| 基于OpenGL的深海开架式潜水器视景仿真设计 |
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| 引用本文： | 范士波,连琏,刘可峰.基于OpenGL的深海开架式潜水器视景仿真设计[J].中国造船,2012(2):178-184. |
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| 作者姓名： | 范士波 连琏 刘可峰 |
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| 作者单位： | 1. 上海交通大学海洋工程国家重点实验室,上海 200240
2. 上海交通大学海洋水下工程科学研究院,上海 200231 |
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| 基金项目： | 国家863海洋技术领域重大专项“4500米级深海作业系统”资助项目(2008AA092301) |
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| 摘 要： | 采用虚拟仿真技术,以正在研发的深海开架式潜水器的设计尺寸和数字海底理论为基础,采用基于面向对象数据模型和基于表面三角剖分的方法来构建水下目标的三维空间数据模型。以三角形的空间拓扑关系为基础,利用SolidWorks建模工具和VC++OpenGL图形开发库,实现了深海虚拟环境下的系统仿真。通过水下目标的建模实例,验证了仿真平台的正确性和可行性,该平台还可应用于深海综合调查研究、水下机器人操纵运动控制仿真等领域。
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| 关 键 词： | 遥控式潜水器 开架 数字海底 OpenGL |
Virtual Simulation Design of Deep Sea Open-Framed Remotely Operated Vehicle Based on OpenGL |
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| FAN Shibo,LIAN Lian,LIU Kefeng,REN Ping.Virtual Simulation Design of Deep Sea Open-Framed Remotely Operated Vehicle Based on OpenGL[J].Shipbuilding of China,2012(2):178-184. |
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| Authors: | FAN Shibo LIAN Lian LIU Kefeng REN Ping |
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| Institution: | 1.State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China; 2.Chinese Underwater Technology Institute,Shanghai Jiao Tong University,Shanghai 200231,China) |
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| Abstract: | This paper presents virtual simulation technique in seafloor environment for a 4500 meters deep sea open-framed remotely operated vehicle(ROV),which is being researched and developed by Shanghai Jiao Tong University.Using digital seafloor theory,a 3D data model of underwater objectives for the actual size of ROV is established based on OODM and triangle surface partition method.Based on special topology relations,system simulation is designed with Solid Works and VC++ OpenGL tools.Simulation results show that the designing algorithm is effective and practical.The simulation platform can also be applied in other fields,such as seabed investigation research,controllability and maneuverability simulation of underwater vehicle. |
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| Keywords: | remotely operated vehicle open-framed digital seafloor OpenGL |
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