Marine Telepresence System

Maneuvering remotely operated vehicles (ROV) can be challenging, especially when the mission requires the use of a manipulator arm. Today such operations are usually conducted by two operators: a pilot in charge of keeping the position of the ROV and one operating the manipulator arm. This thesis proposes a telepresence headmounted system that allows the user to both have a rst-person perspective of the operation and to control the vehicle position at the same time, leaving both hands free. To accomplish the aforementioned goal, a head mounted display (HMD) called Oculus Rift is utilized. This device is equipped with sensors that track the users head movement, and a display that can provide 3D images to the user as well as sensor feedback, providing a small degree of augmented reality. A gesture based guidance and control system is designed: Gesture based guidance transforms measured head movement to a speed reference, the control system then ensures that the vehicle follows the reference. Mathematical models that allow to design control systems for the vehicles are also elaborated. The software solution for Oculus Rift and its interface with the vehicle control systems, along with technical specications and solutions for the equipment involved is presented in the thesis. Simulations, hardware in the loop, model scale and full scale test are conducted to collect data, verify the system and establish conclusions about this technology. Model scale tests are conducted at the Marine Cybernetics laboratory at the Department of Marine Technology, with the model ship Cybership Enterprise 1, while full scale tests are performed with the NTNU ROV SUB-ghter 30k from deployed from R/V Gunnerus. Model and full scale tests shows that a head mounted display telepresence system can be successfully used to control and maneuver a ROV. The system is suggested as an alternative way of conducting combined ROV - manipulator operations. For this purpose, further development and testing is needed