Detailed Information

Cited 0 time in webofscience Cited 0 time in scopus
Metadata Downloads

Concise behavior arbitration mechanism for the ISiMI100 AUV

Full metadata record
DC Field Value Language
dc.contributor.authorKim, B.-
dc.contributor.authorJun, B.-H.-
dc.contributor.authorLee, P.-M.-
dc.date.accessioned2023-12-22T09:01:19Z-
dc.date.available2023-12-22T09:01:19Z-
dc.date.issued2011-
dc.identifier.issn0000-0000-
dc.identifier.urihttps://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8874-
dc.description.abstractThis paper presents a concise behavior arbitration mechanism for the ISiMI100 Autonomous Underwater Vehicle (AUV) which was developed by MOERI-KORDI. The control architecture of the ISiMI100 AUV is a hybrid architecture consisting of the mission layer, the behavior layer, the logical sensor layer, and the library layer. This paper focuses on the behavior layer supported by the Tiny Mission Language on the mission layer. The Tiny Mission Language can describe an AUV mission with the composition of behaviors. After input process of sensors, the mission layer activates or inactivates behaviors by given mission and the behavior arbiter selects and performs active behaviors according to defined rule. The arbitration rule is very simple. One rule is that active behaviors having unique priority are executed sequentially from high priority to low priority. Another is that running behavior can activate or inactivate other behaviors having lower priority than current priority. This arbitration mechanism based on priority is deterministic and robust. The execution of active behaviors repeats periodically and the execution time of a cycle is less than 10ms to keep control frequency as 10Hz. The arbitration mechanism was verified by 3 sea trials in the sea near south of Korea, and the experimental results show valid and robust execution on the behavior layer. ? 2011 IEEE.-
dc.language영어-
dc.language.isoENG-
dc.titleConcise behavior arbitration mechanism for the ISiMI100 AUV-
dc.typeArticle-
dc.identifier.doi10.1109/UT.2011.5774138-
dc.identifier.scopusid2-s2.0-79959290625-
dc.identifier.bibliographicCitation2011 IEEE Symposium on Underwater Technology, UT'11 and Workshop on Scientific Use of Submarine Cables and Related Technologies, SSC'11-
dc.citation.title2011 IEEE Symposium on Underwater Technology, UT'11 and Workshop on Scientific Use of Submarine Cables and Related Technologies, SSC'11-
dc.type.docTypeConference Paper-
dc.description.isOpenAccessN-
dc.description.journalRegisteredClassscopus-
dc.subject.keywordPlusActive behavior-
dc.subject.keywordPlusControl architecture-
dc.subject.keywordPlusControl frequency-
dc.subject.keywordPlusExecution time-
dc.subject.keywordPlusHybrid architectures-
dc.subject.keywordPlusLogical sensors-
dc.subject.keywordPlusLow priorities-
dc.subject.keywordPlusOne-rule-
dc.subject.keywordPlusRobust execution-
dc.subject.keywordPlusSea trial-
dc.subject.keywordPlusCables-
dc.subject.keywordPlusSensors-
dc.subject.keywordPlusSubmarine cables-
dc.subject.keywordPlusSubmarines-
dc.subject.keywordPlusSubmersibles-
dc.subject.keywordPlusTechnology-
dc.subject.keywordPlusTelecommunication equipment-
dc.subject.keywordPlusTelegraph-
dc.subject.keywordPlusUnderwater equipment-
dc.subject.keywordPlusWater craft-
dc.subject.keywordPlusAutonomous underwater vehicles-
Files in This Item
There are no files associated with this item.
Appears in
Collections
ETC > 1. Journal Articles

qrcode

Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.

Related Researcher

Researcher Lee, Pan-Mook photo

Lee, Pan-Mook
해양공공디지털연구본부
Read more

Altmetrics

Total Views & Downloads

BROWSE