Multi-sensor based AUV with distributed vehicle management architecture

Author

Fujii, Teruo ; Ura, Tamalu ; Kuroda, Yoji ; Nose, Yoshiaki ; Chiba, Hiroyuki

Author_Institution

Inst. of Ind. Sci., Tokyo Univ., Japan

fYear

1992

fDate

2-3 Jun 1992

Firstpage

73

Lastpage

78

Abstract

The authors introduce a project to build a multisensor-based autonomous underwater vehicle (AUV) named the Twin-Burger, which is the newest vehicle of the Institute of Industrial Science, the University of Tokyo. The Twin-Burger is being designed as a versatile testbed on which the techniques as represented by software architectures can be implemented and tested. The first in-water experiment is expected in 1992. The distributed vehicle management architecture is proposed as a software architecture for the Twin-Burger. The architecture is being developed to approach the most critical problem in the distributed system, that is, how to manage heterogeneous software modules in a homogeneous structure. Performance of the software developed for this management system will be tested using a multipurpose environment simulator

Keywords

automatic testing; marine systems; mobile robots; test facilities; Twin-Burger; autonomous underwater vehicle; distributed vehicle management architecture; heterogeneous software module management; multipurpose environment simulator; multisensor-based AUV; submarine; testbed; Computer architecture; Environmental management; Mobile robots; Remotely operated vehicles; Software architecture; Software development management; Software performance; Software testing; System testing; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicle Technology, 1992. AUV '92., Proceedings of the 1992 Symposium on

Conference_Location

Washington, DC

Print_ISBN

0-7803-0704-6

Type

conf

DOI

10.1109/AUV.1992.225192

Filename

225192