Multi-mission underwater vehicle “OTOHIME” and its control system

Author

Ishibashi, Shojiro ; Ota, Yoshiharu ; Yoshida, Hiroyuki ; Sugesawa, Makoto ; Fan, Frank Hsiao

Author_Institution

Marine Technol. & Eng. Center (MARITEC), Japan Agency for Marine-Earth e Sci. & Technol., Yokosuka, Japan

fYear

2014

fDate

14-19 Sept. 2014

Firstpage

1

Lastpage

5

Abstract

JAMSTEC developed some new underwater vehicles. One of them is “OTOHIME”. Because it was designed as a multi-mission type, it has not only the cruising ability but also the working ability through its skid is exchanged or desorbed. In order it to perform various missions, its control system was newly developed as a multi-CPU control unit. The control system is mainly composed of seven CPUs and they are connected to each other with an Ether-network. And each CPU executes some different processes and controls some different devices which are installed into it, respectively. Thus the control system can realize the load distribution of a CPU, the trouble detection of the system, the function compensation and the self-restoration owing to the information sharing applying the Ether-network. Now, sea trials were carried out in order to verify the performance of some new technologies which have been already applied into it. And then the utility of the control system was also confirmed.

Keywords

autonomous underwater vehicles; load distribution; local area networks; CPU load distribution; Ether-network; JAMSTEC; Japan Agency-for-Marine-Earth Science-and-Technology; OTOHIME multimission type underwater vehicle; control system; cruising ability; function compensation; information sharing; multiCPU control unit; performance verification; sea trials; self-restoration; system trouble detection; working ability; Control systems; Information management; Manipulators; Optical fiber cables; Performance evaluation; Sensors; Underwater vehicles; AUV; information sharing; multi-CPU control;

fLanguage

English

Publisher

ieee

Conference_Titel

Oceans - St. John's, 2014

Conference_Location

St. John´s, NL

Print_ISBN

978-1-4799-4920-5

Type

conf

DOI

10.1109/OCEANS.2014.7003173

Filename

7003173