碩士 / 國立臺灣海洋大學 / 資訊工程學系 / 107 / Remotely Operated Underwater Vehicles(ROVs) are widely used to perform underwater missions. In deep sea environments, ROVs are subject to a variety of environmental factors, such as currents, terrain obstacles, poor visibility, etc. When operators are not familiar with these, the situation can make the task difficult to perform. Furthermore, the ROV equipment is too expensive, the cost of performing a task is too high. To avoid equipment damage and reduce time costs, operators must be more familiar with the task procedure and operation. Therefore, the purpose of this thesis is to use Game Programing method to build a real-time ROV motion simulator that includes the three engines - Physics Engine, AI Engine and Graphics Engine.
In the part of the artificial intelligence engine. In order to realize an operating system that can convert instruction to action, this study uses the Proportional – Integral – Derivative controller to input the user's command or joystick signal as a parameter. Then using Inverse Kinematic to calculate the force between multiple thrusters and converts them into a "Propeller Vector".
In the part of physics engine. First, we use voxel based method to calculates hydrostatics force parameter such as mass, volume, and tensor of inertia. Second, to compute hydrodynamics, this paper use the propeller vector calculated by artificial intelligence engine to sums force and torque. Then using empirical formula to compute drag. In the end of physics engine, using kinematics formulas to update ROV’s parameter and make ROV animated.
Finally, through the graphics engine and the human-machine interface, the above contents are displayed to the user. With this simulator, we can provide users for operating training simulations, pre-departure exercise, and any other purpose.
| Identifer | oai:union.ndltd.org:TW/107NTOU5394014 |
| Date | January 2019 |
| Creators | Chou, Chieh-Shih, 周杰士 |
| Contributors | Ueng, Shyh-Kuang, 翁世光 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 58 |
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