穨國立中山大學學位論文典藏.PDF

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1 1.1 Virtual Reality ; VR (sensors) (actuators) (Remotely Operated Vehicle ; ROV ) (Manned Submersible) (Autonomous Underwater VehicleAUV) 1999 ROV 1994 MBARI ( Monterey Bay Aquarium Research Institute ) 4 JAMSTEC 11000m 1994 (Self regulating) 1

2 PID 1963 Ivan Sutherland 1973 Bui-Tuong Phong (Realism) 199 Curtis Pavel (Multi-User) 1990 Richard Babb 1996 Barbara Fletcher Stewart Harris ROV

3 1.3 (Underwater Vehicle) 1997ROV 1995 ROV 78 ROV Deep Sea MiniRover MK DOF 30 kg 150 m (Magnetic flux-gate Compass) (Pressure Transponder) ROV (LXT Tracking System) (Global Positioning System) (Motion Sensor) (Gyro Compass) ROV ROV (Multibeam Echo Sounder) ROV ROV 3

4 ROV 4

5 -1 Virtual Reality Virtual Reality Joe Gradeck(1995) The Virtual Reality Programmers Kit Virtual Reality Ivan E. Sutherland 1965 The Ultimate Display Ivan The Ultimate Display ---The Ultimate Display would be a room within which the computer can control the existence of matter. Such a display could literally be the Wonderland into which Alice walked 60 The Ultimate Display 5

6 Virtual Reality(VR)Artificial Reality(AR) Cyberspace Artificial Reality Myron Krueger 1983 Cyberspace William Gibson (1984) Neuromancer Virtual Reality 1989 VPL Research Jaron Lanier ( 1996) Three I Three I 1. Immersion. Interaction 3. Imagination Three I.1 6

7 .1 Three I - / 1. Desktop VR (Windows on World) 3D Sega Saturn VR ROV. Immersion VR 3D (Head Mounted DisplayHMD) HMD 7

8 3. Project VR 4. Simulator VR F Central Processing Unit Pentium Microsoft Windows 95 or NT MB SRAM 3MB 100MB / 8

9 -3- ( ) 1. (Position Tracker) (force feed-back data-glove) (force feed-back arm)3d. 3D 3D 3D 3D 9

10 -3-3 3D 1. (1) (Graphic-Based VR)() (Image-Based VR)(3) (Hybrid-VR) (1) Geometry-Based VR 3D 3D Max AutoCAD SENSE 8 World UP () 10

11 360 3D Graphics

12 (3).4.4 1

13 . Sense 8 Would UP World UP Script Microsoft Visual Basic 6.0 ROV Visual Basic 6.0 I/O data -3-4 World UP World UP SENSE 8 World UP (1) ; () ; (3) ; (4) ; (5) ; (6) / ; (7) *.dxf*.wrl*.3ds*.nff*.bff*.obj*.flt ; (8) Visual Basic Script Language ; (9) Script Debugger Script ; (10) 13

14 (Sense 8,1997).5 World UP (GUI).5 World UP -4 14

15 (Virtual Cockpits) 1. (CT) (MRI) (Ultrasonic) (Ben, 1998). (wind tunnel) (Murphy, 1998) CAD CAM NASA NASA VR NASA (Hancock, 1993) 80 CPUMemoryIO 80 (Graphic User InterfaceGUI) 15

16 90 PC PC MPC VRPC -5 ROV ROV ROV ROV ROV ROV ROV ROV ROV 16

17 ROV.6 GPS ROV GPS OR III.6 GPS 17

18 MiniRover MK ( )( 1999) 3.1 GPS.6 GPS ROV I ROV

19 (1) () (3) (1) (Long Baseline Acoustic SystemLBL) (Hydrophone) (Transducer)

20 Heriot-Watt 1978 ANGUS (Holmes et al., 1978) 3. R1RR3 x, y, z ) ( t t t ( i i i x, y, z ) i =1~ 3 3. LBL 0

21 Cestone 1977 (Least Squares Adjustment) () (Short Baseline Acoustic SystemSBL) (Hydrophone) 5~0m (Transponder) (Beacon) 3.3 (range / bearing) SBL ( 1999) R1RR3 3.3 SBL 1

22 (3) (Super Short Baseline Acoustic SystemSSBL) 1970 (Ultra Short Baseline) 33mm SSBL SSBL SSBL (portable) (Abbott,199) 3.4 SSBL 3- Mini Rover MK (Remotely Operated VehicleROV)

23 ; 78 3 BENTHOS ROV DEEP SEA MiniRover MK m MiniRover MK (control console) 3

24 3. (hand control box) (joystick) (rotary switch) (on/off switch) (zero offset control) : (Dual range switches) Mini Rover MK 4

25 1 3.6 MiniROVER MK CPU Pentium 333 Microsoft Windows 98 18MB RAM 6GB 3D ( Win Fast 3D L300 8MB SGRAM) / (A/D Card) Advantech 5

26 PCL-818H GPS W-00 RS-3 Serial Card ~5 PCL-818H 60Hz 3.7 MiniRover MKII MOLEX 1PIN 0~5 0~305 0~5 0~

27 3-3-3 (Global Positioning System ; GPS) 007 GPS GPS SA(Selective Availability) 10~30 Sextant ( ) ( ) GPS 4 GPS (Differential Global Positioning System ; DGPS) C/A 7

28 GPS DGPS 3.8 DGPS DGPS 1 (5~10cm) (Real Time Kinematic Positioning ; RTK) 10Km DGPS ( 1998) 3.8 Real Time DGPS 1998 GPS 1.5 Giga Hertz GPS(Coudeville et al., 1998) DGPS ( RTK) ORE International LXT Tracking System 8

29 DGPS RTK WGS84 TM TM GPS ASHTECH Z1 TM GPS Receive RS-3-C (1999) DGPS ASHTECH Z1 TM 0.393m0.3764m m m GPS (ORE International LXT Tracking System) RS-3-C LXT α (Bearing Angle) β(depression Angle) Slant Range ( SR )α, β SR RS3 LXT ( X, Y ) HR = SR cos β 6 β 90 HR = SR h or = SR cos(sin 1 h SR ), 0 β 6 9

30 X = HR cosα Y = HR sin α h HR LXT 1500 m/sec Slant Range ± 1 meter α (Bearing Angle) ± (Motion Sensor) (Roll) (Pitch) (Yaw) (Heave) (Accelerometer) (Angular rate sensor) TSS DMS-05 7 ASCII Baud rate

31 (Gyro Compass) (Spin axis) (Spin) (Horizontal-axis) (Title) (Vertical axis) Sperry SR-180 Gyrocompass Sperry SR-180 Gyrocompass ± 0.1 RS-3 ~10 31

32 VR GPS 4.1 PCL-818H DGM3.5 TM TM Duff Figurative Operative Knowledge Exploration 3

33 LXT GPS Gyro Compass Motion sensor RS-3-C RS-3-C RS-3-C RS-3-C PCL-818H PCL-818H LXT GPS Gyro- Compass Motion Sensor ROV ROV ROV ROV ROV ROV ROV 4.1 DOS 70 33

34 80 Windows 95 (Graphic User InterfaceGUI) (Multimedia user Interface) PC

35 4-4. Microsoft Visual Basic Visual Basic VB Basic DOS Quick Basic Visual Basic 6.0 Windows RS-3 (Functions) Windows VB 6.0 PCL-818H Card GPS LXT TSS DMS-05 Sperry SR-180 Gyrocompass PCL-818H GPS LXT TSS DMS-05 Sperry SR-180Gyrocompass

36 ROV TM 4. 36

37 Gyro Motion LXT GPS PCL-818H Gyro Motion LXT GPS PCL-818H (connector) (pin). (level) 3. ( format ) (timing) 79 37

38 ( Parallel port ) ( Serial port ) Bits Bits 11 Multi-wire link ( ) EIA ( Electronic Industries Association )1969 RS-3-C ( RS Recommended Standard 3 C )RS-3-C (DTE) (DCE) DTE CRT DCE MODEM DCE COM1 COM RS-3-C GPS RS-3-C I / O Connector COM I / O PIN 17RS-3 RXD 38

39 5PIN PIN ( TXD ) I / O PIN 18RS-3 TXD 5PIN PIN 3 ( RXD ) I / O PIN 19SG 5PIN PIN 7(SG ) Null Modem 4.4 Null Modem TXDRXD SG (handshaking) LXT 5Pin Com Null Modem 4-- PCL-818H / / PCL -818H PCL-818H Card 39

40 PCL-818H Card 1. SW3( ) I/O Address Range PCL-818H 16 I/O Address PCL-818H PCL-818H I/O Address PCL-818H I/O Address 300H. SW5 (DIF) 16 (S/E) PCL-818H DIF 3. SW6( ) PCL-818H 4. SW6 SW4(Local ) PCL-818H PCL-818H I/O Address (IRQ) Windows TSS DMS-05Sperry SR-180 Gyrocompass 5~7 GPS ROV PCL-818H (A/D) 40

41 0.1 / 1~1. GPS GPS ROV ROV 1~1.5 (Extrapolation) 4.5 X X X X1 = T T1 X X1 T T1 X 1 X T T1 = X1 X T T ( X 1) T 1 T T GPS

42 LXT ROV (X,Y) ROV (Z) GPS (Xa,Ya,Za) Roll,Pitch,Yaw ( (f,?,?) ) Yaw(?) (e) Roll,Pitch,Yaw T(f,?,?) ( ) GPS WGS84 WGS84 TM (N,E) ROV (X',Y',Z') ROV (X'N,Y'E) ROV (Xv,Yv,Zv) 4.6 ROV :LXT ROV LXT Z ( ) ( ) : GPS 4.7 ( )GPS X, Y, Z X = HR cosα Y = HR sin α a a a 4

43 GPS ( ) LXT 4.7 LXT 4.7 RollPitchYaw Heave Yaw(ψ)Roll(φ) Pitch(θ) 4.8 TM N ( ) Gyro Compass ± 0.1 ROV Q = XI YJ ZK = X i Y j Z k ( X, Y, Z ) ( X, Y, Z ) 43

44 44 I, J, K i, j, k ), ( φ,θ ψ T,, = = θ φ θ φ φ θ φ ψ θ ψ θ φ ψ θ ψ φ ψ θ φ ψ θ ψ θ φ ψ θ ψ φ ψ θ θ θ θ φ φ φ φ ψ ψ ψ ψ θ φ ψ c c s c s c s s s c s s s c c c s c s c s s s s c c s c c c s s c c s s c c s s c T ) ( ψ s ψ sin ψ c ψ cos ( Z Y X,, ) = a a a Z Z Y Y X X T Z Y X ( θ) φ ψ,, : GPS GPS WGS 84 ( H,λ, ϕ ) (TM ) (UTM) GPS WGS 84 GRS ( 1999)

45 Transverse Mercator projection (TM ) ( ϕ, λ, H) ( ϕ, λ, H) ( X, Y, Z) ( X, Y, Z) ( N, E ) GPS ( ϕ,λ, H ) X, Y, Z X = ( N H ) cosϕcosλ Y = ( N H) cosϕ sin λ Z = ( N ( 1 e ) H ) sin ϕ N a =, a 1/ ( 1 sin ϕ) e b = a( 1 f ), b, f e = ( a b a ) 1 / WGS 84 ( X, Y, Z ) Molodensky-Badekas GRS-67( X, Y, Z ) X Y Z GRS67 = X Y Z X Y Z m m m WGS84 X X (1 s) R Y Y Z Z m m m WGS84 X, Y, Z 45

46 46 R X Y X Z Y Z ε ε ε ε ε ε s m m m Z Y X,, WGS sec sec sec = = = = = = = = = = S radian radian radian m Z m Y m X z y x ε ε ε GRS 67( Z Y X,, ) GRS67( H,,λ ϕ ) N P H a e P b Z X Y = = = cos ) cos sin ( tan ) ( tan ϕ µ µ ε ϕ λ 1 1 e 1 a N b P a Z Y X P / ) sin (, ) ( tan, ϕ µ = = = b b a a b a e f a b 1/ 1/ ) (, ) (, ) 1 ( = = = ε GRS 67 ( H,,λ ϕ ) TM ( E N, )

47 47 = ) ( cos ) (5 10 cos ) (1 6 cos cos t t t t t t t t t N K W E s ϕ λ η η η η η η ϕ λ η ϕ λ ϕ λ = ) ( cos sin ) ( cos sin ) ( cos sin cos sin t 543t 311t t 19 t t t 70 t 58t t 5 4 N S N K N ϕ ϕ λ η η η η η η η η ϕ ϕ λ η η ϕ ϕ λ ϕ ϕ λ ϕ 0 K TM s W TM 50,000 m a e 1 a N 1, ) sin ( / ϕ = b a b a e, = λ TM 11 cos tan b b a t = = =,, ε ϕ ε η ϕ [ ] ) 8 sin( ) 6 sin( ) 4 sin( ) sin( ϕ ϕ ϕ ϕ ϕ ϕ A A A A A a S == ) 3 41 ( ) ( ) ( e A e e A e e e A e e e e A e e e e A = = = = =

48 : RollPitch Yaw ROV X N ROV TM ( N, E ) X Y Z v v v = X N Y E Z GPS ( N, E ) Z Z ( 1998) 4-3 VB ROV TM DGM3 ( ).5 TM ROV ROV ROV 4.10 ROV 3D BENTHOS Openframe ROV 48

49 4-3-1 World UP (RollPitchYaw) X Y Z 4.1 ( ) TM TM N E TM TM N Z E X Y N =Z E =X =Y 4.11 TM N E ( 0. )

50 4.1 ( ) X>0 X<0 Y>0 Y<0 Z>0 Z<0 TM N E H ( ) ( ) 50

51 / RESON SeaBat ( ). ( ).5( ) (1) () TM 3D Studio DGM3.5D ( 1999) (NEDepth) (Yaw) VB N 51

52 EDepth Yaw VR Dynamic Link Library (DLL ) Write/Read File TCP/IP UDP Write/Read File Network Write/Read File Network 4.1 NEDepthYaw VB File VR 4.1 (deadlock) conversion deadlock ( ) (shared lock) ( ) deadlock

53 53 ( ) 4.13 (viewpoint) World UP Script ROV

54 (ROV 1 )

55 4.15 3D Level of Detail Area of Interest Zone Level of Detail LOD LOD. Area of Interest AOI 3D 3. Zone 55

56 4.16 A A B ABC A A C B B 4.16 Zone 3D 9~1 0.7~1 3D block 3D ( ) 56

57 ~ ~ : MiniROVER MK Pentium 333 PCL-818H W00 RS-3 Serial Card LXT ASHTECH-1 TM GPS Receiver Sperry SR-180 Gyrocompass TSS DMS-05 Windows 98 World UP Visual Basic 6.0 ROV 1.67m 1.45m 1.45m ( ) 1. GPS (GPS Real Time Kinematic Positioning : RTK ). GPS 57

58 3. ( Yaw ) (Roll) (Pitch) 0 6. LXT (Hydrophone) GPS 7. ROV (0.089) Slant RangeDepression Bearing Angle 3 ( ) 4 ( ) 58

59 (LXT) LXT Slant Range(SR) SR 4.69m mSlant Range 1500m/s ± m (m) ( sec) 5.3 Slant Range 59

60 LXT Depression Angle Bearing Angle LXT Depression Angle Bearing Angle Depression Angle Bearing Angle ( Sec) ( sec) m1.45m1.45m m m ROV 8.5 m

61 (m) (times) m m (m) (times ( ) ROV.1m 8m

62 8m m.1m m (m) (times) m m ROV.1m ROV ROV ROV.1m

63 (m) (times) m.1m m m (m) (times)

64 1. Sperry SR-180 Gyrocompass 0.1º. ASHTECH 1 TM GPS Receiver RTK (1 th QD) (3 th QD) 4. MiniRover ( 1 ) 5. (0.4~0.9) m (GPSLXT Gryo compass) 6. 3~ ROV 3D 5.13 VR 64

65 ROV 3D 5.14 VR (: ) 65

66 ~0.9 m ROV ROV ROV ROV ROV 3~5 ; (1 ) ( CPU ) 3D 3D ROV 66

67 6- ROV ROV ROV VR ROV VR Based ROV ROV Nina Adams (learning by doing) ( 3~6 ) 10 ROV ROV ROV (Head Mount DisplayHMD) (data glove) (position tracker) 67

68 ROV ROV ROV video ROV video 4. ROV 5. ROV ROV ROV 6. 68

69 (1999) 4-9 (1980)RS-3-C (1979) (1998) (1996) VR (1997) GPS (1995) (1999) (1999) (000) - (1997) 69

70 (1998) (1994) (1998) (1999) Abbott, V. J. and Ingham, A. E. (199), HYDROGRAP HY for the Surveyor and Engineer, Blackwell Scientific Publications. Advantech. Inc, PCL-818H User Manual. Babb, R. (1990), AUV Navigation for Underwater Scientific Surveys, Sea technology, No. 1. BENTHOS. (1988), MiniROVER MKUser Manual. Cestone, J.A. et al. (1977), Latest Highlights in Acoustic Underwater Navigation, J. Inst. Navigation, Vol. 4, No.1, pp.7~39. Coudeville, J. M. and Thomas, H. (1998), A Primer: Using GPS Underwater, Sea Technology, pp.31~33. Curtis and Pavel (199), Mudding: social phenomena in text-based virtual realities, Technical report. 70

71 Delaney, B. (1998), Imaging in medicine--here's looking in you, kid, IEEE Computer Graphics and Applications. Duff, K. (1990), HR-Link: An HRIS from Apple Canada, Personnel Journal, Vol. 67. Fletcher, B. and Harris, S. (1996), Development of a Virtual Environment Based Training System for ROV Pilots, Oceans 96 MTS/IEEE Conf. Proceedings, pp Gradeck, J. (1995), The Virtual Reality Programmers Kit. Hancock, D. (1993), Prototyping the Hubble fix, IEEE Spectrum. Holmes, R. T. and Dunbar, R. M. (1978), Operational Experience with the Remotely Manned ANGUS submersibles, Proc. 10 th Ann. Offshore Tech. Conf., Vol. 3, pp.1577~1588. Larson, M. (1999), Virtual Reality Training Stalls, Quality, Vol. 38. Mewman, J. B. and Robison, B. H. (1994), Development of a Dedicated ROV for Ocean Science, Monterey Bay Aquarium Research Institute. Murphy, T. (1998), Room for two, Ward's Auto World Nomoto, M. and Hattori, M. (1986), A Deep ROV DOPHIN 3K : Designed Performance Analysis, IEEE J. Ocean Eng., Vol. OE-11, No. 3, pp O.R.E International Inc. (1996), Operation and Maintenance Manual for the 71

72 ORE International. Phong, B. T. (1973), Illumination for computer-generated images, Ph.D. Thesis, Dept. of Electrical Engineering, University of Utah.. Reson Inc. (1996), SeaBat 604 Operators Manual. Sense 8 Corporation (1997), World UP User s Guide. Sperry Marine Inc.(1997), Sperry SR-180 Gyrocompass system manual. Stewart, P. (1999), Putting people power into virtual reality, Mechanical Engineering. Sutherland, I. E. (1963), Sketchpad a man-machine graphical communication system, Massachusetts Institute of Technology Press. TSS UK Ltd (1997), RP Series Roll-Pitch Sensor System Manual

第 1 期常壮等 : 基于 RS-485 总线的舰船损管训练平台控系统研究 87 能 : 1) 损管基本理论的学习帮助舰员熟悉舰艇舱室相关规章制度损管施分布和使用不沉性文件等 ) 损管

第 1 期常壮等 : 基于 RS-485 总线的舰船损管训练平台控系统研究 87 能 : 1) 损管基本理论的学习帮助舰员熟悉舰艇舱室相关规章制度损管施分布和使用不沉性文件等 ) 损管第 6 卷第 1 期 011 年月 Chinese 中国 Journal 舰 of船 Ship研 Research 究 Vol.6 No.1 Feb. 第 011 6 卷 doi: 10. 3969 / j. issn. 1673-3185. 011. 01. 017 基于 RS-485 总线的舰船损管训练平台控系统研究常壮 1 邱金水刘伯运 1

穨國立中山大學學位論文典藏.PDF

穨國立中山大學學位論文典藏.PDF