Cao Duc Sang, Ngo Van He, Ngo Van Hien, Nguyen Trong Khuyen
{"title":"An OOSEM-Based Design Pattern for the Development of AUV Controllers","authors":"Cao Duc Sang, Ngo Van He, Ngo Van Hien, Nguyen Trong Khuyen","doi":"10.3390/jmse12081342","DOIUrl":null,"url":null,"abstract":"This article introduces a new design pattern that provides an optimal solution for the systematic development of AUV controllers. In this study, a hybrid control model is designed on the basis of the OOSEM (Object-Oriented Systems Engineering Method), combined with MDA (Model-Driven Architecture) concepts, real-time UML/SysML (Unified Modeling Language/Systems Modeling Language), and the UKF (unscented Kalman filter) algorithm. This hybrid model enables the implementation of the control elements of autonomous underwater vehicles (AUVs), which are considered HDSs (hybrid dynamic systems), and it can be adapted for reuse for most standard AUV platforms. To achieve this goal, a dynamic AUV model is integrated with the specializations of the OOSEM/MDA, in which an analysis model is clarified via a use-case model definition and then combined with HA (hybrid automata) to precisely define the control requirements. Next, the designed model is tailored via real-time UML/SysML to obtain the core control blocks, which describe the behaviors and structures of the control parts in detail. This design model is then transformed into an implementation model with the assistance of round-trip engineering to conveniently realize a controller for AUVs. Based on this new model, a feasible AUV controller for low-cost, turtle-shaped AUVs is implemented, and it is utilized to perform planar trajectory tracking.","PeriodicalId":16168,"journal":{"name":"Journal of Marine Science and Engineering","volume":null,"pages":null},"PeriodicalIF":2.7000,"publicationDate":"2024-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Marine Science and Engineering","FirstCategoryId":"89","ListUrlMain":"https://doi.org/10.3390/jmse12081342","RegionNum":3,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MARINE","Score":null,"Total":0}
引用次数: 0
Abstract
This article introduces a new design pattern that provides an optimal solution for the systematic development of AUV controllers. In this study, a hybrid control model is designed on the basis of the OOSEM (Object-Oriented Systems Engineering Method), combined with MDA (Model-Driven Architecture) concepts, real-time UML/SysML (Unified Modeling Language/Systems Modeling Language), and the UKF (unscented Kalman filter) algorithm. This hybrid model enables the implementation of the control elements of autonomous underwater vehicles (AUVs), which are considered HDSs (hybrid dynamic systems), and it can be adapted for reuse for most standard AUV platforms. To achieve this goal, a dynamic AUV model is integrated with the specializations of the OOSEM/MDA, in which an analysis model is clarified via a use-case model definition and then combined with HA (hybrid automata) to precisely define the control requirements. Next, the designed model is tailored via real-time UML/SysML to obtain the core control blocks, which describe the behaviors and structures of the control parts in detail. This design model is then transformed into an implementation model with the assistance of round-trip engineering to conveniently realize a controller for AUVs. Based on this new model, a feasible AUV controller for low-cost, turtle-shaped AUVs is implemented, and it is utilized to perform planar trajectory tracking.
期刊介绍:
Journal of Marine Science and Engineering (JMSE; ISSN 2077-1312) is an international, peer-reviewed open access journal which provides an advanced forum for studies related to marine science and engineering. It publishes reviews, research papers and communications. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced. Electronic files and software regarding the full details of the calculation or experimental procedure, if unable to be published in a normal way, can be deposited as supplementary electronic material.