Development of Underwater Interfacing System

In this paper, the aim of a novel underwater interfacing system research is introduced. The composition, interfacing process and operation strategy of the new interfacing apparatus of a 6 DOF dynamic positioning DSRV are presented. The calculating method of interfacing manipulators' position and orientation is given. Three level control, namely, PC computer, primary and secondary 8098 microprocessors, is adopted. Prototype of the new type underwater interfacing apparatus was produced, and was integrated with a dynamic positioning model vehicle. Using the model, interfacing experiments in calm water, in current, with and without notable longitudinal and lateral inclinations were performed. The results show that the underwater interfacing apparatus is feasible.