Adaptive Platform-Independent Control System for ROV Launch and Recovery

Launch and recovery of tethered remotely operated submersible vehicles is a challenging engineering problem requiring careful design and integration of hardware, software, and control algorithms. As succinctly described in the solicitation for SBIR topic N093-215, manual operation of the launch and recovery system (LARS) is dependant on operator proficiency and alertness. The overall objective of topic N093-215 is to develop an automatic actively-controlled LARS that is independent of the recovery platform, can accommodate a wide range of remotely operated vehicles (ROVs), and requires minimal operator intervention and in situ tuning. Barron Associates and its research partners propose an adaptive platform-independent control system (APICS) Phase II effort that will leverage the lessons-learned from the prior automatic control system testing, a new high-fidelity LARS simulation model, and the promising linear and nonlinear control laws developed in Phase I. The specific technical objectives of the Phase II program are: (1) refine LARS simulation model; (2) enhance linear control system design; (3) enhance nonlinear control system design; (4) prepare for on-board APICS demonstration, and; (5) conduct on-board APICS demonstration. In the Phase II Option, the focus will be on software finalization, user-interface and data logging, and formal software release and configuration management.