Abstract
ROVS can be made more capable and easier to operate through the use of supervisory control techniques. Supervisory control systems combine precision navigation, closed-loop control, and a well-designed man-machine interface. They can improve ROV performance and decrease operator workload. Survey and inspection tasks can be performed and repeated more precisely and efficiently. Performance can be maintained in poor visibility and high currents. Vehicle motions can complement manipulator movements, so that more difficult manipulative tasks can be completed with simple arms.
While closed-loop control can be added to existing platforms, performance may be limited by several factors. First, high quality navigation data is required. Also, the vehicle dynamics must be well behaved. Finally, performance is limited by disturbances and by uncertainty in the vehicle dynamic model. In this paper, the interaction of these factors is discussed focussing on JASON, a new ROV under development that will perform scientific tasks on the sea floor to depths of 6000 meters.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
R.D. Ballard, ROV Development at Woods Hole’s Deep Submergence Laboratory, Proc. ROV ’84, MTS, 1984.
D.R. Yoerger, J.B. Newman, J.-J.E. Slotine, Supervisory Control System for the JASON ROV, to appear, IEEE J. Oceanic Eng., 1986.
J.-J.E. Slotine, Tracking Control of Nonlinear Systems Using Sliding Surfaces, Ph.D. Thesis, MIT Dept. of Aero, and Astro., May 1983.
J.-J.E. Slotine, The Robust Control of Robot Manipulators, Int. J. Robotics Res., Vol 4, No. 2.
D.R. Yoerger, J.-J.E. Slotine, Robust Trajectory Control of Underwater Vehicles, IEEE J. Oceanic Eng., Vol 0E10 #4., Oct. 1985
D.R. Yoerger, J.B. Newman, Demonstration of Closed-Loop Trajectory Control of an Underwater Vehicle, Proc. Oceans 85, IEEE/MTS, San Diego, 1985
D.H. Lewis, J.M. Lipscombe, P.G. Thomasson, The Simulation of Remotely Operated Vehicles, Proc. ROV ’84, MTS, 1984.
D.A. Hahn, G.N. Williams, M. Wilcox, P. Wilcox, A Computerized High Resolution Underwater Triangulation Mapping System, Proc. OCEANS ’85, MTS, 1985.
G.T. Russell, D.M. Lane, S.C. Wells, Autonomous Submersible Systems, Subtech ’83 Proc., Soc. Underwater Tech., London, Nov. 1983.
J.C. Jalbert, EAVE-East Sea Trials, Proc. Oceans ’84, IEEE/MTS, Washington, Sept. 1984.
N. Tanaka, M. Mochizuki and T. Oda, Simulation on the Motion Characteristics of an Unmanned Untethered Submersible, Proc. Fourth International Symposium of Unmanned Untethered Submersible Technology, Durham, NH, June, 1985.
J.-J.E. Slotine, J.A. Coetsee, Adaptive Sliding Controller Synthesis for Nonlinear Systems, Int. J. Control, to appear, 1986.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 1986 MTS,SUT,AODC
About this paper
Cite this paper
Yoerger, D.R., Newman, J.B. (1986). JASON: An Integrated Approach to ROV and Control System Design. In: ROV ’86: Remotely Operated Vehicles. Springer, Dordrecht. https://doi.org/10.1007/978-94-009-4207-3_28
Download citation
DOI: https://doi.org/10.1007/978-94-009-4207-3_28
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-8367-6
Online ISBN: 978-94-009-4207-3
eBook Packages: Springer Book Archive