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A Study on the Digital Twin Modeling of an Underwater Tracked Vehicle Based on the Multibody Dynamics다물체동역학 기반의 수중트랙차량 디지털 트윈 모델링 연구
- Other Titles
- 다물체동역학 기반의 수중트랙차량 디지털 트윈 모델링 연구
- Authors
- Han, J.-B.; Park, D.; Yeu, T.-K.; Jung, J.; Lee, Y.
- Issue Date
- 5월-2022
- Publisher
- Institute of Control, Robotics and Systems
- Keywords
- Cyber physics system; Digital twin; Multibody dynamics; Underwater tracked vehicle; Virtual sensor
- Citation
- Journal of Institute of Control, Robotics and Systems, v.28, no.5, pp 427 - 435
- Pages
- 9
- Journal Title
- Journal of Institute of Control, Robotics and Systems
- Volume
- 28
- Number
- 5
- Start Page
- 427
- End Page
- 435
- ISSN
- 1976-5622
- Abstract
- In the field of underwater robots, Remotely Operated Vehicle (ROV) operators are seriously affected by the possibility of remote control by dust generated during submarine work. Thus, research on Cyber-Physical Operation Systems (CPOSs) has been conducted to improve remote controllability. The CPOS consists of a real-time physical engine, real-time visualization with VR, and Human-in-the-loop simulation. The purpose of this paper is to study the digital twin modeling of a real-time physics engine for a CPOS. Accordingly, a thorough analysis of an ROV's dynamic modeling based on multibody dynamics and their controller, which include velocity and attitude control, was conducted. Additionally, a virtual sensor model of multibeam echosounder (MBES) to be integrated with the digital twin model was developed and co-simulated. ？ ICROS 2022.
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