심해무인잠수정의 복합형 선상제어시스템 개념설계

Abstract

The conceptual design of a hybrid surface control system for a deep-sea unmanned underwater vehicle (UUV), which is developing by Korea Research Institute of Ships & Ocean Engineering (KRISO), is described. The key features of the design can be summarized as: (i) the heterogeneous system architecture suitably integrating both custom and commercial-off-the-shelf (COTS) modules could drastically reduce the development time and cost, while (ii) the modularization architecture is flexible for rapid upgrade and maintenance, finally, (iii) the server based inter process communication (SBIPC) architecture could bring on a significant improvement on the total performance of real-time control system and make it flexible for system extension.