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



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Details

  • Personal Author:
    Royer, Thierry
  • NOAA Program & Office:
  • 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:
  • File Type:
    Filetype[PDF - 9.53 MB ]
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