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Title: 3-DIMENSIONAL ORBITING GIMBAL WITH A HEAD TRACKING SYSTEM FOR REMOTELY OPERATED SUBMARINES PERFORMING PRECISE UNDERWATER OPERATIONS
3-DIMENSIONAL ORBITING GIMBAL WITH A HEAD TRACKING SYSTEM FOR REMOTELY OPERATED SUBMARINES PERFORMING PRECISE UNDERWATER OPERATIONS

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Jakub Karbowski; Hanna Kuczewska
10.5593/sgem2023/3.1/s15.44
10.5593/sgem2023/3.1
1314-2704
978-619-7603-58-3
English
23
3.1
•    Prof. DSc. Oleksandr Trofymchuk, UKRAINE 
•    Prof. Dr. hab. oec. Baiba Rivza, LATVIA
Marine and Ocean Ecosystems
From an ecological perspective, increasing autonomy in subsea operations is vital for maintaining marine sustainability. These operations involve inspecting, maintaining, and repairing underwater equipment and structures, which can significantly impact the ecosystem if not carried out correctly. Using precise systems can reduce the risk of human error and minimize disturbance to the surrounding environment.
This article presents an integrated head tracking system for ROV submarines, using a 3- dimensional orbiting gimbal for precise underwater operations, such as cutting, welding, moving objects, and waste collection.
ROV operators face multiple issues, such as insufficient lighting, floating debris, scene depth estimation, and dust fog. The ability to observe the working area from multiple angles is crucial for good performance. However, moving the ROV causes dust from the seabed to be kicked up by the water stream created by the motors and increases the risk of collision. A camera mounted on a moving gantry solves these issues but adds additional complexity to the manual controls, which would confuse the operator.
Our solution to this problem is an intuitive VR head-tracking system integrated with a 3D orbiting gimbal. The camera can move around the working area, giving the operator more information. Using this system does not require additional joysticks. The system has been integrated with an ROV submarine prototype and tested underwater.
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We would like to extend our sincere gratitude to the AGH University of Science and Technology, specifically the Faculty of Mechanical Engineering and Robotics, for their support and resources that facilitated the completion of this research project. Special appreciation goes to dr Tymoteusz Turlej for his invaluable guidance, expertise, and mentorship throughout the research process. His insightful feedback and continuous support significantly contributed to the success of this study.
conference
https://doi.org/10.5593/sgem2023/3.1/s15.44
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Proceedings of 23rd International Multidisciplinary Scientific GeoConference SGEM 2023
23rd International Multidisciplinary Scientific GeoConference SGEM 2023, 03 - 09 July, 2023
Proceedings Paper
STEF92 Technology
International Multidisciplinary Scientific GeoConference SGEM
SWS Scholarly Society; Acad Sci Czech Republ; Latvian Acad Sci; Polish Acad Sci; Russian Acad Sci; Serbian Acad Sci and Arts; Natl Acad Sci Ukraine; Natl Acad Sci Armenia; Sci Council Japan; European Acad Sci, Arts and Letters; Acad Fine Arts Zagreb Croatia; Croatian Acad Sci and Arts; Acad Sci Moldova; Montenegrin Acad Sci and Arts; Georgian Acad Sci; Acad Fine Arts and Design Bratislava; Russian Acad Arts; Turkish Acad Sci.
361-368
03 - 09 July, 2023
website
9167
head tracking, VR, ROV submarine, underwater construction, waste collection