Towards Development of a Digital Twin for Simulation of Underwater Robotics

By Jeremy Kim
Slide 1: Title slide for underwater robotics digital twin development project by Jeremy Kim

Slide-1

Towards Development of a Digital Twin for Simulation of Underwater Robotics

Jeremy Kim

Mechanical Engineering

REU Scholar

University of Alabama

jkim228@crimson.ua.edu

George Sklivanitis, Ph.D., EECS

REU Mentor

gsklivanitis@fau.edu

Parker Wilmoth

Graduate Student

REU Mentor

EECS

pwilmoth2023@fau.edu

Slide 2: Motivation showing historical underwater exploration vehicles including Bathysphere, Trieste, and Jacques Cousteau

Slide-2

Motivation

The slide displays three historical images representing underwater exploration:

Bathysphere - described as from the early days of deep sea exploration, shown as a spherical diving vessel

Trieste - identified as the first submersible to journey to the Mariana Trench about 10,916 meters or 35,813 feet in 1960, displayed as a large submarine-like vessel

Jacques Cousteau - noted as a pioneer of modern day scuba, shown in diving equipment

Slide 3: Problem identification showing three key challenges - Inaccessibility, Expense, and Variation

Slide-3

Problem

The slide identifies three main challenges in underwater robotics research:

Inaccessibility - represented with a map showing the difficulty of accessing deep ocean environments

Expense - illustrated with cost-related graphics highlighting the high financial investment required for underwater operations

Variation - depicted with imagery showing the diverse and changing conditions in underwater environments

Slide 4: Solution showing a digital twin simulation approach for underwater robotics

Slide-4

Solution

The slide shows an underwater environment with a robotic vehicles.

Slide 5: What Does a Simulation Need - covering Dynamics, Environment, and Agent requirements

Slide-5

What Does a Simulation Need

Dynamics and Environment

Underwater currents are always changing and can vary in speed and direction

A submarine does not have a fixed frame of reference relative to the Earth's surface

Its frame of reference is relative to the moving water mass

The slide includes visual elements representing the underwater environment requirements for accurate simulation

Agent

The slide shows robotic agent requirements for the simulation system

Slide 6: Pugh Chart comparing HoloOcean, UNavSim, and Marus simulators across multiple criteria

Slide-6

Pugh Chart – Comparison of Simulators

Criterion Weight HoloOcean UNavSim Marus
Developer Support 20 3 1 1
Operating System 10 3 3 3
Middleware 15 1 1 2
Rendering 25 2 3 1
Physics 30 3 2 3
Score 12 10 10
Weighted Score 245/300 200/300 195/300
Slide 7: Developing HoloOcean section with development approach and methodology

Slide-7

Developing HoloOcean

The slide shows three illustrations of HoloOcean with machinery/robots.

Slide 8: Gantt Chart showing project planning timeline and How to do implementation steps

Slide-8

How to do

Gantt Chart – Project Planning

The slide displays a Gantt chart showing the project timeline and implementation phases for developing the underwater robotics digital twin. The chart outlines the sequential steps and milestones needed to complete the HoloOcean-based simulation system, including development phases, testing periods, and delivery milestones.

Slide 9: Future physics development including water ripples

Slide-9

Future physics

How to draw on the water to make ripples

Ripple are little waves on the surface of water caused by the wind or by something moving in or on the water

The slide includes visual demonstrations of planned enhancements to the simulation, including water surface effects and underwater vehicle sensor capabilities.

Slide 10: Future sensors simulation of a modified example package

Slide-10

Future sensors

A simulation of a modified example package that I used with HoloOcean Library.

Below displays a HoveringAUV with a left camera output.

The slide includes visual display of a HoveringAUV with a left camera output

Slide 11: two images of people standing and sitting on a boat on the water with various equipment

Slide-11

Conclusion

The slide presents two images of this team working in the boat/ocean environment.

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End of Presentation

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For a downloadable version of this presentation, email: I-SENSE@FAU.

Additional Information
The Institute for Sensing and Embedded Network Systems Engineering (I-SENSE) was established in early 2015 to coordinate university-wide activities in the Sensing and Smart Systems pillar of FAU’s Strategic Plan for the Race to Excellence.
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