P042

UML-RT Based Design for AUV Operating System

A0103 GyungNam Jo Department of Naval Architecture and Ocean Engineering, Seoul National University

A0101 Hang S. Choi Department of Naval Architecture and Ocean Engineering, Seoul National University

A0104 Kyu-Yeul Lee Department of Naval Architecture and Ocean Engineering, Seoul National University

In the life cycle of an AUV, necessity often occurs to change software

like algorithms for control and estimation as well as hardware such as

sensors for the purpose of update or measurement, which was not

considered at its original design. In such a case, the whole design

process has to be carried out according to conventional design methods,

as if it were a completely new one. Furthermore, it is not easy to

utilize previous design information rationally. UML (Unified Modeling

Language) is an object-oriented design approach to overcome such

difficulties, i.e it easily accommodate changes in hardware and

software. It has a straightforward reusability for part functions

consisting a system under consideration, and it provides a rational

diagnosis for data networking necessary for operating a system. So

far there is only one publication dealing with applications of UML for

AUV. However, the UML at the time could not support for data flow in

real time, thus it had to be supplemented by introducing SDL

(Specification and Description Language) and consequently there were

interface troubles. The current UML known as UML-RT (Real Time) has

been extended and modified to include the capability for data flow in

real time.

In this paper, the UML-RT is applied to establish a new design method

for AUV operating system, which is divided by 3 frameworks; execute

framework, tactical framework and strategic framework. Each framework

contains component classes, which shall be interwoven to activate the

prescribed function of frameworks. The framework is designed to keep

flexibility to accommodate any changes and also to possess reusability

to be reused simply by plug-in. It is also demonstrated that the

present design method enables us to estimate the reaction time of the

system to any environmental disturbances or unexpected system fault.