This paper discusses the design of an open control platform (OCP) and modeling of hovering type AUV testbed. A publisher/subscriber architecture that use ACE/TAO Real-time Event Service (RTES) as the middleware core is chosen to develop the OCP structure. The designed OCP uses an event-based communication that addresses the real-time transfer of control and data among AUV components which coordinate with each other in a loosely coupled fashion. To perform the real-time performance, several services in RTES are collaborated in the system such as event filtering, correlation, scheduling, and priority setting to meet the quality of service (QoS) requirement of each AUV component. Performance of the software platform is examined with an experiment that simulates data transfer of AUV sensor's data. On the other hand, AUV testbed that designed using hovering type with two hulls and four thrusters has been modeled. PD controller has been applied as the AUV controller for surge (x-axis positioning), heave (depth) and yaw (steering). Together with the thruster's model and controller, the AUV model and its controller have been simulated under OCP environment.
During the last decade, the area of information technology has sustained a remarkable level of growth. Processor speed, memory capacity, network bandwidth, and other metrics of progress in computing technology grow in their exponential trends. The advance in the fabrication technology makes computing devices not only have an improvement in performance but also give more benefits such as; smaller in size, lower in price and lower power consumption. In another part, control theory and engineering have a remarkably successful history of enabling automation, and information-centric control. Complex control systems for autonomous vehicles require integrating new control algorithms with a variety of different component technologies and resources. These components are often supported on different types of hardware platforms and operating systems and often must interact in a distributed environment. Due the lacks of standard it is almost impossible to easily use those design into new application.
