Human-Interactive Simulation And Display Of An Underwater Remotely Operated Vehicle

Royer, Thierry

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Human-Interactive Simulation And Display Of An Underwater Remotely Operated Vehicle

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Personal Author:

Royer, Thierry
NOAA Program & Office:

OAR (Oceanic and Atmospheric Research) ; Sea Grant

OAR (Oceanic and Atmospheric Research) ; Sea Grant Less -
Sea Grant Program:

MIT (MIT Sea Grant)
Description:

A simulator for an undersea ROV (remotely operated vehicle) can provide an important alternative to the use of a real vehicle for training operators and testing new control methods. The simulator described here comprises four modules working in parallel: a dynamic model of the vehicle, a static model for the shape and tension of the tether, a graphics display, and an environment emulator. The graphics program represents a simplified environment composed of an offshore structure (4 columns and 4 transverse bars), a pipe-line, and a wellhead. The environment emulator detects and signals collisions. The design of this program allows easy change within the modules, and inexpensive implementation on a multi microcomputer system. The goal of this thesis is to provide a framework for future developments in underwater vehicle simulation.
Series:

MITSG ; 85-29TN
Sea Grant Document Number:

MIT-T-85-003
Document Type:

Technical Report
Funding:

Grant no. NA84AA-D-00046
Rights Information:

Public Domain
Compliance:

Library
Main Document Checksum:

[+]

urn:sha256:fe5ebd56ebd777da541c388282a5a461580605c6f07ef655ffdeb06efafb30b0
Download URL:

https://repository.library.noaa.gov/view/noaa/42171/noaa_42171_DS1.pdf
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Human-Interactive Simulation And Display Of An Underwater Remotely Operated Vehicle

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