Marine Telepresence System
Master thesis
Permanent lenke
http://hdl.handle.net/11250/2350846Utgivelsesdato
2015Metadata
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- Institutt for marin teknikk [3472]
Sammendrag
Maneuvering remotely operated vehicles (ROV) can be challenging, especially whenthe mission requires the use of a manipulator arm. Today such operations are usuallyconducted by two operators: a pilot in charge of keeping the position of the ROVand one operating the manipulator arm. This thesis proposes a telepresence headmountedsystem that allows the user to both have a rst-person perspective of theoperation and to control the vehicle position at the same time, leaving both handsfree.To accomplish the aforementioned goal, a head mounted display (HMD) calledOculus Rift is utilized. This device is equipped with sensors that track the usershead movement, and a display that can provide 3D images to the user as well assensor feedback, providing a small degree of augmented reality.A gesture based guidance and control system is designed: Gesture based guidancetransforms measured head movement to a speed reference, the control system thenensures that the vehicle follows the reference. Mathematical models that allow todesign control systems for the vehicles are also elaborated.The software solution for Oculus Rift and its interface with the vehicle controlsystems, along with technical specications and solutions for the equipment involvedis presented in the thesis.Simulations, hardware in the loop, model scale and full scale test are conductedto collect data, verify the system and establish conclusions about this technology.Model scale tests are conducted at the Marine Cybernetics laboratory at the Departmentof Marine Technology, with the model ship Cybership Enterprise 1, whilefull scale tests are performed with the NTNU ROV SUB-ghter 30k from deployedfrom R/V Gunnerus.Model and full scale tests shows that a head mounted display telepresence systemcan be successfully used to control and maneuver a ROV. The system is suggestedas an alternative way of conducting combined ROV - manipulator operations. Forthis purpose, further development and testing is needed.