NDLI: Development of an electronic control system for remote controlled underwater vehicles

Content Provider	IEEE Xplore Digital Library
Author	Tierney, J. Walrod, R.
Copyright Year	1977
Description	Author affiliation: Hydro Products, Inc., San Diego, CA, USA (Tierney, J.)
Abstract	This paper describes a microcomputer-based control system for a new generation of remote controlled underwater vehicles, the RCV-150. A general description of the overall RCV-150 is included. In order to provide a high degree of flexibility and preclude early obsolescence of a newly designed vehicle, a dual microcomputer control system was determined to be the most desirable, cost effective and maintainable control system. The system itself consists of two medium speed 16-bit microcomputers, one in the submerged vehicle and the other in the surface control unit. These two units communicate with each other through an RF telemetry link which utilizes asynchronous communications techniques. The hardware consists of several microcomputer peripheral devices specifically designed to occupy a minimum volume and achieve maximum MTBF. These devices include D/A and A/D converters, digital I/O channels, UART channels and video generators. In addition to the digital electronics, a four channel RF telemetry system carrying TV video on an FM carrier, command and telemetry links on FSK channels and sonar video on an AM channel was developed. Also, a high current, multiple output power supply was developed that is capable of operating in hydrostatic pressures up to 3,000 PSIA. The microcomputer software consists of two basic programs, one for the vehicle and one for the surface control unit. The vehicle program includes the servo control and sensor analysis routines while the surface control program contains the control decoding and display generation routines. Common to both programs are the routines for the real time clock, stall alarms and data communications. Trade-off analysis of the subsystems has produced a working control system that is synergistic with the peripheral support equipment required by the end user to provide a wide variety of work tasks. This paper cites experience obtained from offshore operation of the first production units.
Starting Page	119
Ending Page	124
File Size	666515
Page Count	6
File Format	PDF
DOI	10.1109/OCEANS.1977.1154399
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1977-10-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Automatic control Cameras Control systems Remotely operated vehicles Marine vehicles TV Underwater vehicles Displays Acoustic devices Sonar
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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