심해 무인잠수정 해미래의 장치 확장성

Abstract

This paper presents device scalability of Hemire which is a deep-sea remotely operated vehicle. The Hemire can be equipped with maximum 24 serial devices using four Ethernet-to-serial converters and maximum 8 analog cameras using two Ethernet video encoders. Serial devices can be connected by RS-232, RS-422, or RS-485 via junction box. Most devices are controlled by TCP/IP connection, and some devices are directly controlled by pair connection. Connection type can be modified by software configuration. Operating software provides scalable device interface using virtual communication to support hardware abstract layer. Software interface for addition or deletion of a device is easy because a virtual device connection is specified by a script including device identification, connection type, address, and minimum message length. High level of operating software does not consider real device model but virtual device identification. The change of a device model needs only to modify hardware abstract layer, so it does not affect other modules of operating software. When a device connection type is changed, only its connection script is modified. Network system based on Ethernet and hierarchical software architecture in the Hemire provides high device scalability.et video encoders. Serial devices can be connected by RS-232, RS-422, or RS-485 via junction box. Most devices are controlled by TCP/IP connection, and some devices are directly controlled by pair connection. Connection type can be modified by software configuration. Operating software provides scalable device interface using virtual communication to support hardware abstract layer. Software interface for addition or deletion of a device is easy because a virtual device connection is specified by a script including device identification, connection type, address, and minimum message length. High level of operating software does not consider real device model but virtual device identification. The change of a device model needs only to modify hardware abstract layer, so it does not affect other modules of operating software. When a device connection type is changed, only its connection script is modified. Network system based on Ethernet and hierarchical software architecture in the Hemire provides high device scalability.