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

Volume

11

Issue

3

fYear

1986

fDate

7/1/1986 12:00:00 AM

Firstpage

392

Lastpage

400

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;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/JOE.1986.1145191

Filename

1145191