fig7
![Developing and testing a remotely operated vehicle with a seven-function manipulator](https://image.oaes.cc/3a66bb2e-c57d-4826-b8cf-2a17c3479537/4683.fig.7.jpg)
Figure 7. The hierarchical control software architecture. ROV: Remotely operated vehicle; INS: inertial navigation system; LED: light-emitting diode.
Figure 7. The hierarchical control software architecture. ROV: Remotely operated vehicle; INS: inertial navigation system; LED: light-emitting diode.
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