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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
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Related Experiment Video

Updated: Jun 14, 2025

Robotized Testing of Camera Positions to Determine Ideal Configuration for Stereo 3D Visualization of Open-Heart Surgery
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Affordable 3D Orientation Visualization Solution for Working Class Remotely Operated Vehicles (ROV).

Mohammad Afif Kasno1, Izzat Nadzmi Yahaya2, Jin-Woo Jung1

  • 1Department of Computer Science and Engineering, Dongguk University, Seoul 04620, Republic of Korea.

Sensors (Basel, Switzerland)
|August 29, 2024
PubMed
Summary
This summary is machine-generated.

Underwater robot operators can now improve their spatial awareness with a new 3D orientation monitoring system. This cost-effective solution enhances ROV control and reduces the risk of equipment damage during underwater operations.

Keywords:
3D ROV orientation awarenesscost-effective ROV 3D visualizationreal-time visualizationworking class ROVworking class ROV operational constraints

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Area of Science:

  • Robotics
  • Oceanography
  • Computer Vision

Background:

  • Remotely Operated Vehicles (ROVs) operators face significant orientation challenges due to limited 2D camera feeds, impacting underwater task accuracy and safety.
  • Poor visibility and orientation awareness in underwater environments can lead to inaccurate robot arm placement and potential tool damage.

Purpose of the Study:

  • To develop and evaluate a 3D orientation monitoring system for ROVs to enhance operator awareness and control.
  • To create a cost-effective solution for real-time 3D visualization of ROV orientation.

Main Methods:

  • Utilized nine degrees of freedom (DOF) measurement sensors to capture roll, pitch, yaw, and heading data.
  • Developed a system to generate and process 3D imaging, creating a real-time 3D model of the ROV's underwater orientation.
  • Employed an open-source platform for 3D visualization and simulation.

Main Results:

  • Demonstrated the feasibility of a 3D orientation visualization system for working-class ROVs through short-term dockyard tests.
  • Achieved a mean absolute error (MAE) of less than 2%, indicating high accuracy in orientation monitoring.
  • Presented a real-time video demonstration of a ROV replica's movement and orientation in a 3D simulation.

Conclusions:

  • The developed 3D orientation monitoring system is a feasible and potentially cost-effective solution for improving ROV operations.
  • The system enhances underwater visibility and orientation awareness, crucial for precise ROV arm placement and tool handling.
  • Further development could expand the application of this technology in various underwater robotic tasks.