Sensor

flowchart LR %% ==== classDef ==== classDef highPowerSupply stroke-width:5px; classDef lowPowerSupply stroke-width:3px; classDef dummy fill:#0000,stroke:#0000; %% ================== subgraph GJB["GNSS Junction Box"] CON1(["Panel Mount [IP67]<br>NRW-203-RM<br>IN: 24V"]):::lowPowerSupply CON2(["Panel Mount RJ-45 [IP67]<br>ROP-5SDFFH-TCU7001"]) MCB[Mbed Expansion Board] IF[SC-30 Interface<br>CAN - Serial Converter] CBG1([Cable Ground<br>RM16S-8S ?? ]) CON1 ==> MCB CON2 -.- MCB MCB --- IF --- CBG1 end GPS["SC-30<br>IN: 12 ~ 24 Vdc 5.5W"] CBG1 ---|NMEA| GPS DUM1[" "]:::dummy === CON1 DUM2[" "]:::dummy -.- CON2

flowchart %% ==== classDef ==== classDef highPowerSupply stroke-width:5px; classDef lowPowerSupply stroke-width:3px; classDef commentComponent fill:#0000,stroke:#0000; %% ================== subgraph SENS2[IMU] IMU1["KVH1750<br>IN: 9 ~ 36 Vdc 8W"] end

flowchart LR %% ==== classDef ==== classDef highPowerSupply stroke-width:5px; classDef lowPowerSupply stroke-width:3px; classDef dummy fill:#0000,stroke:#0000; %% ================== style PJB stroke-width:4px style CAM1 stroke-width:4px style CAM2 stroke-width:4px %% ================== subgraph PJB["Perception Array Junction Box"] CON1_PJB(["Panel Mount [IP67]"]):::lowPowerSupply CON2_PJB(["Panel Mount RJ-45 [IP67]"]) CBG1([Cable Ground 1]) CBG2([Cable Ground 2]) CBG3([Cable Ground 3]) CBG4([Cable Ground 4]) CBG5([Cable Ground 5]) end LDR1["LiDAR<br>VLP-16<br>IN: 9 ~ 18 Vdc 8W"] subgraph CAM1["Perception Camera"] CON1_CAM1([Power Supply Connector]):::lowPowerSupply CON2_CAM1([RJ-45 Connector]) end subgraph CAM2["Perception Camera"] CON1_CAM2([Power Supply Connector]):::lowPowerSupply CON2_CAM2([RJ-45 Connector]) end CBG1 ---|Power + Ethernet + Sync| LDR1 CBG2 ==>|24Vdc| CON1_CAM1 CBG3 -.- CON2_CAM1 CBG4 ==>|24Vdc| CON1_CAM2 CBG5 -.- CON2_CAM2 DUM1[" "]:::dummy === CON1_PJB DUM2[" "]:::dummy -.- CON2_PJB

graph LR %% ==== classDef ==== classDef highPowerSupply stroke-width:5px; classDef lowPowerSupply stroke-width:3px; classDef dummy fill:#0000,stroke:#0000; %% ==== style ==== style PCB stroke-dasharray:5 5 %% ================== subgraph ENC["Waterproof enclosure (WP20-20-7G)"] CON1(["Panel Mount [IP67]<br>NRW-203-RM<br>IN: 24V"]):::lowPowerSupply CON2(["Panel Mount RJ-45 [IP67]<br>ROP-5SDFFH-TCU7001"]) subgraph PCB["PCB"] CON1_PCB([Terminal Block]):::lowPowerSupply FS1[FUSE: 3A]:::lowPowerSupply FS2[FUSE: 3A]:::lowPowerSupply FS3[FUSE: 3A]:::lowPowerSupply FS4[FUSE: 3A]:::lowPowerSupply CDG1_PCB([Card Edge]):::lowPowerSupply CDG2_PCB([Card Edge]):::lowPowerSupply DCDC1[DC-DC Conv.<br>OUT: 12V 2A]:::lowPowerSupply DCDC2[DC-DC Conv.<br>OUT: 5V 2A]:::lowPowerSupply CON2_PCB(["Terminal Block"]) CON3_PCB([PCB Mount RJ-45]) CON1_PCB ==> FS1 & FS2 & FS3 & FS4 FS1 ==> CDG1_PCB FS2 ==> CDG2_PCB FS3 ==> DCDC1 ====>|12Vdc| CON2_PCB FS4 ==> DCDC2 CON3_PCB -.- CON2_PCB end PD1[Power Distributor ch1]:::lowPowerSupply PD2[Power Distributor ch2]:::lowPowerSupply L2SW[5 Port Switching Hub<br>GS305v3<br>IN: 5V 0.7A] CBG1([Cable Ground 1<br>RM16S-8S]) CBG2([Cable Ground 2<br>RM16S-8S]) CBG3([Cable Ground 3<br>RM16S-8S]) CBG4([Cable Ground 4<br>RM16S-8S]) CBG5([Cable Ground 5<br>RM16S-8S]) CON1 ==>|/3| CON1_PCB DCDC2 ==>|5Vdc| L2SW CDG1_PCB ====>|24Vdc| PD1 === CBG2 CDG2_PCB ====>|24Vdc| PD2 === CBG4 L2SW -.- CON3_PCB CON2 -....- L2SW -...- CBG3 & CBG5 CON2_PCB --- CBG1 end CON3(["Socket/Plug [IP67]<br>NRW-203-PF8<br>OUT: 24Vdc"]):::lowPowerSupply CON4(["Socket/Plug [IP67]<br>NRW-203-PF8<br>OUT: 24Vdc"]):::lowPowerSupply CON5(["Plug RJ-45 [IP67]<br>ROP-00AMMA-TLM7001"]) CON6(["Plug RJ-45 [IP67]<br>ROP-00AMMA-TLM7001"]) DUM1[" "]:::dummy === CON1 DUM2[" "]:::dummy -.- CON2 CBG1 --- DUM3[" "]:::dummy CBG2 === CON3 CBG3 -.- CON5 CBG4 === CON4 CBG5 -.- CON6

graph LR %% ==== classDef ==== classDef highPowerSupply stroke-width:5px; classDef lowPowerSupply stroke-width:3px; classDef dummy fill:#0000,stroke:#0000; %% ================== subgraph ENC[Waterproof enclosure] CON1(["Panel Mount [IP67]<br>NRW-203-RM<br>IN: 24V"]):::lowPowerSupply CON2(["Panel Mount RJ-45 [IP67]<br>ROP-5SDFFH-TCU7001"]) SW1(Illuminated Switch<br>SPST Momentary<br>LED: Green) DCDC1[DC-DC Conv.<br>OUT: 5V 6A]:::lowPowerSupply JSN1[Jetson Nano<br>IN: 5V 4A] SSD[SSD] IMS1["Image Sensor Module<br>IMX219<br>FOV(D): 120deg"] PLF1[C-PL Filter] CON1 ==>|24Vdc| DCDC1 ==>|5Vdc| JSN1 CON2 -..- JSN1 SW1 ---- JSN1 JSN1 ---|USB| SSD JSN1 ---|MIPI CSI-2| IMS1 --- PLF1 end DUM1[" "]:::dummy === CON1 DUM2[" "]:::dummy -.- CON2

flowchart %% ==== classDef ==== classDef highPowerSupply stroke-width:5px; classDef lowPowerSupply stroke-width:3px; classDef commentComponent fill:#0000,stroke:#0000; %% ================== subgraph PA3[Side Perception Array] subgraph PAS1["SidePerception Array Sensor"] subgraph "/* Comment */" COM_PAS1["Each element is mounted on a rigid frame."]:::commentComponent end LDR3[Livox MID-70] subgraph CAM11["Perception Camera"] CON1_CAM11([NRW-207-RM<br>IN: 24V]):::lowPowerSupply CON2_CAM11([RJ-45 Connector<br>ROP-5SDFFH-TCU7001]) end end end

flowchart %% ==== classDef ==== classDef highPowerSupply stroke-width:5px; classDef lowPowerSupply stroke-width:3px; classDef commentComponent fill:#0000,stroke:#0000; %% ================== subgraph UAS[Underwater Acoustic] subgraph UACB["Underwater Acoustic Control Box (Waterproof Box)"] CON1_UACB>NRW-207-RM<br>IN: 24Vdc] CON2_UACB>RJ-45 Connector<br>ENRW-28SC5E-R] DCDC1_UACB[DC-DC Conv.<br>OUT: 5Vdc 6A] MC1_UACB[mbed] ADC_UABC[Mic PreAmp + ADC] CON1_UACB ==> DCDC1_UACB ==> MC1_UACB CON2_UACB -..- MC1_UACB MC1_UACB --- ADC_UABC end subgraph MCA[Mic Array] MIC1[Underwater Mic ch1] MIC2[Underwater Mic ch2] MIC3[Underwater Mic ch3] end ADC_UABC --- MIC1 & MIC2 & MIC3 end

flowchart %% ==== classDef ==== classDef highPowerSupply stroke-width:5px; classDef lowPowerSupply stroke-width:3px; classDef commentComponent fill:#0000,stroke:#0000; %% ================== subgraph ANM1[Anemometer] CON1_ANM1>NRW-207-RM<br>IN: 24Vdc] CON2_ANM1>RJ-45 Connector<br>ENRW-28SC5E-R] DCDC1_ANM1[DC-DC Conv.<br>OUT: 5Vdc 6A] MC1_ANM1[mbed] end