Development of an AUV control architecture based on systems engineering concepts

Freire, Luciano Ondir; Oliveira, Lucas Machado de; Vale, Rodrigo Telles da Silva; Medeiros, Maiá G; Diana, Rodrigo Eiji Yamagata; Lopes, Rubens M.; Pellini, Eduardo Lorenzetti; Barros, Ettore A. de

doi:10.1016/j.oceaneng.2018.01.016

Cited by 18 publications

(10 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Regarding the maritime domain, Weinert et al [37] discussed the need for using architectural methodologies to overcome the challenge to coordinate the development of new systems considering technological issues, governance aspects and users. Recently, Freire et al [38] developed a functional AUV based on SE concepts such as functional classification, design patterns, interface and compatibility assessment, and integration policies, among others.…”

Section: Introductionmentioning

confidence: 99%

Modular Hardware Architecture for the Development of Underwater Vehicles Based on Systems Engineering

Aristizábal

Zuluaga

Rúa

et al. 2021

JMSE

View full text Add to dashboard Cite

This paper addresses the development of a modular hardware architecture for the design/construction/operation of a remotely operated vehicle (ROV), based on systems engineering. The Vee model is first presented as a sequential process that emphasizes the validation processes with stakeholders and verification plans in the development and production stages of the ROV’s life cycle. The conceptual design process starts with the mapping of user requirements to engineering specifications, using the House of Quality (HoQ), a quality function deployment tool that allows executing a functional-division-based hardware design process that facilitates the integration of components and subsystems, as desired for modular architectures. Then, the functional division and hardware architectures are described, and their connection is made through the proposed system architecture that sets the foundation for the definition of a physical architecture, as it involves flows that connect abstract functions with a real context. Development and production stages are exemplified through the design, construction, and integration of some hardware components needed for the remotely operated vehicle Pionero500, and the operational stage briefly describes the first sea trials conducted for the ROV. Systems engineering has shown to be a very useful tool for the development of marine vehicles and marine engineering projects that require modular architectures.

show abstract

Section: Introductionmentioning

confidence: 99%

Modular Hardware Architecture for the Development of Underwater Vehicles Based on Systems Engineering

Aristizábal

Zuluaga

Rúa

et al. 2021

JMSE

View full text Add to dashboard Cite

show abstract

“…However, the controller was only verified in the canal experiment and was not suitable for the narrow water conveyance tunnel environment. Freire et al [6] achieved a reasonable level of safety and reliability through the enforcement of coding standards in C language. Besides this, the level of reliability was provided by the ruggedness and simplicity of the components in hardware aspects.…”

Section: Introductionmentioning

confidence: 99%

Design and Reliability Analysis of a Tunnel-Detection AUV Based on a Heterogeneous Dual CPU Hot Redundancy System

et al. 2020

View full text Add to dashboard Cite

A water conveyance tunnel is narrow and enclosed with a complex distribution of flow field. The performance of sensors such as Doppler log, magnetic compass, sonar, and depth gauge used by conventional underwater vehicles in the tunnel is greatly affected and can even fail. Aiming at the special operating environment and operational requirements of water conveyance tunnels, this paper designed an architecture suitable for pressurized water conveyance tunnel-detection autonomous underwater vehicles (AUVs). The tunnel-detection AUV (called AUV-T in this paper) with the architecture proposed in this paper could easily and smoothly complete inspection tasks in water conveyance tunnels, and field tests have verified the effectiveness of the architecture. Since an AUV in a water conveyance tunnel cannot go to the surface to rescue itself, in order to ensure its safety we designed the heterogeneous dual-CPU (Central Processing Unit) hot redundancy system based on dual communication lines. The reliability analysis showed that the system can significantly reduce the probability of AUV failure and ensure that the AUV can still be recovered even if it fails in the tunnel.

show abstract

“…is provides a means to develop an understanding of the complex relationships that exist between organizations, systems, and systems-ofsystems and can permit the analysis of these systems to ensure that they meet the expectations of the user community. e applications of real-time UML/SysML and model-driven techniques for the implementation of industrial control systems can be found in [27][28][29][30][31][32][33][34].…”

Section: Introductionmentioning

confidence: 99%

A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach

Hien

Truong

Bui

2020

Journal of Advanced Transportation

View full text Add to dashboard Cite

This paper introduces a model-driven control realization, which is based on the systems engineering concepts of the model-driven architecture (MDA)/model-based systems engineering (MBSE) approach combined with the real-time UML/SysML, extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, in order to conveniently deploy controllers of autonomous underwater vehicles (AUVs). This model also creates a real-time communication pattern, which can permit the designed components to be customizable and reusable in new application developments of different AUV types. The paper brings out stepwise adapted AUV dynamics for control that are then combined with the specialization of MDA/MBSE features as follows: the computation independent model (CIM) is defined by the specification of the use-case model together with hybrid automata to gather the requirement analysis for control; the platform-independent model (PIM) is then designed by specializing the real-time UML/SysML’s features including main control capsules that depict structures and behaviors of controllers in detail; and the detailed PIM is subsequently converted into the platform-specific model (PSM) by object-oriented platforms to rapidly implement the AUV controller. Based on this proposed model, a horizontal planar trajectory-tracking controller was deployed and tested that permits a miniature AUV possessing a torpedo shape to reach and follow the desired horizontal planar trajectory.

show abstract

Development of an AUV control architecture based on systems engineering concepts

Cited by 18 publications

References 18 publications

Modular Hardware Architecture for the Development of Underwater Vehicles Based on Systems Engineering

Modular Hardware Architecture for the Development of Underwater Vehicles Based on Systems Engineering

Design and Reliability Analysis of a Tunnel-Detection AUV Based on a Heterogeneous Dual CPU Hot Redundancy System

A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach

Contact Info

Product

Resources

About