Intelligent Virtual System for Underwater Vehicle Piloting using Unity™

Cheng Siong Chin

• Publisher: CRC Press
• Year: 2020
• ISBN:
  9781000295719
• Edition: 1
• Topic: Computer Science
• Subtopic: Computer Engineering
• Index: Computer Science

This book supports readers in the development of a remotely operated vehicle (ROV) pilot training simulator by exploiting open-source or free gaming software and emphasizing the importance of using established and widely-available game design techniques to provide engaging scenarios for ROV training developers and trainees. There is no such book to guide the users to create an open-source virtual simulator for pilot training in the marine and offshore industry. This book can be used as a reference for undergraduate and postgraduate students, engineers, researchers, and lecturers in VR simulation using UnityTM as the leading software.

Some of the key features of the book include:

• Step-by-step procedures in development ROV pilot training simulator

• Use of open-source software UnityTM that is freely available to all readers

• The codes used in the book are self-sufficient as there are no codes hidden from readers

1

Introduction to Unity^TM

1.1 Introduction

The demand for remotely operated vehicles (ROVs) [1] has increased extensively over the years due to their ability to carry out a search operation in environments that are beyond human capabilities. With advanced technologies, these underwater vehicles can travel more than 3000 m deep into the ocean for pipeline inspection and cable laying, making them a valuable asset for the offshore industry. The ROV controlled by a pilot on board a vessel relies on limited data received from underwater sensors. Hence, operating the ROV in an uncertain underwater environment is quite challenging for novice pilots who have little experience and knowledge. Moreover, it puts the ROV and surrounding equipment and environment at a higher risk [2]. Although a high level of skills is required for operating the ROV, pilot training is still conducted on-the-job basis [3]. A safe alternative to using a simulated-based pilot training system [3,4 and 5] was used. Based on the ROV mission requirements, various operating conditions and vehicle configurations can be constructed in the virtual world [6 and 7]. Pilot trainees can pick up skills and knowledge in a safe, conducive and low-pressure learning environment assisted with training guides [8].

Following Det Norske Veritas (DNV) standard [9] for maritime simulator systems for ROV operation, there are three levels of performance capabilities for ROV simulators. They are

• ROV Class A (a full mission that is capable of simulating a realistic physics engine and creates an accurate visual representation with a fit for purpose graphics engine)
• ROV Class B (multi-task that can simulate a quasi-realistic physics engine and creates a suitable visual representation)
• ROV Class C (limited task where the performance is defined on a case by case basis).

The Class A simulators provide a higher visual fidelity with an actual environment interface as compared to Class B and C simulators. As a result, there are different types of simulation software available in the market that provide advanced simulated-based training for commercial ROV operators. The current list of simulation software for ROV is not intended to be exhaustive. For example, Offshore Simulator Centre (OSC), DeepWorks ROV by Fugro [10], ROVsim² Pro by Marine Simulation [11], Virtual ROV (VROV) by GRI Simulations [12], UnderWater SIMulator (UWSim) [13], Kelpie [14], and CO₃-AUVs [15] are quite commonly used. These simulators offer a broad range of mission configurations with high accuracy of physics simulation, open source or freely available to the developer, and support external sensor interface and graphic simulation. Table 1.1 shows the application and main features of different simulation platforms.

TABLE 1.1
Applications and Features of Different Commercial Simulators for ROV and Marine Vehicles

Simulation Software	Applications	Features
Offshore Simulator Centre (OSC)	ROV simulator Crane simulator Onshore mission control	Use graphics engine (Unity3D) New real physics engine Subsea integrated simulator
DeepWorks	ROV operator training Tooling development Deployment rehearsal	Full sonar simulation Pilot training metrics Advanced hydraulic and electric ROV components Console and vessel integration option
ROVsim^2 Pro	Near shore, coastal, and inland marine operation training	Integration of scanning SONAR simulator Variety of ROV tool Wide range of mission scenarios Originated from video game industry
Virtual ROV	Mission planning and rehearsal Search and recovery Military Control system design support	Provides high fidelity of dynamic interaction Provides a broad range of ROV tooling Able to simulate complex operation
UWSim	Underwater vehicles with/without robotic manipulators Surface vessels simulator	Open-source supporting Robotic Operating System (ROS) framework, Blender rendering, and OpenSceneGraph (OSG) Multiple-ROV simulation Simulated sensors Support physics simulation Network interfaces Support for customizable widgets
Kelpie	Multi-robot Water surface and aerial vehicles Surface vessels simulator	Open-source backed by OSG, OSG-Ocean library, OpenGL (Open Graphical Language), and ROS Provide physics engine using Bullet Physics software development kit (SDK)
CO3-AUVs	Robot Underwater vehicles	Open-source integrated with Unified System for Automation and Robot Simulation (USARSim) Provide physics engine using Bullet Physics SDK Use Open-Source 3D Graphics Engine (OGRE) as the rendering engine
VMAX ROV Simulator	Underwater vehicles Surface vessel simulator Crane simulator	Include asset integrity management software Include tether management and multi-function manipulator

Although there are many ROV or underwater vehicle simulators available in today’s market, as shown in Table 1.1, the cost to design and implement the ROV pilot simulator is quite high. Moreover, the developed simulation system could require a good knowledge of programming languages for software maintenance. Besides, the current commercial system requires the user interface or console to be mounted on the floor which has always limited the mobility of the system. Fortunately, the advances in consumer electronics such as mobile head-mounted displays, virtual reality (VR) Gear, Oculus Rift, and Vive improve the mobility and the human–machine interaction. A detailed comparison of various head-mounted displays for VR can be found in the following reference [16,17,18 and 19]. A joystick (Logitech Extreme 3D Pro Joystick) will be used. It is selected due to its cost, availability, and compatibility with the most software platform and strong online support communities that allow the development of VR applications. Efforts to find an appropriate adjunctive to conventional training methods have led the ROV training community to use simulation and VR for training novice ROV pilots. The applications like these show how different inequalities in ROV pilot training can be solved with VR displayed on VR device. However, the existing ROV pilot training simulators suggest the need for a new approach to the high fidelity simulation and fun and engaging games [20] improve the time and cost to market further.

Hence, a serious game-based approach [21,22 and 23] to improve the learning experience is desired. The origin of serious games is not very clear [24]. However, what is essential is the advantages of using the game approach as compared to the traditional VR simulation training. The serious game approach enables the ability for the user to practice repeatedly, provide feedback to action, and offer competitive challenge-driven practice in a fun and engaging manner. The challenge-driven serious games can be applied where the repeated practice is necessary to enhance decision-making skills for real-life tasks in underwater. Recently, a book was published on the serious game on different VR and game applications [25] in the areas of medical training, emotion assessment, music education, gamification, teaching, and learning in schools.

For example, Unity3D game engine was use...

Table of contents

• Cover
• Half Title
• Title Page
• Copyright Page
• Table of Contents
• Preface
• Acknowledgments
• Author
• 1. Introduction to UnityTM
• 2. Development of ROV’s Pilot Training Platform Using UnityTM
• 3. Results and Discussion
• 4. Conclusion
• Appendix A: TRV-M ROV Technical Specification Sheet
• Appendix B: Functions of the Properties Used in UnityTM
• Appendix C: Joystick Software Installation
• Appendix D: Scripts
• Index