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In the next step, three different types of light were used to illuminate the test cage. The first type of light had a discharge lamp, a circular-shaped lamp with a diameter of 19 cm and a diameter of 32 mm. The discharge lamp was used to illuminate the underwater robots and the diver's camera as well as the food items. A second type of light was a green coloured LED lamp of 2.5W which illuminated the diver's camera and food items. It had a diameter of 25 cm and a diameter of 32 mm. The third type of light was a red-coloured LED lamp of 6.5W which illuminated the diver's camera and food items. It had a diameter of 25 cm and a diameter of 32 mm. The light emitted from the LED lamps was focused from a distance of about 7 m on the test cage and the food items inside the cage, directly illuminating them.
A fish-eye camera attached to the diver's head provided footage from all three important observation points of the two underwater robots. A total of seven cameras were used to ensure good coverage of the test cage, but only four cameras were used to analyse the responses to the robots: two on the left and two on the right of the cage. The positions of the cameras are shown in Figure 2. The cameras were pushed underwater in a PVC housing and connected to a waterproof battery. The battery was recharged during the tests for an additional 10 h per day.
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