수중작업로봇 운영과 훈련을 위한 증강현실 및 가상현실 기술 개발

Abstract

ROV (Remotely Operated underwater Vehicle) and Underwater Working Devices are controlled and operated by well-trained operator with the help of many sensors and monitoring cameras. Because the operator cannot directly observe the working situation, he should depend on the sensor information and video image from the monitoring system that is attached on the ROV or underwater device. Furthermore, in usual case, the way of displaying the sensor information may be 2 dimensional or text-based. It means that operators have limitation in getting information on the status of ROV through the typical monitoring system. Therefore it is very important to provide operators with sufficient training so that they are able to take an appropriate countermeasure in a variety of urgent situations at sea. In this paper, we introduce the implementation result of a Part-Task ROV simulator by the use of various Modeling and Simulation techniques, after discussing the preliminary design of a ROV Full-Mission simulator including dynamic model, digital mock-up, and the integration between the simulator and a ROV Man-Machine-Interface.