Underwater vehicles have highly non-linear, strongly coupled, multi-degree-of-freedom and time-varying dynamics models, and work in complex environments that require a high degree of adaptivity. Its motion control has always been a very complex challenge. In order to solve the complex communication methods of the traditional Modbus TCP, The three handshakes during TCP protocol data transfer incur unnecessary time expenses, while solving the core problems such as improving controller performance. Based on the original Modbus TCP, the Modbus UDP communication method is proposed to provide an efficient and readable communication mechanism for underwater vehicle communication, which is more effective in sending commands and obtaining feedback to the main control board of the lower computer. It also uses QT to design a display interface that is easy to listen to downstream data and display feedback data. The proposed Modbus UDP communication method is experimentally verified in an AUV (Autonomous Underwater Vehicle), and through the verification, it is concluded that the communication method is reliable, readable, easy to implement and highly portable, demonstrating the applicability and effectiveness of the improved Modbus UDP communication method for AUV control.
In order to meet the requirements of technological development and higher exploration tasks, and to improve the applicability of underwater robots, this paper combines the advantages and characteristics of remotely operated submersible and autonomous underwater vehicle, and researches and develops a new hybrid drive underwater robot, which has two modes of thruster drive and cross rudder control, with the advantages of both full drive and under drive. In full drive mode, it has the advantages of fast navigation speed and good maneuverability; in under drive mode, it has the advantages of low energy consumption and large range. Compared with conventional underwater robots, the motion of hybrid-driven underwater robots is more complex and therefore places higher demands on the system design of the robot. In this paper, a system solution design for an all-drive under-drive hybrid underwater robot is proposed, assembled in real life and tested in the water. Through validation, the feasibility of the designed solution is demonstrated, as well as achieving the goal of improving the applicability of the underwater robot.
KEYWORDS: Relays, Simulations, Signal to noise ratio, Signal processing, Telecommunications, Systems modeling, Power consumption, Mobile communications
Amplify-and-forward (AF) relay protocol can decrease system’s transmission time slots and full-duplex (FD) technique can improve system’s spectral-efficiency (SE). Combing relay technique with FD technique can further improve system’s SE. In this paper, two transmission strategies with considering the existence of direct link in relay transmission are designed first. At the same time, the detailed bidirectional SE and outage probability analyses of the designed transmission strategies are given. In addition, the energy-efficient transmissions of the designed transmission strategies are achieved. Furthermore, the EE comparisons among the designed transmission strategies are given. Simulations reveal that even with the residual self-interference, the designed transmission strategies still can improve the system’s SE and EE.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.