An approach to integration of real-time software for an autonomous underwater vehicle. PDF
Preview An approach to integration of real-time software for an autonomous underwater vehicle.
NAVAL POSTGRADUATE SCHOOL Monterey, California THESIS AN APPROACH TO INTEGRATION OF REAL-TIME SOFTWARE FOR AN AUTONOMOUS UNDERWATER VEHICLE by Brent Lee Leatherman June 1991 Thesis Advisor: Shridhar Shukla Approved for public release; distribution is unlimited T258474 Unclassified SECURITYCLASSIFICATIONOFTHISPAGE REPORT DOCUMENTATION PAGE 1a REPORTSECURITYCLASSIFICATION 1b RESTRICTIVE MARKINGS UNCLASSIFIED 2a SECURITYCLASSIFICATIONAUTHORITY 3 DISTRIBUTION/AVAILABILITYOFREPORT Approvedfor publicrelease;distributionisunlimited. 2b DECLASSIFICATION/DOWNGRADINGSCHEDULE 4.PERFORMINGORGANIZATIONREPORTNUMBER(S) 5.MONITORINGORGANIZATIONREPORTNUMBER(S) 6a NAMEOFPERFORMINGORGANIZATION 6b OFFICESYMBOL 7a NAMEOFMONITORINGORGANIZATION NavalPostgraduateSchool (Ifapplicable) NavalPostgraduateSchool 32 6c ADDRESS(City,State,andZIPCode) 7b ADDRESS(City,State,andZIPCode) Monterey,CA 93943 5000 Monterey,CA 93943-5000 8a.NAMEOFFUNDING/SPONSORING 8b.OFFICESYMBOL 9 PROCUREMENTINSTRUMENTIDENTIFICATIONNUMBER ORGANIZATION (Ifapplicable) 8c.ADDRESS(City,State,andZIPCode) 10 SOURCEOF FUNDINGNUMBERS ProgramElementNo ProjectNo TaskNo Work UnitAccession Number 11 TITLE(IncludeSecurityClassification) ANAPPROACHTOINTEGRATIONOFREAL-TIMESOFTWAREFORANAUTONOMOUSUNDERWATERVEHICLE 12 PERSONALAUTHOR(S) Leatherman, Brent,L. 13a TYPEOFREPORT 13b.TIMECOVERED 14 DATEOFREPORT(year,month,day) 15 PAGECOUNT Master'sThesis From To June 1991 76 16 SUPPLEMENTARY NOTATION TheviewsexpressedinthisthesisarethoseoftheauthoranddonotreflecttheofficialpolicyorpositionoftheDepartmentofDefenseortheU.S. Government. 17 COSATICODES 18 SUBJECTTERMS(continueonreverseifnecessaryandidentifybyblocknumber) FIELD GROUP SUBGROUP Real-time, multi-tasking, RateMonotonicScheduling,AUV 19 ABSTRACT(continueonreverseifnecessaryandidentifybyblocknumber) TheNavalPostgraduateSchool(NPS)iscurrentlyinvolvedinalongtermprojecttoinvestigateanddevelopreal-timesoftwareforcommandand controlofAutonomousUnderwaterVehicles(AUV).Insupportofthisgoal,NPSiscurrentlydesigningandfabricatingatestbedAUV. This thesisdescribesthedesigndevelopment,andtestingofareal-timeschedulingsoftwarepackagetoactasthetoplayerofcontrolsoftwareforthe AUV.Alsodiscussedarethevariousreal-timeschedulingpoliciesavailablealongwiththefeaturesoftheassignedoperatingsystemthatallow theimplementationofthescheduler. 20 DISTRIBUTION/AVAILABILITYOFABSTRACT 21 ABSTRACTSECURITYCLASSIFICATION J UNCLASSIFIED/UNLIMITED J SAMEASREPORT J DTICUSERS Unclassified 22a NAMEOFRESPONSIBLE INDIVIDUAL 22b TELEPHONE(IncludeAreacode) 22c OFFICESYMBOL ShridharShukla (408)647-2057 EC/Sh DD FORM 1473.84 MAR 83APReditionmaybeuseduntilexhausted SECURITYCLASSIFICATIONOFTHISPAGE Allothereditionsareobsolete Unclassified Approved for public release; distribution is unlimited AN APPROACH TO INTEGRATION OF REAL-TIME SOFTWARE FOR AN AUTONOMOUS UNDERWATER VEHICLE by Brent Lee Leatherman Lieutenant, United States Navy B.S., University of Florida Submitted in partial fulfillment of the required of degree for MASTER OF SCIENCE IN ELECTRICAL ENGINEERING from the
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