Modular Electrical Control System for Small Scale Underwater Vehicles

In this paper we present a modular integrated electrical control system hardware for small scale underwater vehicles to implement underwater researches and substitute human roles in the hard environments. This system is fully compatible to implement new designs with not much change in the whole system. We also introduce a new bus system for this kind of vehicles that is eligible to perform all the needed necessities. Additionally, the paper proposes an algorithm and an operation chart on a proper microcontroller controlled Remotely Operated Vehicle (ROV) motion.