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Pattern-oriented design of a dynamically reconfigurable software architecture for AUV high-level control

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Date Issued:
2001
Summary:
The Morpheus, the latest generation of AUV developed at Florida Atlantic University was designed to be as modular as possible, and to handle longer, more complicated missions. The software must now reflect this improvement: it should be as dynamic as possible, must adapt to the different missions and emphasize flexibility and scalability. It must allow for complex behaviors, failure detection and handling and multiple cooperative missions. On the other hand, the new high-level controller has to remain accessible to the non expert user. To achieve these goals, a new architecture, based on the Convenient Hierarchical Autonomous State Machine formalism, was implemented using Python. The system is modeled as a set of concurrent processes communicating through shared memory to accommodate a variety of sensor payloads from one mission to the next. New control tools can be integrated dynamically into the architecture in the form of modules implementing new behaviors.
Title: Pattern-oriented design of a dynamically reconfigurable software architecture for AUV high-level control.
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Name(s): Dupire, Benoit Francois.
Florida Atlantic University, Degree grantor
Smith, Samuel M., Thesis advisor
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 2001
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 199 p.
Language(s): English
Summary: The Morpheus, the latest generation of AUV developed at Florida Atlantic University was designed to be as modular as possible, and to handle longer, more complicated missions. The software must now reflect this improvement: it should be as dynamic as possible, must adapt to the different missions and emphasize flexibility and scalability. It must allow for complex behaviors, failure detection and handling and multiple cooperative missions. On the other hand, the new high-level controller has to remain accessible to the non expert user. To achieve these goals, a new architecture, based on the Convenient Hierarchical Autonomous State Machine formalism, was implemented using Python. The system is modeled as a set of concurrent processes communicating through shared memory to accommodate a variety of sensor payloads from one mission to the next. New control tools can be integrated dynamically into the architecture in the form of modules implementing new behaviors.
Identifier: 9780493218212 (isbn), 12789 (digitool), FADT12789 (IID), fau:9666 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 2001.
Subject(s): Submersibles--Automatic control
Software configuration management
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/12789
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.