less smartness. This is just like the RoboSail project.

The Odys software will then also get the SmartSail information from the GPU III, and by using it’s many complex filters it can gain even more knowledge of system status and thus give better feedback.

Inmarsat and PLB received.

Today we received the new Inmarsat Pro satellite telephone, and PLB with GPS.
This phone got a PC interface so we can receive short messages and weather updates (grb files) at sea. The PLB is like an EPIRB only you grab it when you abandon ship.