Title :
Supervisory control system for the JASON ROV
Author :
Yoerger, Dana R. ; Newman, James B. ; Slotine, Jean-Jacques E.
Author_Institution :
Deep Submergence Lab., Woods Hole Oceanographic Institution, Woods Hole, MA, USA
fDate :
7/1/1986 12:00:00 AM
Abstract :
A prototype supervisory control system for a remotely operated vehicle (ROV) is described and several key elements demonstrated in simulation and in-water tests. This system is specifically designed to fill the needs of JASON, a new ROV under development that will perform scientific tasks on the seafloor to depths of 6000 m. JASON will operate from the ARGO towed imaging platform, which is currently operational. Supervisory control is a paradigm for combined human and computer control. Several key elements of the supervisory control system are presented. These include the closed-loop positioning system based on a high-resolution acoustic navigation system, a monitoring capability for assessing performance and detecting undesirable changes, and an interface that allows the human operator and the computer system to specify the desired vehicle trajectory jointly.
Keywords :
Sea floor; Underwater vehicle control; Underwater vehicles; Acoustic imaging; Computerized monitoring; High-resolution imaging; Humans; Navigation; Remotely operated vehicles; Sea floor; Supervisory control; System testing; Virtual prototyping;
Journal_Title :
Oceanic Engineering, IEEE Journal of
DOI :
10.1109/JOE.1986.1145191
