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Real-Time Control Architecture for SAUVIM

Real-Time Control Architecture for SAUVIM. T.W.Kim, J.Yuh, S.K.Choi Autonomous Systems Lab. University of Hawaii, U.S.A. Semi-Autonomous Underwater Vehicle for Intervention Missions (SAUVIM). Mechanical Structure. Al 6061 5.8 m L  2.1 m W  1.8m H 6,500 kg (air), -2 kg (wet)

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Real-Time Control Architecture for SAUVIM

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  1. Real-Time Control Architecture for SAUVIM T.W.Kim, J.Yuh, S.K.Choi Autonomous Systems Lab. University of Hawaii, U.S.A.

  2. Semi-Autonomous Underwater Vehicle for Intervention Missions (SAUVIM)

  3. Mechanical Structure • Al 6061 • 5.8m L  2.1m W  1.8m H • 6,500kg (air), -2kg (wet) • Six pressure vessels (33cm inner dia.  46cm long) • 1.4m long 7 DOF robot

  4. Motion Control System • 6 Technodyne 1020 thrusters • 2 Technodyne 2010 thrusters • Max Speed : 3 knots • Operating range: 2.7 nautical miles • 3 fins with stepper motors

  5. Navigation Sensors • 300KHz RDI DVL: vehicle speed, attitude, heading • Watson IMU: angular vel. & acc., heading • TCM2: attitude, heading • MSP: attitude, heading • Imagenex : scan sonar • Tritech : pointing sonar

  6. Health Monitoring System • Located in each PV • One chip micro-controller (BASIC Stamp II-sx) • Battery voltage • Leakage • Pressure • Humidity • RS485 multi-drop comm.

  7. Sonars & Cameras • Two Imagenex 881 scanning sonars (forward & backward): obstacle avoidance, localization, object acquisition • Seven Tritech PA200 range sonars: obstacle avoidance, localization • Six CCD cameras with PC/104+

  8. VME bus Nav. CPU I Nav. CPU II Nav. CPU I PC/104+ (Camera) PC/104+ (Scan Sonar) PC/104+ (Scan Sonar) PC/104+ (Camera) PC/104+ (Laser) DAADIO B/D DAADIO B/D DAADIO B/D JR3 I/F B/D Comm. B/D Res. I/F B/D Computer H/W Configuration Navigation Controller Arm Controller VME bus

  9. Navigation Controller

  10. S/W Architecture • Pros • easy to verify controllability and stability • feasible to evaluate the controller performance

  11. S/W Architecture • Cons • lack of flexibility • An attempt to modify some functionality requires significant modification of the whole S/W • long response time • sensor integration/fusion is difficult • Modified Hierarchical Arch. with Sensor Data Bus

  12. Task Description Language • Using lex/yacc compiler tools • Easy to use/add/modify • Satisfy the minimum requirements for AUV lang. • Numerical operations including arithmetic operations and Boolean operations • Motion commands • Condition commands • Loop commands • I/O commands to control specific H/W • Application-specific commands such as depth or speed control for AUVs

  13. STDL Primitives & Operators • Motion commands : fd, bk, up, dn, movex, movey, movez, moveto, rt, lt, pitch, yaw, roll, fin • I/O commands : on, off, onfor, ain, aout, din, dout • Multi-tasking & Event commands : task, when, every • Arithmetic operators : +, -, *, /, % • Boolean operators : and, or, not, >, <, ==, >=, <=, != • Loop commands : repeat, endrep, loop, endloop, for, endfor, while, endwhile, stop • Conditional commands : if, else, endif, switch, case, default, break • Miscellaneous commands : proc, endproc, output, define, wait, waituntil, goto, set

  14. Concluding Remarks • Real-time distributed H/W & S/W • Modified hierarchical architecture with sensor data bus • SAUVIM Task Description Language for flexible programming • SAUVIM is under test in shallow water • More progress and results are on www.eng.hawaii.edu/~asl

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