High-precision, closed-loop control of underwater robotic vehicles presents unique computing requirements. This paper outlines a vehicle computer design philosophy based on transputers, microprocessors specially designed for parallel processing. Distributed processing can be seen as a subset of parallel processing, and transputers can be adapted to serve as high-performance distributed controllers for underwater vehicles, both tethered and autonomous. Two transputer-based designs are presented, Hylas, a tethered research vehicle, and ABE, an autonomous survey system. Data is presented to show the low-latency and high update-rate of vehicle controllers can be achieved with transputers as distributed controllers.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Transputer-Based Distributed Processing For Underwater Robotic Vehicle Control


    Contributors:

    Published in:

    Publication date :

    1991-06-01


    Size :

    735489 byte



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    A Transputer-Based Distributed System for Autonomous Vehicles Control

    Gil, T. / Benoit, M. / IEEE | British Library Conference Proceedings | 1993



    Transputer based control system for MTLRS

    Vermaat, Erik / Offierski, Jacek W. / Otten, Klaus H. et al. | NTRS | 1993


    Interconnection Architectures for Transputer-Based Parallel Image Processing

    Petkov, D. / Zdravev, T. / Nikolov, H. et al. | British Library Conference Proceedings | 1998


    Control of an electromagnetic vehicle suspension system using the inmos transputer

    Sinha, P.K. / Hinton, J.C. / McLagan, N.S. | Tema Archive | 1990