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Real-Time Dynamics Simulation of Unmanned Sea Surface Vehicle for Virtual Environments

机译：虚拟环境下无人海面飞行器的实时动力学仿真

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摘要

The role of virtual environments (VEs) is crucial in efficient design and operation of unmanned vehicles. VEs are extensively used in operator training for tele-operation, planning using programming by demonstration, and hardware and software designs. VE for unmanned sea surface vehicles (USSV) requires a 6 degree of freedom dynamics simulation in the time domain. In order to be interactive, the VE requires real-time performance of the underlying dynamics simulator. In general, the dynamics simulation of USSVs involves the following four main operations: (I) computation of dynamic pressure head due to fluid flow around the hull under the ocean wave, (2) computation of wet surface, (3) computing the surface integral of the dynamic pressure head over the wet surface, and (4) solving the rigid body dynamics equation. The first three operations depend upon the boat geometry complexity and need to be performed at each time step, making the simulation run very slow. In this paper, we address the problem of physics preserving model simplification for real-time potential flow based simulator for a USSV in the time domain, with an arbitrary hull geometry. This paper reports model simplification algorithms based on clustering, temporal coherence, and hardware acceleration using parallel computing on multiple cores to obtain real time simulation performance for the developedVE.
机译：虚拟环境（VE）的作用对于无人驾驶车辆的高效设计和操作至关重要。 VE被广泛用于远程操作的操作员培训，通过演示编程进行计划以及硬件和软件设计。无人驾驶海面车辆（USSV）的VE需要在时域内进行6自由度动力学仿真。为了进行交互，VE需要底层动力学模拟器的实时性能。通常，USSV的动力学仿真涉及以下四个主要操作：（I）由于海浪作用下船体周围的流体流动而产生的动压头；（2）湿表面的计算；（3）计算表面积分湿面上动压头的变化，以及（4）求解刚体动力学方程。前三个操作取决于船的几何形状复杂度，需要在每个时间步执行，这使得模拟运行非常缓慢。在本文中，我们针对时域，具有任意船体几何形状的基于USSV的实时势流仿真器，解决了物理保存模型简化的问题。本文报告了基于聚类，时间一致性和硬件加速的模型简化算法，该算法在多个核上使用并行计算来获得已开发VE的实时仿真性能。

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  • 来源
    《Journal of Computing and Information Science in Engineering》 |2011年第3期|p.031005.1-031005.10|共10页
  • 作者

    Atul Thakur; Satyandra K. Gupta;

  • 作者单位

    Simulation-Based System Design Laboratory,Department of Mechanical Engineering,University of Maryland,College Park, MD 20742;

    Simulation-Based System Design Laboratory,Department of Mechanical Engineering and The Institute for Systems Research,University of Maryland,College Park, MD 20742;

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