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Vol. 164, Issue 2, February 2014, pp. 278-287

 

Bullet

 

Hybrid Underwater Vehicle: ARV Design and Development
 

1, 2 Zhigang DENG, 2 Daqi ZHU, 3 Pengfei XU, 1 Jianan FANG

1 College of Information Engineering, Donghua University, Shanghai, 201620, China
2 Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, 201306, China
3 Underwater Engineering Institute, China Ship Scientific Research Center, Wuxi, 214082, China
2 Tel.: +86 021382805, fax: +86 021382805

2 E-mail:zdq367@aliyun.com

 

Received: 26 November 2013 /Accepted: 28 January 2014 /Published: 28 February 2014

Digital Sensors and Sensor Sysstems

 

Abstract: The development of SMU-I, a new autonomous & remotely-operated vehicle (ARV) is described. Since it has both the characteristics of autonomous underwater vehicle (AUV) and remote operated underwater vehicle (ROV), it is able to achieve precision fix station operation and manual timely intervention. In the paper the initial design of basic components, such as vehicle, propulsion, batteries etc. and the control design of motion are introduced and analyzed. ROVís conventional cable is replaced by a fiber optic cable, which makes it available for high-bandwidth real-time video, data telemetry and high-quality teleoperation. Furthermore, with the aid of the manual real-time remote operation and ranging sonar, it also resolves the AUVís conflicting issue, which can absolutely adapt the actual complex sea environment and satisfy the unknown mission need. The whole battery system is designed as two-battery banks, whose voltages and temperatures are monitored through CAN (controller area network) bus to avoid battery fire and explosion. A fuzzy-PID controller is designed for its motion control, including depth control and direction control. The controller synthesizes the advantage of fuzzy control and PID control, utilizes the fuzzy rules to on-line tune the parameters of PID controller, and achieves a better control effect. Experiment results demonstrate to show the effectiveness of the test-bed.

 

Keywords: Autonomous & remotely-operated vehicle, Test-bed, Programmable logic controller (PLC), User data protocol (UDP), VxWorks.

 

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