Tutorial by Edin Omerdić, UL during Breaking the Surface summer school

Abstract

Thruster Control using LabVIEW Real-Time & FPGA Graphical Programming    

Any control system for underwater vehicles must be properly interfaced with actuators (thrusters). Using the Bottom-Up approach, this tutorial is focused on the development of interface between control software and physical actuators (thrusters). Hands-On Tutorial will demonstrate generation of FPGA-based PWM signals for high precision speed and direction control of Blue Robotics T200 thrusters.

Two approaches will be explained:
(i) approach based on Express VI (RT only, without need to develop FPGA code), and
(ii) approach based on RT & FPGA code development.

Methods to overcome friction / dead zone issues for low speed rotations will be demonstrated for both approaches.
 

Biography

Edin Omerdic, University of Limerick, Ireland    

Edin Omerdic (MSc 2001, PhD 2004) is a Senior Research Fellow at the Mobile & Marine Robotics Research Centre, University of Limerick. He is the main developer & designer of OceanRINGS concept & software suite, including design of state-of-the-art control architecture for ROV LATIS. His research interests include modelling & simulation of dynamic systems (marine platforms, ocean dynamics & disturbances), renewable energy, real-time simulators, virtual reality, development and design of guidance, navigation and control system for marine vessels, nonlinear control systems, implementation of soft-computing techniques in intelligent systems, underwater robotics, fault-tolerant systems. He received five awards for his work, including First Prize Winner in National Competition in Mathematic (Bosnia, 1985), Society of Underwater Technology (SUT) Prize for Best Multimedia Presentation (GCUV 2003), IFAC prize for best on-line demonstration (MCMC 2003), IMarEST SMI Donald Maxwell Award Prize for Best Journal Paper (2004) and Curriculum Paper Contest National Instruments International Competition LabVIEW in the Curriculum 2006 (First Prize Winner).