模块化潜水器YellowCube采用点对点通信，提升任务适应性与系统可靠性。
Design and Implementation of a Peer-to-Peer Communication, Modular and Decentral YellowCube UUV
- 模块间采用点对点通信，摆脱中心化架构依赖。
- 实验室与海试验证了系统稳定性和多任务适应能力。
- 适合需要灵活配置传感器的海洋科研与工程应用。
水下无人航行器（UUV）是海上工程和海洋研究的关键工具。现有大多数UUV难以便捷集成新或升级的传感器。本文提出并实现了一种名为YellowCube的模块化、去中心化UUV系统。不同于其他模块化水下车辆采用的集中式软件架构，本系统在各模块间实现了点对点（P2P）通信机制。通过实验室测试与海上试验，验证了该UUV在性能上的可靠性与灵活性，证明其能有效支持不同任务需求下的传感器快速更换与协同工作。
原文摘要 · Abstract (English)
The underwater Unmanned Vehicles(UUVs) are pivot tools for offshore engineering and oceanographic research. Most existing UUVs do not facilitate easy integration of new or upgraded sensors. A solution to this problem is to have a modular UUV system with changeable payload sections capable of carrying different sensor to suite different missions. The design and implementation of a modular and decentral UUV named YellowCube is presented in the paper. Instead a centralised software architecture which is adopted by the other modular underwater vehicles designs, a Peer-To-Peer(P2P) communication mechanism is implemented among the UUV's modules. The experiments in the laboratory and sea trials have been executed to verify the performances of the UUV.
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