Title :
Design, implementation, and refinement of a hardware-in-the-loop simulator for a hovering AUV
Author :
Woolsey, M. ; Jarnagin, R.
Author_Institution :
Undersea Vehicle Technol. Center, Univ. of Southern Mississippi, Abbeville, MS, USA
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.
Keywords :
autonomous underwater vehicles; failure analysis; machine testing; marine control; tanks (containers); AUV thruster RPM monitoring; National Institute for Undersea Science and Technology; SeaBED class Mola Mola; hardware-in-the-loop simulator design; hardware-in-the-loop simulator implementation; hardware-in-the-loop simulator refinement; hovering AUV Mola Mola; mission behaviors; navigation parameters; opened housing electronics; power issues; simulator testing; single power system issue; thrusters; vehicle control system; water tank; Force; Hydrodynamics; Navigation; Software; Surges; Testing; Vehicles; AUV testing; Vehicle simulation;
Conference_Titel :
Oceans, 2012
Conference_Location :
Hampton Roads, VA
Print_ISBN :
978-1-4673-0829-8
DOI :
10.1109/OCEANS.2012.6404862
