The Real-time Detection And Implementation Of Emergency Service Under Deep Water Semi-physical Simulation System

With the development of the activities in deep sea, the application of underwater robot is widespread. However, underwater environment is very complex especially in deep water(depths greater than 1500m) is lack of measures to monitor the underwater robot's behavior.These factors may cause the probability of underwater robots due to improper operation caused problems greatly increased. Owing underwater robot is a sophisticated and costly system, even trivial mistake of underwater robot may cause great waste of time and money.Therefore, it is necessary to train the operator before they operate the real system. To meet these needs, more and more underwater robot simulation control system is established. Above most of simulation system, semi-physical simulation system has higher reliability.Semi-physical simulation system is connect the virtual devices and real controllers, and use these real controllers to replace the corresponding mathematical model or simulation software part. Using these methods can reduce the simulation error and the result of simulation system will more close to the real systems. Each simulation system have to be evaluated about their credibility, it is useless if a simulation system is unreliable and with too much difference between the real system. The main work of this paper is about the simulation credibility evaluation.Simulation credibility evaluation is a large and complex process, which had a great quantity of index, such as:simulation accuracy, simulation reliability, degree of real-time simulation and etc..This paper is only research the degree of real-time simulation system. For the under test simulation system, this paper proposes a method of measuring the delay time of system, and according to this method, set up a detection platform for semi-physical simulation system. The detection platform consists of two main parts. The first part is the console.All external device(such as: stepper motors and electromagnet) are connected with the console.The core part of the console is a micro-controller, and its main function is to receive commands from the host computer, and follow these commands to control the operating state of the external device. Its purpose is to use an external device to simulate the human operate the simulation system; Another part is the host computer, the main unit is a computer, which is using the serial communication with the computer and the console, the computer can receive the response signal from the server of semi-physical simulation system over the network. In order to detect the semi-physical simulation system, this paper write a program,which can calculate the delay time of semi-physical simulation system. The core idea is using micro-controller to control some devices,which simulate human operate the semi-physical simulation system, and take note of the start time. When the response signal is received from the semi-physical simulation system server, take note of the end time. The delay time of the simulation system is the end time subtracts the start time.This paper designed and completed the entire detection system and analysis the error of the detection system. A large number of test results for the under test simulation system indicates that whether the detection system can well reflect the degree of real-time of the under test simulation system meet the requirements.