Virtual Underwater Vehicle Control for Acoustic Latency
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Solution Overview
Problem
The high latency associated with acoustic signal transmission through water makes it difficult to control underwater vehicles from a surface vessel, leading to challenges in operating these vehicles effectively.
Innovation Solution
An underwater vehicle control system that generates a virtual environment representative of the physical environment, allowing for low-latency control of the vehicle through a virtual interface, with a controller receiving input signals to adjust the vehicle's position and orientation in real-time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If acoustic signals are used for communication between surface vessel and underwater vehicle, then communication is enabled through water, but large latency occurs making control difficult
Solution Approach 1:
The patent introduces a virtual underwater vehicle as an intermediary that runs locally on the surface vessel. This virtual vehicle receives control inputs and simulates the physical vehicle's responses locally, eliminating the need for real-time acoustic round-trip communication for control feedback. The virtual vehicle acts as a mediator between the operator and the actual underwater vehicle, providing immediate visual feedback while the physical vehicle operates independently underwater.
Solution Approach 2:
The patent creates a virtual copy of the underwater vehicle that replicates its behavior and environment. This digital twin or virtual model receives the same control inputs and generates corresponding visual feedback instantaneously on the surface vessel's display. The copying principle allows operators to interact with a perfect replica of the underwater vehicle without experiencing acoustic communication delays.
2Reliability
If fixed sensors with cable connections are used for monitoring, then monitoring capability is provided, but the system is unsuitable for harsh sea environment and large equipment
Solution Approach 1:
The patent replaces the mechanical cable-based sensor system with an autonomous underwater vehicle equipped with onboard sensors and wireless communication capability. The physical cables and fixed sensor infrastructure are substituted by a mobile robotic platform that can navigate to equipment, perform inspections, and transmit data acoustically or via other wireless means, making the system adaptable to harsh environments and large-scale equipment.
Solution Approach 2:
The underwater vehicle is designed as a self-contained autonomous system that carries its own power supply, sensors, processing units, and communication equipment. It can independently navigate to target equipment, perform monitoring tasks, and return data without requiring physical cable connections or external power sources during operation. The vehicle serves itself by integrating all necessary functions into a single deployable unit.
Data Source
AI summary
An underwater vehicle control system includes at least one controller configured to receive a control input signal indicative of a target virtual position and/or a target virtual orientation of a target virtual underwater vehicle within a virtual environment. The at least one controller is also configured to output a target virtual underwater vehicle signal to a display indicative of instructions to display a visual representation of the target virtual underwater vehicle at the target virtual position and/or the target virtual orientation within the virtual environment. Furthermore, the at least one controller is configured to output a target physical underwater vehicle signal to an underwater vehicle within a physical environment indicative of instructions to move the underwater vehicle to a target physical position and/or a target physical orientation within the physical environment corresponding to the target virtual position and/or the target virtual orientation of the target virtual underwater vehicle.