Title :
Development and testing of an autonomous underwater vehicle using industrial xPC-Target platform
Author :
Chin, C.S. ; Lau, M.W.S. ; Tan, Y.J. ; Chee, K.F. ; Wong, Y.C.
Author_Institution :
Sch. of Eng., Temasek Polytech., Singapore, Singapore
Abstract :
The aim of the paper is to give an overview of an autonomous underwater vehicle (AUV) developed by Temasek Polytechnic for pipeline tracking. Besides mechanical design, it is demonstrated that measurement and actuation task require during hardware-in-the-loop (HIL) testing can be implemented on an industrial PC using the xPCTargettrade by Matlab/SIMULINKtrade with minimum custom hardware. The resulting platform is flexible and scalable, enabling an engineer to perform several tasks within minimum time. Experimental results are presented to demonstrate the effectiveness of the proposed method.
Keywords :
automatic test equipment; mathematics computing; mobile robots; pipelines; remotely operated vehicles; underwater vehicles; HIL testing; Matlab-SIMULINK; Temasek Polytechnic; autonomous underwater vehicle; hardware-in-the-loop testing; industrial xPC-Target platform; pipeline tracking; Aerospace engineering; Character generation; Inspection; Motion control; Petroleum; Pipelines; Propellers; Sea measurements; Testing; Underwater vehicles;
Conference_Titel :
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2852-6
DOI :
10.1109/AIM.2009.5229729
