Title :
Control system architecture for an underwater autonomous testbed
Author :
Henrickson, Mark F. ; Dzielski, John E.
Author_Institution :
Appl. Res. Lab., Pennsylvania State Univ., University Park, PA, USA
Abstract :
Discusses a control system designed for use in a vehicle operated as a testbed for underwater vehicle technologies. The various considerations that led to the incorporation of a communication network are discussed along with the network standards considered. The Control Area Network was adopted, and the reasons supporting this choice are discussed. Finally, some of the implemented hardware is described. The control system discussed in the paper has been operated successfully during several field tests, and has a number of features that support commonality across multiple vehicle platforms
Keywords :
computerised control; control systems; marine systems; mobile robots; Control Area Network; control system architecture; underwater autonomous testbed; underwater vehicle control system; Control systems; Educational institutions; Hardware; Laboratories; Paper technology; Propulsion; Remotely operated vehicles; System testing; Underwater vehicles; Vehicle detection;
Conference_Titel :
OCEANS '95. MTS/IEEE. Challenges of Our Changing Global Environment. Conference Proceedings.
Conference_Location :
San Diego, CA
Print_ISBN :
0-933957-14-9
DOI :
10.1109/OCEANS.1995.528560
