Coordinate control of initiative mating device for autonomous underwater vehicle based on TDES

A novel initiative mating device, which has four 2-degree manipulators around the mating skirt, is proposed to mate between a skirt of AUV （autonomons underwater vehicle） and a disabled submarine. The primary function of the device is to keep exact mating between skirt and disabled submarine in a ba...

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Bibliographic Details
Published in:Journal of marine science and application 2005-06, Vol.4 (2), p.20-27
Main Authors: Yan, Zhe-ping, Hou, Shu-ping
Format: Article
Language:English
Subjects:
AUV
DSRV
TDES
援救工作
操纵性
时间离散系统
自动机器模型
船舶工程
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Summary:A novel initiative mating device, which has four 2-degree manipulators around the mating skirt, is proposed to mate between a skirt of AUV （autonomons underwater vehicle） and a disabled submarine. The primary function of the device is to keep exact mating between skirt and disabled submarine in a badly sub sea environment. According to the characteristic of rescue, an automaton model is brought forward to describe the mating proceed between AUV and manipulators. The coordinated control is implemented by the TDES （time discrete event system）. After taking into account the time problem, it is a useful method to control mating by sinmlation testing. The result shows that it reduces about 70 seconds after using intelligent co-ordinate control based on TDES through the whole mating procedure.
ISSN:1671-9433
1993-5048
DOI:10.1007/s11804-005-0028-x