ROV simulation validation and verification

The TRANSoM (Training for Remote Sensing and Manipulation) program, sponsored by the Office of Naval Research, is developing a Virtual Environment based training system for remotely operated vehicle (ROV) pilots. A key feature of this system is the simulation of the vehicle in the created environment. It is imperative that the simulation be of sufficient fidelity so as to provide an effective training tool for the real systems. To this end, a dynamic model has been created, which may be tailored based on individual vehicle characteristics. Currently, this simulation is being evaluated in comparison with the performance of the Imetrix Talon ROV which is being used as the basis for the training transfer tests. The performance of the actual and simulated ROV are being compared both qualitatively and quantitatively. It is important to determine the correct "look and feel" of the simulation to the user, as well as measuring the actual dynamic responses of the vehicle and simulation. Results of the testing are being incorporated into the dynamic model to refine the fidelity and flexibility of the simulation.