Abstract
This article presents a specialized control system for an unmanned surface cleaning vessel (USCV) employing a pump-valve propulsion system. The system has three operational modes, including manual remote-control mode, self-automated cruise mode, and self-locking remote-control mode. In the manual remote-control mode, users remotely control the vessel by means of a motion-control joystick. In the self-automated cruise mode, the control system is capable of detecting obstacles and automatically controlling the pump-valve propulsion system in response to feedback signals from sensors. The self-locking remote-control mode functions similarly to the first mode, except that the joystick controls the vessel motion in accordance with a single established joystick-actuation pattern. The control system is supported by a commercially available remote controller with wireless communication technology. The functionality of the combined control and pump-valve propulsion system is verified by computational fluid dynamics simulations and experimental tests conducted using a prototype USCV. The combined control and pump-valve propulsion system is demonstrated to be a cost-effective, simple, and innovative platform that is suitable for use with USCVs.
Highlights
Floating object collection is routinely employed to preserve the natural marine environment, and two main approaches are generally adopted for this purpose, which include manual and automatic collection [1]–[5]
The present study addresses the above-discussed issues by presenting a specialized control system for a unmanned surface cleaning vessel (USCV) employing a pump-valve propulsion system using a commercially available AT10 remote controller combined with an ARM-based microprocessor
Vessel control was conducted according to three operational modes, including manual remote-control mode, selfautomated cruise mode, and self-locking remote-control mode
Summary
Floating object collection is routinely employed to preserve the natural marine environment, and two main approaches are generally adopted for this purpose, which include manual and automatic collection [1]–[5]. We have developed a pump-valve propulsion system and a dedicated control system that can operate stably in a wide variety of freshwater and marine environments [16] These past studies have demonstrated the vital role of propulsion systems in controlling the movement of USVs. The present study addresses the above-discussed issues by presenting a specialized control system for a USCV employing a pump-valve propulsion system using a commercially available AT10 remote controller combined with an ARM-based microprocessor. The combined control and pump-valve propulsion system is demonstrated to represent a cost-effective, simple, and innovative platform that is suitable for use with USCVs. The proposed control and pump-valve propulsion system is applicable to a wide variety of watercraft, including underwater robots [27], [28], USVs, and even military vessels.
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