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+\documentclass[a4paper]{article}
+\usepackage[english]{babel}
+\usepackage[utf8x]{inputenc}
+\usepackage{graphicx}
+\graphicspath{ {./images/} }
+\usepackage{wrapfig}
+\usepackage{multirow}
+
+%opening
+\title{Battery management}
+\author{Sergi Hernandez Juan}
+
+\begin{document}
+
+\maketitle
+
+\section{Description}
+This procedure describes how to handle, monitor and recharge both the motor and payload batteries of the Ana \ref{} and Helena \ref{} robots. 
+
+This document include three procedures, one to change the batteries in section \ref{proc_change_bat} and two to charge the batteries both inside and outside the robot, in sections \ref{proc_charge_inside} and \ref{proc_charge_outside} respectively.
+
+\section{Preliminary considerations}
+The Ana and Helena robots have two separate batteries each:
+\begin{itemize}
+	\item Payload battery: This battery powers all the on-board computers and sensors. A picture of this battery is shown in Fig. \ref{img_payload_bat}, and its main specifications are summarized in table \ref{tab_specs}.
+	\begin{figure}[h]
+		\centering
+		\includegraphics[width=0.5\textwidth]{payload_battery.jpg}
+		\caption{Image of the payload battery used for the Ana and Helena robots.}
+		\label{img_payload_bat}
+	\end{figure}	
+	\item Motor battery: This battery powers the motors and low level controllers of the Pionner platform. A picture of this battery is shown in Fig. \ref{img_motors_bat}, and its main specifications are summarized in table \ref{tab_specs}.
+	\begin{figure}[h]
+		\centering
+		\includegraphics[width=0.5\textwidth]{motors_battery.jpg}
+		\caption{Image of the motors battery used for the Ana and Helena robots.}
+		\label{img_motors_bat}
+	\end{figure}		
+\end{itemize}
+
+\begin{table}
+	\centering
+	\begin{tabular}{|l|c|c|}
+		\hline
+		& Payload battery & Motors battery \\
+		\hline\hline
+		Configuration & $4S12P$ & $3S8P$  \\ 
+		\hline
+		Nominal voltage	& $14.6\:V$ & $10.9\:V$ \\ 
+		\hline
+		Minimum voltage	& $10.8\:V$ & $8.1\:V$ \\ 
+		\hline
+		Maximum voltage	& $16.8\:V$ & $12.6\:V$ \\ 
+		\hline
+		Capacity & $34.2\:Ah$ & $22.8\:Ah$ \\ 
+		\hline
+		Charge current & $15\:A$ & $8\:A$ \\
+		\hline
+		Discharge current & $15\:A$ & $8\:A$ \\
+		\hline
+	\end{tabular}
+	\caption{Specifications of both the motors and payload batteries.}
+	\label{tab_specs}
+\end{table}
+
+Both batteries have two external connectors:
+\begin{itemize}
+	\item Power: 2 way male connector from TE Connectivity (reference number 350777-1).
+	\item Monitoring: 4 way male connector from ?? (reference number ???) The pinout of this connector is shown in Table \ref{}. These signals are used to monitor the state of charge of the battery, as well as other parameters, from software.
+\end{itemize}
+
+\section{Change batteries}\label{proc_change_bat}
+To change one of the batteries or both, either because they are damaged or to replace them with fully charged ones, please follow the next steps:
+
+\begin{itemize}
+	\item Make sure the robot is powered off. If not, follow the steps in the shutdown section of the startup, operation and shutdown procedure \ref{}.
+	\item Locate the battery compartment door, at the rear of the robot, and open it by pulling up the lever and turning it counter-clock wise 90 degrees.
+	\item With the door open, both batteries are accessible, the motors battery at the left side and the payload battery at the right side as shown in Fig. \ref{img_bat_comp}
+	
+	\begin{figure}[h]
+		\centering
+		\includegraphics[width=0.5\textwidth]{battery_compartment.jpg}
+		\caption{Battery compartment with the motor battery on the left and the payload battery on the right}
+		\label{img_bat_comp}
+	\end{figure}
+	
+	\item Disconnect the power connector of the desired battery by pressing both locking tabs at the same time and pulling carefully. 
+	\item Disconnect the monitoring connector of the desired battery by gently pulling apart both parts of the connector.
+	\item Remove the discharged battery and place the fully charged one in the same place.
+	\item Connect the new battery to the available connectors (power and monitoring) by pushing both parts together. 
+	\begin{table}[h]
+		\begin{tabular}{p{1cm}p{10cm}}
+			\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT}: Make sure the red and black cables at both side are aligned, if not turn one of the connectors 180 degrees.
+		\end{tabular}
+	\end{table}	
+	
+	\item Close the battery compartment door by turning clockwise 90 degrees and pulling the lever down carefully to avoid 
+	\item To charge the battery outside the robot follow the procedure presented in section \ref{proc_charge_outside}.
+	\item Follow the steps in the startup section of the startup, operation and shutdown procedure \ref{} to power up the robot.
+\end{itemize}
+
+\begin{table}[h]
+	\begin{tabular}{p{1cm}p{10cm}}
+	\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:} If both batteries need to be replaced at the same time, first execute the previous procedure for one of them, and when done, repeat it with the other to avoid miss-connections.		
+	\end{tabular}
+\end{table}
+
+\section{Charge batteries inside the robot}\label{proc_charge_inside}
+To charge the batteries while they are inside the robot, please follow the next steps:
+
+\begin{itemize}
+	\item Locate the charger connectors on the panel in the front of the robot, as shown in Fig. \ref{img_front_panel}. The left connector and fuse is for charge the Motors battery, and the right ones are for the payload battery.
+	\begin{figure}[h]
+		\centering
+		\includegraphics[width=0.5\textwidth]{front_panel.jpg}
+		\caption{Front panel of the robot with the payload and motors charger connectors and fuses.}
+		\label{img_front_panel}
+	\end{figure}
+	\item Locate the appropriate charger labeled \textit{PIONEER MOTOR } for the motor battery and \textit{PIONEER PAYLOAD} for the payload battery. 
+	
+	\begin{table}[h]
+		\begin{tabular}{p{1cm}p{10cm}}
+			\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:} if the label is missing, check the technical specs of the charger with the ones in table \ref{tab_specs} to find out which charger to use. \\
+			\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:} If in doubt, please contact the laboratory technicians before continuing.
+		\end{tabular}
+	\end{table}	
+	
+	\item Plug the robot connector first. As shown in Fig. \ref{img_connectors} both chargers have two different output connectors, one male (left one) to charge the batteries inside the robot, and one female to directly charge the batteries outside the robot (see procedure \ref{proc_charge_outside}).
+	\begin{table}[h]
+		\begin{tabular}{p{1cm}p{10cm}}
+			\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:} Make sure the red and black cables at both side are aligned, if not turn one of the connectors 180 degrees.	
+		\end{tabular}
+	\end{table}
+	
+	\begin{figure}[h]
+		\centering
+		\includegraphics[width=0.5\textwidth]{connectors.jpg}
+		\caption{Output connectors of the chargers: a male connector on the left to charge the batteries inside the robot and a female connector on the right to charge them outside the robot.}
+		\label{img_connectors}
+	\end{figure}
+	
+	\item Plug the AC connector to a power socket. If everything is okay, the light on the charger should turn orange after a short time. If not, please check the following:
+	\begin{itemize}
+		\item The battery is present. Follows the first three steps in section \ref{proc_change_bat}. If the battery is missing, complete the procedure in section \ref{proc_change_bat} to replace it and restart this procedure. 
+		\item The fuse is okay. Open the fuse case besides the corresponding charger connector and check the fuse is okay with the multimeter. If not, replace it and restart this procedure. 
+		\item The battery may be already fully charged. Use a multimeter to check the voltage at the charge connector (without the charger connector). If the voltage is close to the maximum value shown in table \ref{tab_specs} you are done.
+		\item The battery may be damaged. Please contact the laboratory technicians as soon as possible.
+	\end{itemize}
+	\item Wait until the light in the charger turns green. Depending on the current state of charge, it may take several hours to complete the charge. 
+	\item Disconnect the charger from the AC power supply and the robot.
+\end{itemize}
+
+\begin{table}[h]
+	\begin{tabular}{p{1cm}p{10cm}}
+		\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} \vspace{0.5cm} & \textbf{IMPORTANT:} Both batteries can be charged at the same time. \\
+		\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:} The chargers may be connected to the robot while it is powered on, but in this case the batteries will take longer to charge or not charge at all, depending on the current consumption. \\
+		\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:}	For security purposes, please try not to leave unattended the robot while it is charging.	
+	\end{tabular}
+\end{table}	
+
+\section{Charge batteries outside the robot}\label{proc_charge_outside}
+To charge the batteries while they are inside the robot, please follow the next steps:
+
+\begin{itemize}
+	\item Follow the steps in section \ref{proc_change_bat} to remove the battery from the robot is it is not already outside.
+	\item Locate the appropriate charger labeled \textit{PIONEER MOTOR } for the motor battery and \textit{PIONEER PAYLOAD} for the payload battery. 
+	\begin{table}[h]
+		\begin{tabular}{p{1cm}p{10cm}}
+			\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:} If the label is missing, check the technical specs of the charger with the ones in table \ref{tab_specs} to find out which charger to use. \\
+			\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:} If in doubt, please contact the laboratory technicians before continuing. 
+		\end{tabular}
+	\end{table}	
+	\item Plug the battery connector first. As shown in Fig. \ref{img_connectors} both chargers have two different output connectors, one male (left one) to charge the batteries inside the robot (see procedure \ref{proc_charge_inside}), and one female to directly charge the batteries outside the robot.
+	\begin{table}[h]
+		\begin{tabular}{p{1cm}p{10cm}}
+			\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:} Make sure the red and black cables at both side are aligned, if not turn one of the connectors 180 degrees.
+		\end{tabular}
+	\end{table}	
+	\item Follow the procedure in section \ref{proc_charge_inside} from step 4.
+\end{itemize}
+
+\end{document}
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