Sensors & Transducers Journal
(ISSN 1726- 5479)
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205.767 |
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(ISSN 1726- 5479) |
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Vol. 153, No. 6, June 2013, pp. 45-52
Development of a Remotely Operated Vehicle Test-bedBiao WANG, Chao WU, Tong GEState Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China Tel.: +86 02134207187, fax: +86 02134207187 E-mail: biaowang@sjtu.edu.cn
Received: 19 April 2013 /Accepted: 14 June 2013 /Published: 25 June 2013 |
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Abstract: This paper presents the development of a remotely operated vehicle (ROV), designed to serve as a convenient, cost-effective platform for research and experimental validation of hardware, sensors and control algorithms. Both of the mechanical and control system design are introduced. The vehicle with a dimension 0.65 m long, 0.45 m wide has been designed to have a frame structure for modification of mounted devices and thruster allocation. For control system, STM32 based MCU boards specially designed for this project, are used as core processing boards. And an open source, modular, flexible software is developed. Experiment results demonstrate the effectiveness of the test-bed.
Keywords: ROV, Test-bed, Small-scale, STM32, uC/OS-II
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