Distributed data and computing system on an ROV designed for ocean science

MBARI is currently developing an electrically propelled remotely operated vehicle (ROV) designed to carry science payloads to 4000 meters ocean depth. Mission requirements for accurate navigation, precision maneuvering and extensive sensor capabilities place large demands on the data gathering and control system. The ROV must operate reliably in an extremely hostile ocean environment while retaining enough flexibility to support varied scientific missions for a decade or more. An ROV system architecture has been implemented that incorporates Hewlett Packard UNIX workstations, shipboard and vehicle mounted VMEbus and microcontroller based computers all linked to form a distributed data gathering and control network. In-water tests of the ROV have shown that a distributed, multiple processor system shows promise as a practical solution for interfacing the large number of sensors and actuators on a research ROV and provides considerable system adaptability