An open source tool for simulation and supervision of underwater intervention missions

Prats, Mario; Pérez, Joaquín; Fernández, Julio César Ramos; Sanz, Pedro J.

doi:10.1109/iros.2012.6385788

Cited by 171 publications

(103 citation statements)

References 3 publications

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“…The development of the above-p r e s e n t e d ideas was made upon UWSim [11], an open source simulator for underwater robotic missions, which is under development at the Interactive & Robotic Systems Lab, at Universitat Jaume I. This software package is currently used in a few ongoing projects funded by European Commission (e.g.…”

Section: Methodsmentioning

confidence: 99%

A Natural Interface for Remote Operation of Underwater Robots

García¹,

Patrão²,

Almeida³

et al. 2017

IEEE Comput. Grap. Appl.

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Abstract-Nowadays, an increasing need of intervention robotic systems can be observed in all kind of hazardous environments. In all these intervention systems, the human expert continues playing a central role from the decision-making point of view. For instance, in underwater domains, when manipulation capabilities are required, only Remote Operated Vehicles, commercially available, can be used, normally using master-slave architectures and relaying all the responsibility in the pilot. Thus, the role played by human-machine interfaces represents a crucial point in current intervention systems. This paper presents a User Interface Abstraction Layer and introduces a new procedure to control an underwater robot vehicle by using a new intuitive and immersive interface, which will show to the user only the most relevant information about the current mission. We conducted an experiment and found that the highest user preference and performance was in the immersive condition with joystick navigation.

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Section: Methodsmentioning

confidence: 99%

A Natural Interface for Remote Operation of Underwater Robots

García¹,

Patrão²,

Almeida³

et al. 2017

IEEE Comput. Grap. Appl.

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“…UWSim [29] is an open source underwater simulation tool developed using C++. It makes the use of OpenSceneGraph [30] and osgOcean [31] libraries.…”

Section: Uwsimmentioning

confidence: 99%

Simulation Tools for Underwater Sensor Networks: A Survey

Das¹,

Thampi

2017

NPA

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In underwater sensor network(UWSN) research, it is highly expensive to deploy a complete test bed involving complex network structure and data links to validate a network protocol or an algorithm. This practical challenge points to the need of a simulation environment which can reproduce the actual underwater scenario without the loss of generality. Since so many simulators are proposed for UWSN simulation, the selection of an appropriate tool based on the research requirement is very important in validation and interpretation of results. This paper provides an in-depth survey of different simulation tools available for UWSN simulation. We compared the features offered by each tool, pre-requirements, and provide the run time experiences of some of the open source tools. We conducted simulation of sample scenarios in some of the open source tools and compared the results. This survey helps a researcher to identify a simulation tool satisfying their specific research requirements.

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“…UWSim: una herramienta de simulación 3D para benchmarking UWSim 2 , inicialmente presentado en Prats et al (2012), es un simulador de robots submarinos de código abierto que permite tanto visualizar una reconstrucción de una intervención real como simular misiones. Está desarrollado en C++ y utiliza OpenSceneGraph (OSG) Osfield et al (2004) como motor de visualización, osgOcean descrito en Bale (2012) para el océano y el motor de física Bullet presentado en Coumans (2012).…”

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UWSim, un simulador submarino conectado a la nube como herramienta educacional

Pérez

Fornás

Marı́n

et al. 2017

Rev. iberoam. autom. inform. ind.

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ResumenLa creciente demanda social de nuevas aplicaciones de la robótica, desde robots domésticos a coches autónomos, confirma la conveniencia de utilizar dicha tecnología como factor motivante en el contexto educacional. Así, el presente trabajo analiza cómo canalizar esta motivación hacia fines productivos, poniendo elénfasis en las posibilidades que ofrecen los simuladores de robots submarinos. En particular, se propone un entorno de aprendizaje en la nube con un simulador capaz de evaluar al alumno como eje central del sistema. Utilizando este tipo de herramientas tan solo es necesario un dispositivo capaz de acceder a Internet a través de un navegador para alcanzar una cantidad virtualmente ilimitada de recursos. Como caso de estudio, se detallan las mejoras implementadas, en una aplicación de seguimiento de tuberías submarinas, creando un entorno de comparación en la nube que permite a los alumnos competir por obtener el mejor resultado posible. Finalmente, es importante destacar que se aporta una primera experiencia de aplicación en un contexto de enseñanza real de la herramienta propuesta, demostrándose la viabilidad e idoneidad de la misma para el aprendizaje de robótica y ROS.Palabras Clave: Robótica, Educación, Benchmarking, Vehiculos autónomos, Sistemas marinos, Ayudas educacionales, Telerobótica UWSim, an underwater robotic simulator on the cloud as educational tool Abstract Due to the introduction of robotic applications in the modern society, such as service robots or self-driving cars, it is possible to use this trend as motivating factor in the learning process of robotics. Several possibilities about how to use this motivation to increase learning rate are analysed, focusing on underwater robotic simulators. Moreover, a cloud learning environment able to evaluate the students with a robotic simulator is proposed as key element of the system. These kinds of tools can be used with just an Internet-capable system through a web browser, reaching a virtually unlimited amount of resources. The implemented features are used in a underwater pipe following application, creating a comparison environment on the cloud that immerse students in a competition to reach the best possible result. Finally, a first experience in a real educational environment using the proposed tool is detailed, demonstrating the viability and suitability of the proposed tool.Keywords: Robotics, Education, Benchmark examples, Autonomous vehicles, Marine systems, Educational aids, Telerobotics IntroducciónLa simulación de robots altamente precisa es un proceso computacionalmente caro. Requiere un ordenador de altas prestaciones con una tarjeta gráfica para simular el entorno en un tiempo razonable, y más aún si es a tiempo real. Además, la instalación y configuración de todas las librerías necesarias puede desanimar a muchos posibles usuarios, sobre todo si están usando un sistema operativo o dispositivo diferente al recomendado.Esto es especialmente cierto si se pretende realizar múlti-ples experimentos para probar muchas configur...

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An open source tool for simulation and supervision of underwater intervention missions

Cited by 171 publications

References 3 publications

A Natural Interface for Remote Operation of Underwater Robots

A Natural Interface for Remote Operation of Underwater Robots

Simulation Tools for Underwater Sensor Networks: A Survey

UWSim, un simulador submarino conectado a la nube como herramienta educacional

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