3D Model of the Aries Autonomous Underwater Vehicle (AUV), Javadoc for Dynamics Software, AUV Mission-Visualization Workbench, and AUV Dynamics Control Workbench in Matlab
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Authors
Gruneisen, Adrien
Henriet, Yann
Subjects
NPS AUV Workbench: Reports
Autonomous Underwater Vehicle (AUV)
Control Algorithms
Virtual Reality Modeling Language (VRML)
Extensible 3D Graphics (X3D)
Autonomous Underwater Vehicle (AUV)
Control Algorithms
Virtual Reality Modeling Language (VRML)
Extensible 3D Graphics (X3D)
Advisors
Date of Issue
2002-10-21
Date
Publisher
Language
Abstract
Operating an Autonomous Underwater Vehicle (AUV) in real-world conditions is time consuming, expensive and prone to failure, because of the complexity of the tasks and of the machinery associated with AUV operations. A virtual world offers many advantages for testing and development of an AUV. The challenges are fewer and the barriers to practicing in a virtual world are less strenuous than in the hazardous undersea environment. Yet, it is still difficult work. This technical report details one approach to modeling AUV operations in a virtual world. A 3D Model of the research vehicle ARIES AUV was developed to provide more realistic visual simulation capabilities using commercial 3D authoring tools. The model was then translated into Virtual Reality Modeling Language/X3D format for web portability and interactivity. Java code was developed and JavaDoc for Dynamics documentation was written to support the ongoing software development efforts at the Center for AUV Research. A preliminary integration of various tools used in mission planning and visualization, called the AUV Mission Visualization Workbench was developed to aid in mission planning and visualization. The workbench is a first pass on an integrated development environment and graphical user interface for multiple vehicle platforms, using dynamics algorithms and mission control planning tools. This work also included the integration of the AUV Dynamics Control Workbench in MATLAB.
Type
Technical Report
Description
This report has been produced by visiting fifth-year engineering students in support of NPS AUV research.
Series/Report No
Department
Mechanical Engineering
Organization
Identifiers
NPS Report Number
NPS-ME-02-005
Sponsors
Funder
Format
Citation
Gruneisen, Adrien and Henriet, Yann, 3D Model of the Aries Autonomous Underwater Vehicle (AUV), Javadoc for Dynamics Software, AUV Mission-Visualization Workbench, and AUV Dynamics Control Workbench in Matlab, technical report NPS-ME-02-005, Naval Postgraduate School, Monterey California, October 2002.