NDLI: X. Conclusions and Recommendations A. Principal Dissertation Conclusions B. Specific Conclusions, Results and Recommendations for Future Work

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X. Conclusions and Recommendations A. Principal Dissertation Conclusions B. Specific Conclusions, Results and Recommendations for Future Work

Content Provider	Semantic Scholar
Abstract	Construction of an underwater virtual world is feasible. Using 3D real-time computer graphics in an underwater virtual world enables effective AUV development. Visualization of robot interactions in an underwater virtual world improves our perceptual ability to evaluate robot performance. A networked robot and virtual world enables researchers to "scale up" to extremely high degrees of complexity, and makes robotics research and collaboration accessible worldwide. A comprehensive software-hardware architecture for a general AUV underwater virtual world demonstrates the feasibility of these concepts. Several components make up this virtual world. A complete underwater vehicle dynamics model suitable for physics-based real-time simulation is developed. Real-time visualization of AUV and sensors interacting with a realistic environment is achieved by decoupling robot-virtual world interactions from graphics by the use of the Distributed Interactive Simulation (DIS) protocol. Worldwide accessibility is provided using the WorldWide Web (WWW) for software archive retrieval and the Multicast Backbone (MBone) for live streams. Convenient and comprehensive network connectivity enables effective scientific collaboration among researchers and robots. Additional detailed conclusions appear at the end of each chapter. A large gap between theory and practice has resulted in relatively few underwater robots. The difficulties of the underwater environment are as severe as any other, making any AUV failure potentially fatal. AUV software and hardware solutions are available but many problems remain due to difficulty integrating 226
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://faculty.nps.edu/brutzman/dissertation/chapter_10.pdf
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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