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 5.8m 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

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

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

Health Monitoring System

Located in each PV One chip micro-controller

(BASIC Stamp II-sx)

Battery voltage Leakage Pressure Humidity RS485 multi-drop comm.

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+

Computer H/W Configuration

VME bus

DAADIOB/D

DAADIOB/D

Comm.B/D

Nav. CPU I

Nav. CPU II

PC/104+(Scan Sonar)

PC/104+(Scan Sonar)

PC/104+(Camera)

PC/104+(Laser)

VME bus

DAADIOB/D

JR3 I/FB/D

Res. I/F B/D

Nav. CPU I PC/104+

(Camera)

Navigation Controller

Arm Controller

Navigation Controller

VM

E B

us

A/D (64)

DIO (96)

D/A (16)

RS232(12)

RS485(4)

MD-DAADIO

MVC16

Ethernet

RS232

Arm tray control

Leakage sensors

Battery Current

Battery Voltage

Pressure Sensors

Navigation(USBL)

PC104

Ballast weight tray

Light on/off

Thruster control

Laser ranger

Weight release

Cameras

NavigationCPU I

(MC68060)

NavigationCPU II

(MC68060)- Software development- VME system- GUI- Real time OS (Tornado, VxWorks)- MatLab / SimuLink / RTW Toolbox

PC 104(Pentium

MMX)

AcousticCommunicationMission sensor

package

HealthMonitorings

Altimeters (Tritech)

Thruster Failures

Power on/off

AHRS (Watson)

Frame grabber

Scan sonar(Imagenex)

Thruster Speed

Thruster Current

PC104's

PCWindows

2000

To Arm Controller

S/W Architecture

Pros

- easy to verify controllability and stability

- feasible to evaluate the controller performance

Application S/W

Application Integrator

Sub-taskModule

System Configurator

Real Time Operating System

Device Driver

Real H/W

Virtual DeviceDriver

Virtual H/W

NetworkDriver

RemoteH/W

Sub-taskModule

Sub-taskModule

De

vic

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Tim

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Ap

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tio

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ay

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Application S/W

Application Integrator

Sub-taskModule

System Configurator

Real Time Operating System

Device Driver

Real H/W

Virtual DeviceDriver

Virtual H/W

NetworkDriver

RemoteH/W

Sub-taskModule

Sub-taskModule

De

vic

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ay

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Re

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Tim

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ay

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Ap

pli

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tio

n L

ay

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Application S/W

Application Integrator

Sub-taskModule

System Configurator

Real Time Operating System

Device Driver

Real H/W

Virtual DeviceDriver

Virtual H/W

NetworkDriver

RemoteH/W

Sub-taskModule

Sub-taskModule

De

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ay

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Re

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Se

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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

GUI Server Mission Supervisor

Lang. Interpreter Cmd Interpreter

Application Integrator

SensorManagement

Sensor Fusion FaultTolerance

CollisionDetector

CollisionAvoidance

MapBuilder

Localization Path Planner

TrajectoryPlanner

ControlA lgorithm

T.C.M.

FaultDetector

Filter

Map DB

Calib. DB

Log DB

CalibrationManager

Local Log DBManager

Output Manager

Real Time Operating System

CameraServer

So

ft R

ea

l T

ime

Ha

rd R

ea

l T

ime

No

n R

ea

l T

ime

SystemManager

Remote Control ClientSS Server

( I )SS Server

( II )

Senso

r D

ata

Bus

Input Manager

Primary Monitoring System

GUI Client Remote Control Server

Aux. MonitoringSystem

GUI Client

VR Environment

GUI Client

Auto Log System

GUI Client

Device Driver Virtual Device Driver Network Driver

Real H/W Virtual H/W Remote H/W

System Configulator

Task Description Language

Using lex/yacc compiler tools Easy to use/add/modify Satisfy the minimum

requirements for AUV lang.

(1) Numerical operations including arithmetic operations and Boolean operations

(2) Motion commands

(3) Condition commands

(4) Loop commands

(5) I/O commands to control specific H/W

(6) Application-specific commands such as depth or speed control for AUVs

Token file Syntax file

lexcompiler

C/C++ code

C/C++compiler

object file

yacccompiler

C/C++ code

C/C++compiler

object file

C/C++ code

C/C++compiler

object file library

CPU B/D

Download

linker

Hex file

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

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