The design of and experiments using a computerized vehicle for inspecting curved surfaces are described. The objective of the report is to clarify the adaptability of supervisory control concepts to undersea inspection. The experimental vehicle is designed to simulate the motion of an undersea inspection submersible. The control system makes possible three kinds of actual vehicle motion control: manual, automatic approaching and automatic surface following. By experiments the difficulty of manual control is clarified and the advantage of the combined manual and automatic control system (supervisory control) is verified. Conclusions are as follows: pure time delay and exponential lag dynamics cause the operator difficulty; a camera-oriented reference coordinate frame for the controls is better than a vehicle oriented frame with manual control; and automatic following is better than manual. (DePo)


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    Titel :

    Experiments in supervisory control of a computerized vehicle for inspecting curved surfaces


    Weitere Titelangaben:

    Experimente der Ueberwachungsfunktion rechnergesteuerter Unterwasserfahrzeuge fuer die Inspektion gekruemmter Flaechen


    Beteiligte:
    Odahara, T. (Autor:in) / Sheridan, T.B. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1980


    Format / Umfang :

    78 Seiten


    Medientyp :

    Report


    Format :

    Print


    Sprache :

    Englisch






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