3d Underwater Mine Modelling in the ¡vamos! Project

Bleier, M.; Almeida, Carlos; Ferreira, António; Pereira, Ricardo Timarán; Matias, Bruno; Almeida, J.; Pidgeon, John; Lucht, Jens; Schilling, Klaus; Martins, Alfredo; Silva, Eduardo; Nüchter, Andreas

doi:10.5194/isprs-archives-xlii-2-w10-39-2019

Cited by 4 publications

(1 citation statement)

References 11 publications

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“…Unity3D also has a good simulation function for kinematics and dynamics based on the physical engine, due to the integration of PhysX, which is a scalable multi-platform game physics solution. In addition to game development, Unity3D has been applied in a wide range of fields [39,40], such as virtual places, visualization building, virtual teaching and training, and machine motion simulation. Unity3D is also used in robot kinematics, dynamics, and navigation algorithm simulations.…”

Section: Introductionmentioning

confidence: 99%

Navigation Simulation of a Mecanum Wheel Mobile Robot Based on an Improved A* Algorithm in Unity3D

Dai

Shi

et al. 2019

Sensors

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Computer simulation is an effective means for the research of robot navigation algorithms. In order to implement real-time, three-dimensional, and visual navigation algorithm simulation, a method of algorithm simulation based on secondary development of Unity3D is proposed. With this method, a virtual robot prototype can be created quickly with the imported 3D robot model, virtual joints, and virtual sensors, and then the navigation simulation can be carried out using the virtual prototype with the algorithm script in the virtual environment. Firstly, the scripts of the virtual revolute joint, virtual LiDAR sensors, and terrain environment are written. Secondly, the A* algorithm is improved for navigation in unknown 3D space. Thirdly, taking the Mecanum wheel mobile robot as an example, the 3D robot model is imported into Unity3D, and the virtual joint, sensor, and navigation algorithm scripts are added to the model. Then, the navigation is simulated in static and dynamic environments using a virtual prototype. Finally, the navigation tests of the physical robot are carried out in the physical environment, and the test trajectory is compared with the simulation trajectory. The simulation and test results validate the algorithm simulation method based on the redevelopment of Unity3d, showing that it is feasible, efficient, and flexible.

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Section: Introductionmentioning

confidence: 99%

Navigation Simulation of a Mecanum Wheel Mobile Robot Based on an Improved A* Algorithm in Unity3D

Dai

Shi

et al. 2019

Sensors

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Investigation of human interaction with an augmented remote operating system for scaling in mining applications

Rafiei,

Brunnström,

Andersson

et al. 2024

Qual User Exp

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Thanks to the advent of telepresence applications, we can remotely take control and operate industrial machinery. Teleoperation removes operators from hazardous workplaces such as mining and plays an essential role in the safety of workers. In addition, augmented telepresence can introduce information that helps the user understand the remote scene. However, remote operation presents challenges since the information received is more limited than what could be perceived by being physically present, such as accurately judging depth. This study investigates how well operators interact with an augmented remote operation scaling system (AROSS) in a mining context when different computer-generated visual interfaces are provided. The system can achieve five visual interfaces: Disocclusion Augmentation view using selective content removal, Novel Perspective view generation, Lidar view, Right (Original) view, and Left (Original) view. We performed two experiments in a mine-like laboratory to analyze human interaction with the designed prototype by applying a mixed research methodology that used questionnaires, interviews, and observations. This mixed methodology consisted of quality of experience methods to discover the users’ requirements from a technological standpoint and user experience methods (i.e., user-centric approaches). We investigated 10 and 11 users’ interactions in two experimental studies. The first experiment focused on identifying small patterns (e.g., cracks in the mine wall), and the second focused on depth and three-dimensional understanding. We considered the first experiment a feasibility test to understand how to conduct the second experiment. Therefore, we designed the second test to assess the technical readiness of AROSS from the users’ perspective. The overall conclusion yields a comprehensive understanding of users’ perceptions and experiences. The quality of experience results favored Left and Right (Original) views for remote control, indicating a preference among remote operators using natural (Original) views due to their facilitation of environmental comprehension. User experience analysis revealed the reason why other views were less favored and what their potential benefits are. Specifically, Novel Perspective and Lidar views were found helpful for depth perception, and Disocclusion Augmentation view functionality could be enhanced if robot arm position tracking is enabled. These insights inform design recommendations, emphasizing the value of incorporating Disocclusion Augmentation and Novel Perspective views and suggesting improvements to enhance system usability.

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A Compact Design of Underwater Mining Vehicle for the Cobalt-Rich Crust with General Support Vessel Part A: Prototype and Tests

Xie

Wang

Yang

et al. 2022

JMSE

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This paper proposed a compact design of the subsea cobalt-rich crust mining vehicle with a general purpose support vessel for subsea resource exploration, sample collection, and research. The necessary functions were considered in the concept design, including walk, crushing/mining, sample collection, cutter head adaptation, vehicle orientation, crust texture measurement, awareness, positioning, and navigation. The prototype was tested in both tank and subsea environment. The sea trials were carried out with the support of a general purpose support vessel. The track design worked well in both the tank and subsea environment and the mining vehicle walked smoothly in the sea trial. The crust was crushed to the size of 2 mm and 10 mm with different cutting parameters and successfully collected by the jet pump, 6 kg in total. The crust texture was measured by the onboard sonar successfully and can be used for cutting parameter selection. The cameras captured the images of the subsea environment, but the actions of crushing and sample collection produced plumes, which blocked the camera vision. In the situation, the front image sonar can be used to keep the vehicle away from big rocks. The mining vehicle is not limited to the mining and sampling of subsea cobalt-rich crust. Most of the subsea solid resources on the seabed can be considered to use the compact mining vehicle for sampling and related research. The only issues to be considered are the crushing ability and sample size required.

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3d Underwater Mine Modelling in the ¡vamos! Project

Cited by 4 publications

References 11 publications

Navigation Simulation of a Mecanum Wheel Mobile Robot Based on an Improved A* Algorithm in Unity3D

Navigation Simulation of a Mecanum Wheel Mobile Robot Based on an Improved A* Algorithm in Unity3D

Investigation of human interaction with an augmented remote operating system for scaling in mining applications

A Compact Design of Underwater Mining Vehicle for the Cobalt-Rich Crust with General Support Vessel Part A: Prototype and Tests

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