Visual-haptic feedback for ROV subsea navigation control
Visual-haptic feedback for ROV subsea navigation control
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DOI：
10.1016/j.autcon.2023.104987
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发表时间：
2023-10
影响因子：
10.3
通讯作者：
Pengxiang Xia;Hengxu You;Jing Du
中科院分区：
文献类型：
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作者：
Pengxiang Xia;Hengxu You;Jing Du
水下工程作业，包括水下检查、安装和维护，在很大程度上依赖于遥控潜水器（ROV）和操作人员之间的无缝交互。由于海底环境的动态性，如湍流的不确定性、受影响的能见度和对海底生态系统的干扰，海底湍流控制一直是人类操作员面临的巨大挑战。与地面工程相比，水下工程任务通常是在有限的视野内完成的，存在漂移和定位问题。然而，传统的远程监控反馈系统，即实时视频流，不能提供对远程监控工作空间的直接和直观的感知以及对工作空间不确定性的清晰指示。因此，本研究提出一个虚拟现实增强视觉反馈系统与触觉模拟器产生身临其境，直观和有效的反馈人类操作员。该系统可以基于传感数据生成视觉和触觉反馈作为流动状况的指示。通过人体实验验证了该系统的有效性。结果表明，该系统可以显着地帮助人类操作员在prepepcepting在一个更沉浸和直观的方式在工作空间的流动条件。
Subsea engineering operations, including subsea inspection, installation and maintenance, heavily rely on the seamless interaction between remotely operated vehicles (ROV) and human operators. Subsea ROV control has always been a great challenge to human operators due to the dynamics of the subsea environment such as uncertainty of turbulence, affected visibility and interference with subsea ecosystems. Compared to engineering work on the ground, subsea engineering tasks are usually finished in a limited vision field with drift and localization problems. However, the traditional ROV feedback system, the live video streaming, cannot provide direct and intuitive perceptions of remote ROV workspace as well as a clear indication of the workspace uncertainties. Therefore, this research proposes a Virtual Reality augmented visual feedback system with haptic simulators to generate immersive, intuitive and effective feedback for human operators. The system can generate visual and haptic feedback as indications of flow conditions based on sensory data. A human subject experiment was performed to verify the effectiveness of this system. The result indicated that this system could significantly assist human operators in precepting the flow conditions in the ROV workspace in a more immersive and intuitive way.