Design, Implementaiton, and Refinement of a Hardware-In-the-Loop Simulator For a Hovering AUV
Document Type
Conference Proceeding
Publication Date
12-1-2012
School
Ocean Science and Engineering
Abstract
A simulator was designed for troubleshooting the hovering AUV Mola Mola, operated by the National Institute for Undersea Science and Technology. The SeaBED class Mola Mola had suffered several failures in its last 2010 cruise and two 2011 cruises. Through simulator testing, these failures were found to be a single power system issue that manifested itself in three very different ways as it worsened during the differing conditions of the cruises. The simulator supplies navigation parameters to the vehicle control system while monitoring the AUVs thruster RPM. Running the simulator with the vehicle in air can reveal general mission behaviors. By mounting the thrusters in a water tank and monitoring the opened housing electronics, power issues can be examined during the course of simulated missions. © 2012 IEEE.
Publication Title
OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean
Recommended Citation
Woolsey, M.,
Jarnagin, R.
(2012). Design, Implementaiton, and Refinement of a Hardware-In-the-Loop Simulator For a Hovering AUV. OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean.
Available at: https://aquila.usm.edu/fac_pubs/20827
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