TOWARDS SUB-SEA ROBOTICS -- THE AUTOMATIC GUIDANCE AUD CONTROL OF UNMANNED SUBMERSIBLES

The search for new oil-fields in deeper waters, and the danger of entanglement of the umbilical cord, have created a need for an untethered or free-swimming vehicle <FSV> possessing robotic skills. The Author, of Heriot-Watt University, discusses a current research programme for the development of an "intelligent" FSV and its control from the surface via a tethered support vehicle, the Heriot-Watt Angus 002 unmanned submersible <"intelligence" is here interpreted as an algorithmic component in the mission control strategy>. The FSV would be "conveyed" to about 50-100 metres of the work task by the tethered support vehicle. This undersea system, shown in a block diagram, has five major inter-connected sub-systems: the surface support, the cable, the tethered vehicle, the through-water communication link, and the FSV; minor sub-systems, e.g. target and scene analysis, guidance and control, are a mixture of hardware and software modules. The surface support includes a Diesel-generator set, with thyristor inverter units to provide for the tethered vehicle's propulsion, and a launch/retrieval capability for the vehicle and cable. These arrangements, together with the computerised control system for the Angus 002, are described; the FSV functions and through-water communication path are the most complex sub-systems, and are at present under investigation.

  • Supplemental Notes:
    • I.E.E.E. Colloquium: Microprocessors in the Marine Industry, 16 Apr. 1982 (4 pp., 4 ref., 2 diag.)
  • Authors:
    • Russell, G T
  • Publication Date: 1982

Language

  • English

Subject/Index Terms

  • Subject Areas: Marine Transportation;

Filing Info

  • Accession Number: 00684172
  • Record Type: Publication
  • Source Agency: British Maritime Technology
  • Files: TRIS
  • Created Date: Aug 14 1995 12:00AM