| dc.description.abstract | The development, implementation, and testing of a control and monitoring system for a
wave and solar-powered Unmanned Surface Vehicle (USV) are presented. In the future,
the USV will be used for numerous science experiments and can be deployed for monthlong
unmanned operations in the ocean. A systems engineering approach focusing on
stepwise development and testing was used to ensure high reliability. System safety
and robustness was the primary focus during development. This was sought achieved
by monitoring of internal system states and by implementing a fallback design. A
polling loop with a switch case implemented state machine was programmed on a
robust embedded computer to control the system. Several peripheral devices were
interfaced to the main computer using different protocols. The USV was tested in the
Trondheim Fjord, and the design behaved as intended. Some tuning remains to be
done on fallback autopilot and the leak detection system, but early results indicate
that the design and implementation are well suited for applications in USV systems
where electric energy is limited, and a high level of robustness is required. | |
