CIP board Communication, Interface, and Power

Control Hierarchy
MMS

Sensor Route Payload Dropweight

Fusion Planner Control and Pinger

DGPS/ Path Communi- Battery

INS Payload
USBL Planner cation Control

CTD and Obstacle

Path
Doppler log Echo- Detection
Control
sounder (VME)

Autopilot
PC module

CIP module

Pipetracker
Control Thrusters
surfaces
96.08.08
MARTIN vehicle
 MARTIN control system
• Distributed control system
– 20 CIP processor cards
– 4 PC’s
– CAN network
• Modular software system
• Standardised module interface (Blackboard)
• Robust, fault-tolerant design
Mission Management System
• Mission Control
• Mission Execution
• Diagnosis
• Support functions:
– PC Management
– Control Hierarchy Management
– Operator communication
 Diagnosis System
• Local diagnosis in each module
• Model-based diagnosis
– testing the hydrodynamic performance
• Main diagnosis
– knowledge based
– compiles the information to a complete status