Title :
Control Architecture of SY-II Ship Inspection Remote Operated Vehicle
Author :
Hai Huang ; Lei Wan ; Yong-jie Pang ; Zai-bai Qin
Author_Institution :
Nat. Key Lab. of Sci. & Technol. of Underwater Vehicle, Harbin Eng. Univ., Harbin, China
Abstract :
In order to eliminate hidden peril before the ship enter castle, the control architecture of a Ship Inspection SY-II Remote Operated Vehicle (ROV) has been developed. Based on surface control platform, it can be manipulated both through wireless joystick and by auto-depth and auto-direction control algorithm. The embedded controller of underwater robot is composed of control capsule and power supply capsule. Its main function includes acquiring sensors´ information and thruster command transference. The communication highway between these two components is tether. According to Peng Lai oceanic experiments, the control architecture can work reliably in the oceanic environment, accomplish underwater observe and ship-body detection.
Keywords :
control engineering computing; marine control; mobile robots; motion control; position control; remotely operated vehicles; ships; underwater vehicles; ROV; SY-II ship inspection; autodepth control; autodirection control; control architecture; control capsule; oceanic environment; power supply capsule; remote operated vehicle; sensor information; ship-body detection; surface control platform; thruster command transference; underwater robot; wireless joystick; Computer architecture; Computers; Inspection; Marine vehicles; Sea surface; Sensors; Sockets; Control architecture; ROV; Ship detection;
Conference_Titel :
Computer Science & Service System (CSSS), 2012 International Conference on
Conference_Location :
Nanjing
Print_ISBN :
978-1-4673-0721-5
DOI :
10.1109/CSSS.2012.576
