The Design and Development of Simulator System - For Manned Submersible Vehicle

A semi-physical virtual reality system applying to MSV (manned submersible vehicle) control study is presented in this paper. This system is composed of three nodes: (1) control node for receiving sensors information and sending control command, (2) virtual sensors node for virtual devices and sensors and (3) Visualization node for virtual ocean environment and displaying the posture of MSV. The control node can be both linked to the real sensors and actuators dealing with a real mission, and linked to the virtual world for test purpose. The advantages of this semi-physical virtual reality system include that: (1) the MSV software can be tested in the laboratory before real experiments taking place, (2) the merit and demerit of some newly underwater vehicle system can be verified, (3) Moreover intensive testing is easy and its cost is not too expensive