Coordinated control of initiative mating device for deep submergence rescue vehicle

A novel initiative mating device, which has four 2-degree manipulators around the mating skirt, is proposed to mate between a skirt of DSRV and a disabled submarine. The primary function of the device is to keep exact mating between skirt and disabled submarine in a badly sub sea environment. According to the characteristic of rescue, an automaton model is brought forward to describe the mating process between DSRV and its manipulators. The coordinated control is implemented by the TDES. After taking into account the time problem, it is a useful method to control mating by tank test. The result shows that it reduces about 70 seconds after using intelligent co-ordinate control based on TDES through the whole mating procedure.