Development of an Open Architecture Controller for a Commercial AUV

Author

Ji, S.H. ; Jung, Y.S. ; Lee, B.H. ; Woo, J.S. ; Joo, Y.S.

Author_Institution

Seoul Nat. Univ., Seoul

fYear

2007

fDate

17-20 April 2007

Firstpage

568

Lastpage

573

Abstract

AUVs are essential to reduce the difficulty in building up flexible exploring and working systems in the water. However it is hard to integrate sub-modules or control algorithms into an AUV because AUV makers have developed control architectures and communication protocols of their own. So we develop an open architecture for AUV controller that integrates ready-made sub-modules to a reconfigurable and fault tolerant AUV. And we apply this open architecture to the cruising AUV.

Keywords

fault tolerant computing; marine engineering; marine vehicles; protocols; reconfigurable architectures; remotely operated vehicles; software architecture; autonomous underwater vehicle; commercial AUV controller; communication protocol; fault tolerance; open architecture; reconfigurable architecture; software architecture; Communication system control; Computer industry; Control systems; Ethernet networks; Hardware; Motion control; Real time systems; System software; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies, 2007. Symposium on

Conference_Location

Tokyo

Print_ISBN

1-4244-1207-2

Electronic_ISBN

1-4244-1208-0

Type

conf

DOI

10.1109/UT.2007.370777

Filename

4231107