An underwater automation employing distributed microcomputers

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An underwater automation employing distributed microcomputers

Blidberg, D.R.

The hazards to humans working at depth in the ocean, and the expense of life support systems is forcing research attention on technologies of an unmanned untethered submersible. This paper discusses the problems of applying intelligent systems in that environment, and reviews the computer system employed in the EAVE-East vehicle in its structural inspection mission. EAVE-East (Experimental Autonomous Vehicle) is a five degree of freedom test bed for advanced system development. EAVE-East must cope with its environment and complete its assigned mission. The on-board computer must achieve the mission profile, control the thrusters in a complex and heavily cross coupled system, compute navigation coordinates, and communicative when the acoustic path permits. The computer on EAVE-East currently includes a Motorola 68000 CPU, and three IM-6100 dedicated processors. This paper focuses on the modeling of the computer system, the design of its operating system, and the special constraints imposed by both the autonomous mission and the underwater environment. The reasons for the choice of the 68000 are reviewed. Attention is also given to the potential demand for computing power that is implied in a realistic mission, and the resulting limitations imposed on practical systems.